JP5098408B2 - Brake control device for vehicle - Google Patents

Description

  The present invention relates to a vehicle brake control device.

Patent Document 1 includes a first hydraulic pipe including first and second wheel cylinders, and a second hydraulic pipe including third and fourth wheel cylinders, depending on the vehicle running state. A brake device for a vehicle is described in which the brake hydraulic pressure distribution of the two hydraulic pipes is adjusted.
Japanese Patent Laid-Open No. 9-290731

  More specifically, in this apparatus, a hydraulic pump that generates an auxiliary hydraulic pressure added to the master cylinder pressure is provided in one of the two hydraulic pipings. At the time of a braking operation in a straight vehicle state, the master cylinder pressure itself is supplied to the two hydraulic pipes. On the other hand, at the time of a braking operation in a state where the steering operation angle is large (vehicle turning state), the hydraulic pump is operated and a braking hydraulic pressure larger than the master cylinder pressure is supplied to the one hydraulic piping.

  Thus, it is described that a larger braking force can be obtained during a braking operation in a vehicle turning state than in a braking operation in a vehicle straight traveling state. However, this means that the vehicle deceleration increase characteristic (the relationship between the braking operation amount and the vehicle deceleration) differs between the vehicle turning state and the vehicle straight traveling state.

  Here, it is generally considered that it is preferable that the vehicle deceleration increasing characteristic with respect to the braking operation amount be maintained constant even when the braking hydraulic pressure distribution of the two hydraulic pipes is changed. In addition, when a state in which the vehicle is likely to be deflected due to a load state, a traveling state, or the like of the vehicle is generated, the braking hydraulic pressures of the two hydraulic pipes in a direction in which the directional stability of the vehicle can be ensured. The distribution is preferably adjusted.

  The present invention has been made on the basis of such knowledge, and an object of the present invention is to maintain a vehicle deceleration increasing characteristic with respect to a braking operation amount substantially constant in a vehicle braking control device including two hydraulic pipings. It is another object of the present invention to provide a vehicle that can secure the directional stability of the vehicle by adjusting the brake hydraulic pressure distribution between the two hydraulic pipes.

  The first vehicle braking control device according to the present invention provides four wheel brakings that respectively apply braking torques corresponding to the brake hydraulic pressures supplied to the wheel cylinders of the four wheels on the front, rear, left and right sides of the vehicle to the corresponding wheels. A first hydraulic pressure generating device (master cylinder) having two hydraulic pressure generating chambers each generating a hydraulic pressure amount corresponding to a braking operation amount by a driver of the vehicle, and the two hydraulic pressure generating chambers One of the four wheel braking devices is hydraulically connected to two corresponding to the left and right front wheels of the four wheel braking devices, and the other of the two hydraulic pressure generating chambers is the four wheels. Two of the braking devices corresponding to the left and right rear wheels and a hydraulic piping for the rear wheels connected hydraulically are provided. In other words, the first vehicle brake control device includes a so-called “front and rear pipe”.

  The first vehicle braking control device generates power for generating auxiliary hydraulic pressure added to the hydraulic pressure amount generated by the first hydraulic pressure generating device in each of the hydraulic piping for the front wheels and the rear wheels. A second hydraulic pressure generator (hydraulic pump) for driving, a detecting means for detecting the braking operation amount, and an auxiliary hydraulic pressure for the front wheel in the hydraulic piping for the front wheel based on the detected braking operation amount A reference amount determining means for determining a reference amount and an auxiliary hydraulic pressure reference amount of the rear wheel in the hydraulic piping of the rear wheel, a state amount indicating the load state of the vehicle, a state amount indicating the running state of the vehicle, and the Based on the acquisition means for acquiring at least one of the state quantities representing the slipperiness of the wheels, the determined auxiliary hydraulic pressure reference amounts of the front wheels and rear wheels, and the acquired state quantities, the front wheels The auxiliary hydraulic pressure target amount for the front wheel in the hydraulic piping A target amount determining means for determining the auxiliary hydraulic pressure target amount of the rear wheel in the hydraulic piping of the rear wheel to be equal to or lower than the auxiliary hydraulic pressure reference amount of the rear wheel, and the front wheel, Pressure adjusting means is further provided for adjusting the auxiliary hydraulic pressure in each of the hydraulic pressure pipes of the rear wheels so as to match the determined auxiliary hydraulic pressure target amounts of the front wheels and the rear wheels, respectively.

  According to this, at the time of braking operation, based on the state quantity acquired by the acquisition means, the braking hydraulic pressure of the hydraulic piping of the front wheels (master cylinder pressure + auxiliary hydraulic pressure of the front wheels) becomes the reference hydraulic pressure of the front wheels ( The master cylinder pressure + front wheel auxiliary hydraulic pressure reference amount) is adjusted to a value equal to or greater than that, and the rear wheel hydraulic pipe braking hydraulic pressure (master cylinder pressure + rear wheel auxiliary hydraulic pressure) is the rear wheel reference hydraulic pressure (master Cylinder pressure + rear wheel auxiliary hydraulic pressure reference amount)) or less.

  Therefore, for example, the greater the ease with which the vehicle is deflected due to the load state, traveling state, etc. of the vehicle, the greater the braking fluid pressure distribution ratio of the front wheels and the smaller the braking fluid pressure distribution ratio of the rear wheels. As a result, the braking force acting on the entire vehicle is maintained substantially constant, while the braking force (front / rear force) of the rear wheels is reduced and the limit value of the cornering force (lateral force) of the rear wheels is increased. As a result, a sufficient rear wheel cornering force for suppressing the deflection of the vehicle can be ensured.

  As described above, according to the first vehicle braking control apparatus of the present invention, in the case of the front and rear pipes, the braking fluid of the two hydraulic pipes is maintained while maintaining the vehicle deceleration increasing characteristic with respect to the braking operation amount substantially constant. The pressure distribution can be adjusted to ensure the directional stability of the vehicle.

  The second vehicle brake control device according to the present invention includes the same four wheel brake devices, the first hydraulic pressure generator, and the two hydraulic pressure generators as those of the first vehicle brake control device. A first hydraulic pipe that hydraulically connects one of the chambers to two corresponding to the left front wheel and the right rear wheel of the four wheel braking devices; and of the two hydraulic pressure generation chambers A second hydraulic pipe that hydraulically connects the other to two of the four wheel braking devices corresponding to the right front wheel and the left rear wheel. That is, the second vehicle braking control device includes a so-called “diagonal pipe (also referred to as an X pipe)”.

  The second vehicle brake control device according to the present invention is configured such that the auxiliary hydraulic pressure added to the hydraulic pressure amount generated by the first hydraulic pressure generating device in each of the first and second hydraulic pressure pipes. A second hydraulic pressure generator driven by power, a detecting means for detecting the braking operation amount, and a first auxiliary fluid in the first hydraulic pipe based on the detected braking operation amount A reference amount determining means for determining a pressure reference amount and a second auxiliary hydraulic pressure reference amount in the second hydraulic pipe, a state amount representing the turning state of the vehicle, and a state amount representing the ease of slipping of the wheels. On the basis of the acquisition means for acquiring at least one of the following, the first and second auxiliary hydraulic pressure reference amounts determined in the turning state of the vehicle, and the acquired state quantity, Corresponds to the turning outer front wheel and turning inner rear wheel of the second hydraulic pipe A first auxiliary hydraulic pressure target amount in one hydraulic piping is determined to be greater than or equal to one auxiliary hydraulic pressure reference amount corresponding to the one hydraulic piping among the first and second auxiliary hydraulic pressure reference amounts; The second auxiliary hydraulic pressure target amount in the other hydraulic pipe among the first and second hydraulic pipes is set as the other auxiliary hydraulic pressure reference quantity in the first and second auxiliary hydraulic pressure reference quantities. The target amount determining means to be determined below and the auxiliary hydraulic pressure in each of the one and the other hydraulic pipes are adjusted so as to coincide with the determined first and second auxiliary hydraulic pressure target amounts, respectively. Pressure adjusting means.

  According to this, during the braking operation in the vehicle turning state, based on the state quantity acquired by the acquisition means, the braking hydraulic pressure (master cylinder pressure + “ "One" auxiliary hydraulic pressure) is adjusted to a value equal to or higher than "One" reference hydraulic pressure (Master cylinder pressure + "One" auxiliary hydraulic pressure reference amount). The braking hydraulic pressure (master cylinder pressure + “other” auxiliary hydraulic pressure) is adjusted to a value equal to or less than the “other” reference hydraulic pressure (master cylinder pressure + “other” auxiliary hydraulic pressure reference amount).

  Therefore, for example, the greater the ease of deflection of the vehicle due to the running state of the vehicle, the greater the braking hydraulic pressure distribution ratio between the turning outer front wheel and the turning inner rear wheel, and the braking of the turning inner front wheel and the turning outer rear wheel. The hydraulic pressure distribution ratio can be reduced. Thereby, the braking force acting on the entire vehicle is maintained substantially constant.

  Further, during braking in a turning state, the ground load on the rear inner wheel decreases most due to the load movement of the vehicle body, and the rear inner wheel slip easily occurs. Therefore, an increase in the brake fluid pressure (and hence the braking force) of the rear inner wheel is restricted by anti-skid control (ABS control) or the like. As a result, a large braking force is applied only to the outer front wheels of the turn, so that a yawing moment is generated in the vehicle toward the outside of the turn, and the deflection of the vehicle can be suppressed.

  As described above, according to the second braking control device for a vehicle according to the present invention, in the case of diagonal piping, the braking fluid of the two hydraulic piping is maintained while maintaining the increase characteristic of the vehicle deceleration with respect to the braking operation amount substantially constant. The pressure distribution can be adjusted to ensure the directional stability of the vehicle.

  Here, as the state quantity representing the load state, for example, a value representing a static loading state of the vehicle can be used. As the state quantity representing the running state, for example, a vehicle body speed of the vehicle, a value representing a turning state of the vehicle, or the like can be used. As the state quantity indicating the slipperiness of the wheel, for example, the slip speed of the wheel can be used.

  In the first and second vehicle braking control devices, the target amount determining means is configured to use the auxiliary hydraulic pressure target amount for the front wheels and the rear wheels, or the first and second auxiliary hydraulic pressure target amounts for the braking. It is preferable that the operation amount is determined to be a value larger than zero over a range larger than zero or a minute value near zero.

  According to this, the state where the auxiliary hydraulic pressure (> 0) is added to the master cylinder pressure is maintained in the entire region of the driver's braking operation. Therefore, it is possible to suppress the driver from feeling uncomfortable with the braking operation due to the start of application of the auxiliary hydraulic pressure during the braking operation.

  Further, in the first vehicle braking control device (that is, in the case of front and rear piping), the reference amount determination means increases the auxiliary hydraulic pressure reference amount of the front wheels in accordance with an increase in the braking operation amount and In accordance with an increase in the braking operation amount, the increase gradient is determined to increase, and the auxiliary hydraulic pressure reference amount for the rear wheel is increased in accordance with the increase in the braking operation amount and in response to the increase in the braking operation amount. Suitably, the increase gradient is determined to be small.

  According to this, the characteristic of the reference braking hydraulic pressure distribution of the hydraulic piping of the front wheel and the rear wheel can be set to a distribution characteristic close to the ideal hydraulic pressure distribution (the distribution in which the front wheel and the rear wheel are locked simultaneously). it can.

  Hereinafter, embodiments of a vehicle brake control device according to the present invention will be described with reference to the drawings. The first embodiment includes “front and rear piping”, and the second embodiment includes “diagonal piping”.

(First embodiment)
<Overall configuration of the device>
First, the overall configuration of the vehicle brake control device according to the first embodiment will be described with reference to FIGS. 1 and 2. The first pressure generating means (corresponding to the “first hydraulic pressure generating device”) is the master cylinder MC. The master cylinder MC has two hydraulic pressure generation chambers (not shown), and generates a braking pressure (hydraulic pressure) in response to the driver's operation (braking operation) of the brake pedal BP. That is, the braking pressure is generated using the power generated by the driver as a power source. Furthermore, in order to reduce the brake pedal operating force, the master cylinder MC can be provided with a vacuum booster VB (also referred to as a negative pressure booster or a brake booster).

  The second pressure generating means (corresponding to the “second hydraulic pressure generating device”) is a fluid pump (also referred to as a hydraulic pump, hereinafter simply referred to as a pump) HP # driven by an electric motor M, and is operated. The braking pressure is generated by a power source (for example, a power source) that is separate from the person's power. The pump HP # sucks a part of the fluid discharged from the master cylinder MC and discharges it to the wheel cylinder WC **.

  Here, “#” is a subscript representing each piping system in the two systems of braking piping (hydraulic piping). When the braking piping is front and rear piping, the subscript “f” is the front wheel system, and the subscript “r” is the rear. In the case of diagonal piping, the subscript “1” means the first system and the subscript “2” means the second system. The same applies to the following. “**” is a subscript meaning each wheel, “fl” represents the left front wheel, “fr” represents the right front wheel, “rl” represents the left rear wheel, and “rr” represents the right rear wheel. The same applies to the following.

  In this way, the pump HP # sucks the fluid from the pipe part LM # and discharges it to the pipe part LW **. For this reason, the movement of the fluid occurs, and an auxiliary braking pressure is generated with respect to the braking pressure generated by the master cylinder MC.

  The detection means BS detects the braking operation amount Bs by the driver's braking operation member (for example, the brake pedal BP). Specifically, the braking pressure (master cylinder pressure Pm #) in the master cylinder MC or two braking pipes (front and rear hydraulic pipes) connected to the two hydraulic pressure generation chambers of the master cylinder MC, respectively. To detect. Therefore, the master cylinder pressure Pm # can be used as the braking operation amount Bs. Further, the displacement (stroke) and operating force of the brake pedal BP can be detected, and these detected values (brake pedal stroke or brake pedal operating force) can be used as the braking operation amount Bs.

  The pressure adjusting means (corresponding to the “pressure adjusting means”) is, for example, a linear pressure adjusting valve (also referred to as a linear solenoid valve or a linear control valve) LV #, which is generated by the second pressure generating means (pump / electric motor). The pressure is adjusted based on an auxiliary pressure target value SP # t described later. Then, the braking pressure generated by the second pressure generating means (pump / electric motor) is added to the braking pressure generated by the first pressure generating means (master cylinder MC) and applied to the wheel cylinder WC **. The number of rotations of the electric motor M is controlled to generate a necessary pressure, and the final pressure adjustment is performed by the linear solenoid valve LV #.

《Brake control configuration》
Next, the configuration of the braking control by the vehicle braking control apparatus according to the first embodiment will be described with reference to FIG.

<Calculation of auxiliary pressure reference value SP # o>
The reference value of the pressure (pressure added to the braking pressure) for assisting (asserting) the braking pressure generated by the first pressure generating means (master cylinder MC) is the amount of operation of the braking member (brake pedal BP) of the driver ( Hereinafter, it is calculated based on the braking operation amount Bs). The braking operation amount Bs is calculated based on the detection result of the braking operation amount detecting means BS (using at least one of a brake pedal stroke sensor, a brake pedal depression force sensor, and a master cylinder pressure sensor).

  The braking pressure generated by the master cylinder MC is the same as the pressure in the piping part LM #. The purpose of the driver's braking operation is to decelerate the vehicle (vehicle body). This device presses a brake pad against a brake rotor by a braking pressure, and generates a braking force on a wheel by a frictional force generated at that time. For this reason, the target of braking control is pressure (pressure of fluid in the wheel cylinder). Therefore, it is desirable to use the master cylinder pressure Pm # that is the same physical quantity as the braking operation amount Bs.

  The reference value of the auxiliary pressure (corresponding to the above-mentioned “auxiliary hydraulic pressure reference amount”, hereinafter simply referred to as the reference value SP # o) is based on the specifications that serve as the vehicle reference and is based on the driver's braking operation amount Bs Calculated based on The standard specifications of the vehicle are values such as the vehicle weight Ms, the position of the center of gravity, the wheel base L, and the like, and are values that vary depending on the occupant and the loading state. It is the value.

  The auxiliary pressure reference value SP # o is a so-called ideal braking force distribution (a distribution in which the braking force of the front and rear wheels becomes a braking force proportional to each load in consideration of load movement during braking), or a braking force approximated thereto. Calculated from the distribution characteristics. 4A and 4B are tables of front wheel and rear wheel auxiliary pressure reference values SPfo and SPro with respect to the braking operation amount Bs, respectively. In this case, the auxiliary pressure reference value SP # o increases proportionally (linearly) from “0” as the braking operation amount Bs increases from “0”. The front wheel and rear wheel auxiliary pressure reference values SPfo and SPro may be the same or different.

  Further, as shown in FIG. 5A, the auxiliary pressure reference value SPfo for the front wheels is set to increase from “0” with a “convex downward” characteristic in response to an increase in the braking operation amount Bs from “0”. Get (see solid line). Alternatively, as indicated by a dashed line approximating the characteristic of “convex downward”, it is also set to increase from “0” by a plurality of straight lines whose inclination increases as the braking operation amount Bs increases from “0”. Can be done.

  As shown in FIG. 5B, the auxiliary pressure reference value SPro for the rear wheels can be set to increase from “0” with a characteristic of “convex upward” in response to an increase in the braking operation amount Bs from “0”. (See solid line). Alternatively, as indicated by a broken line approximating the characteristic of “convex upward”, it is also set to increase from “0” by a plurality of straight lines whose inclination decreases as the braking operation amount Bs increases from “0”. Can be done. Thus, the braking force distribution between the front and rear wheels can be made closer to the ideal braking force distribution.

  In setting the auxiliary pressure, an arbitrary amount of braking operation can be set as the starting point (starting point) for applying the auxiliary pressure. Here, it is desirable that a minute braking operation amount including “0” (“0” or a minute value in the vicinity of “0”) is used as a starting point for applying the auxiliary pressure. Although the operation characteristic of the brake pedal BP is changed by the application of the auxiliary pressure, a sense of discomfort to the driver can be suppressed by using a small amount of braking operation including “0” as the starting point of the application of the auxiliary pressure.

  Further, when the master cylinder MC includes a vacuum booster VB and the vacuum booster VB has a jump-in characteristic (a characteristic in which the assisting force of the vacuum booster increases stepwise from zero, also referred to as a jumping characteristic), this corresponds to a jump-in. The amount of braking operation can also be used as the starting point for applying auxiliary pressure. By combining the jump-in of the vacuum booster and the starting point of the application of the auxiliary pressure, it is possible to further suppress a sense of discomfort to the driver.

  The auxiliary pressure can be set based on an estimated ground load of each wheel. In this case, the target value of the vehicle body deceleration is determined based on the braking operation amount Bs, and the total braking force for realizing this is calculated. This total braking force is distributed based on the ground contact load of each wheel. The ground load can be estimated based on the detection result of the longitudinal acceleration sensor GX, the vehicle body deceleration Gx obtained by differentiating the vehicle body speed Vx, and the vehicle reference specifications. Even in this case, the auxiliary pressure reference value SP # o is calculated based on the braking operation amount Bs. As described above, the means for determining the auxiliary pressure reference value SP # o corresponds to the “reference amount determination means”.

<Calculation of auxiliary pressure target value SP # t>
The target value of the auxiliary pressure (hereinafter also simply referred to as target value SP # t) is a reference value SP # o that is determined based on the vehicle state quantity, the running state quantity, and the wheel state quantity, which will be described later. This is the final target value of the auxiliary pressure obtained by correction based on the coefficient. The second pressure generating means and the pressure adjusting means are controlled based on the auxiliary pressure target value SP # t. In the first embodiment, the correction based on the correction value (correction coefficient) is performed during both turning and straight traveling.

  SPft = Kf · Fnc (Bs) is established. Here, Kf is a front wheel correction coefficient, and is calculated according to Kf = Kvhf · Kdcf · Kpyf (at least one of Kvhf, Kdcf, Kpyf can be omitted) using Kvhf, Kdcf, Kpyf described later. Is done. Fnc (Bs) is a function or table representing the front wheel auxiliary pressure reference value SPfo with the braking operation amount Bs as an argument, and has the characteristics shown in FIG. 4 or FIG. 5, for example.

  SPrt = Kr · Gnc (Bs) is established. Here, Kr is a rear wheel correction coefficient, and Kr = Kvhr · Kdcr · Kpyr (at least one of Kvhr, Kdcr, Kpyr can be omitted) using Kvhr, Kdcr, Kpyr described later. Calculated. Gnc (Bs) is a function or table representing the rear wheel auxiliary pressure reference value SPro with the braking operation amount Bs as an argument, and has the characteristics shown in FIG. 4 or FIG. 5, for example.

<Calculation of correction value (correction coefficient)>
1. Calculation of the correction value (correction coefficient) Kvh # based on the vehicle state The vehicle state amount is a value representing the load state (static loading state) of the vehicle, or a value that changes depending on the load state. The ratio of the load on the front wheel shaft to the vehicle weight (front wheel distribution ratio Jh), the ratio of the load on the rear wheel shaft to the vehicle weight (rear wheel distribution ratio (1-Jh)), and the deviation of the load in the lateral direction of the vehicle (hereinafter referred to as bias) Or a center of gravity height Hg of the vehicle that changes depending on the loading state. The correction value (correction coefficient) Kvh # is calculated based on at least one of the front wheel distribution ratio Jh, the offset load Hk, and the center of gravity height Hg.

  Here, the vehicle weight necessary for obtaining the load distribution ratio (front wheel distribution ratio) Jh is, for example, the detection result of a load sensor, an air spring air pressure sensor, or a vehicle height sensor provided on at least one wheel. Based on. Or it calculates | requires based on the relationship between acceleration operation (driving force given to a vehicle) and vehicle acceleration, and the relationship between braking operation (braking force given to a vehicle) and vehicle deceleration.

  The offset load Hk can be obtained, for example, by obtaining a right load and a left load from detection results of a load sensor, an air spring air pressure sensor, and a vehicle height sensor. Or it calculates | requires from the detection result of the seatbelt mounting sensor, the passenger | crew sensor for airbags, and a passenger | crew physique sensor. The center of gravity height Hg is obtained from, for example, the vehicle weight. Or it is calculated | required from the relationship between a turning state and rolling motion, and the relationship between a deceleration state and pitching motion.

  For example, Kvh # = Kjh # · Khk # · Khg # can be expressed. Here, Kjh # is a correction coefficient based on the front wheel distribution ratio Jh, Khk # is a correction coefficient based on the offset load Hk, and Khg # is a correction coefficient based on the center of gravity height Hg. In obtaining Kvh #, at least one of Kjh #, Khk #, and Khg # can be omitted.

  First, the correction coefficient Kjh # will be described. The correction coefficient Kjh # is set as shown in FIG. 6 based on the load distribution ratio (front wheel distribution ratio) Jh. That is, when the front wheel distribution ratio Jh is smaller than the predetermined value Jha, the correction coefficients Kjhf and Kjhr for the front wheels and the rear wheels are set to “1”. On the other hand, above the predetermined value Jha, the front wheel correction coefficient Kjhf increases from “1” and the rear wheel correction coefficient Kjhr decreases from “1” as the front wheel distribution ratio Jh increases.

  In this case, the increase amount and the decrease amount of the front wheel and rear wheel correction coefficients Kjhf and Kjhr from “1” are the vehicle deceleration increase characteristics with respect to the braking operation amount Bs (the relationship between the braking operation amount and the vehicle deceleration). It is determined so that it can be maintained substantially constant. In other words, the braking effectiveness coefficient, the effective braking radius, the wheel cylinder pressure receiving area, etc. are taken into consideration so that the amount of increase in the braking force with respect to the amount of increase in the correction coefficient is substantially equal to the amount of decrease in the braking force with respect to the amount of decrease in the correction coefficient. The correction coefficient Kjh # is set.

  When the correction coefficient is “1”, the auxiliary pressure reference value itself is calculated as the auxiliary pressure target value, and when the correction coefficient is “0”, it means that auxiliary pressurization is not performed (auxiliary pressure = 0) ( Same for the following correction factors):

  Thus, by setting the correction coefficients Kjhf and Kjhr based on the size of the front wheel distribution ratio Jh, the braking force distribution between the front and rear wheels approaches the ideal distribution, and the braking force of the rear wheels can be used effectively. It becomes possible.

  Next, the correction coefficient Khk # will be described. If there is a difference in ground load between the left and right directions of the vehicle, the vehicle may be easily deflected during braking. Therefore, the correction coefficient Khk # is set as shown in FIG. 7 based on the offset load Hk. That is, when the eccentric load Hk is smaller than the predetermined value Hka, the correction coefficients Khkf and Khkr for the front wheels and the rear wheels are set to “1”. On the other hand, at the predetermined value Hka or more, the front wheel correction coefficient Khkf increases from “1” and the rear wheel correction coefficient Khkr decreases from “1” as the offset load Hk increases.

  In this case, the increase amount and the decrease amount of the front wheel and rear wheel correction coefficients Khkf and Khkr from “1” are the vehicle deceleration increase characteristics (relationship between the braking operation amount and the vehicle deceleration) with respect to the braking operation amount Bs. It is determined so that it can be maintained substantially constant. In other words, the braking effectiveness coefficient, the effective braking radius, the wheel cylinder pressure receiving area, etc. are taken into consideration so that the amount of increase in the braking force with respect to the amount of increase in the correction coefficient is substantially equal to the amount of decrease in the braking force with respect to the amount of decrease in the correction coefficient. The correction coefficient Khk # is set.

  Thus, the front wheel ratio increases and the rear wheel ratio decreases in the braking force distribution between the front and rear wheels by the correction coefficient Khk # as the offset load Hk increases. Therefore, a rear wheel cornering force is secured. As a result, vehicle stability (direction stability) during braking is ensured.

  Next, the correction coefficient Khg # will be described. When the height of the center of gravity Hg of the vehicle increases, load movement during turning or braking of the vehicle increases. In particular, during cornering braking, the ground contact load on the inner rear wheel may decrease, and it may be difficult to secure the rear wheel cornering force. Therefore, the correction coefficient Khg # is set as shown in FIG. 8 based on the center of gravity height Hg. That is, when the center-of-gravity height Hg is smaller than the predetermined value Hga, the correction coefficients Khgf and Khgr for the front wheels and the rear wheels are set to “1”. On the other hand, above the predetermined value Hga, the front wheel correction coefficient Khgf increases from “1” and the rear wheel correction coefficient Khgr decreases from “1” as the center of gravity height Hg increases.

  In this case, the increase amount and the decrease amount of the front wheel and rear wheel correction coefficients Khgf, Khgr from “1” are the vehicle deceleration increase characteristics with respect to the braking operation amount Bs (the relationship between the braking operation amount and the vehicle deceleration). It is determined so that it can be maintained substantially constant. In other words, the braking effectiveness coefficient, the effective braking radius, the wheel cylinder pressure receiving area, etc. are taken into consideration so that the amount of increase in the braking force with respect to the amount of increase in the correction coefficient is substantially equal to the amount of decrease in the braking force with respect to the amount of decrease in the correction coefficient. The correction coefficient Khg # is set.

  Thus, as the center of gravity height Hg increases, the front wheel ratio increases in the braking force distribution between the front and rear wheels by the correction coefficient Khg #, and the rear wheel ratio decreases. Therefore, a rear wheel cornering force is secured, and vehicle stability (direction stability) during braking is improved.

2. Calculation of Correction Value (Correction Coefficient) Kdc # Based on Traveling State Amount The traveling state amount is a value that represents the traveling state of the vehicle, for example, a vehicle body speed (vehicle speed) Vx or a state that represents a turning motion of the vehicle. This is the amount (turning state amount) Tc. The correction value (correction coefficient) Kdc # is calculated based on at least one of the vehicle body speed Vx and the turning state amount Tc.

  Here, the vehicle body speed Vx is obtained based on the detection result of the wheel speed sensor WS **. The turning state amount Tc is obtained based on at least one of detection results of a lateral acceleration sensor, a yaw rate sensor, a steering wheel operation angle sensor, a steering angle sensor for steered wheels (left and right front wheels), and the like.

  For example, it can be expressed as Kdc # = Kvx # · Ktc #. Here, Kvx # is a correction coefficient based on the vehicle body speed Vx, and Ktc # is a correction coefficient based on the turning state amount Tc. In obtaining Kdc #, any one of Kvx # and Ktc # can be omitted.

  First, the correction coefficient Kvx # will be described. When the vehicle speed is high, the directional stability of the vehicle is important. Therefore, the correction coefficient Kvx # is set as shown in FIG. 9 based on the vehicle body speed Vx. That is, when the vehicle body speed Vx is smaller than the predetermined value Vxa, the front wheel and rear wheel correction coefficients Kvxf and Kvxr are set to “1”. On the other hand, at the predetermined value Vxa or more, the front wheel correction coefficient Kvxf increases from “1” and the rear wheel correction coefficient Kvxr decreases from “1” as the vehicle body speed Vx increases.

  In this case, the increase amount and the decrease amount of the front wheel and rear wheel correction coefficients Kvxf, Kvxr from “1” are the vehicle deceleration increase characteristics (relationship between the braking operation amount and the vehicle deceleration) with respect to the braking operation amount Bs. It is determined so that it can be maintained substantially constant. In other words, the braking effectiveness coefficient, the effective braking radius, the wheel cylinder pressure receiving area, etc. are taken into consideration so that the amount of increase in the braking force with respect to the amount of increase in the correction coefficient is substantially equal to the amount of decrease in the braking force with respect to the amount of decrease in the correction coefficient. The correction coefficient Kvx # is set.

  Note that by increasing the decreasing gradient of the rear wheel correction coefficient Kvxr with respect to the increase in the vehicle body speed Vx above the predetermined value Vxa, the rear wheel correction coefficient Kvxr becomes “when the vehicle speed Vx is equal to or higher than the predetermined value Vxb (> Vxa). 0 ”(see Kvxr ′ in FIG. 9).

  Thus, as the vehicle body speed Vx increases, the front wheel ratio increases and the rear wheel ratio decreases in the braking force distribution between the front and rear wheels by the correction coefficient Kvx #. Therefore, even if a slight slip angle occurs in the vehicle body due to disturbance or the like, the rear wheel cornering force is ensured, so that vehicle stability (direction stability) is ensured.

  The vehicle body speed Vx is a state quantity that changes every moment due to braking, but the correction coefficients Kvxf and Kvxr for the front wheels and the rear wheels can be set based on the vehicle body speed Vxo at the start of braking instead of the vehicle body speed Vx. This also provides the same effect.

  Next, the correction coefficient Ktc # will be described. When the vehicle turns, load movement occurs in the left-right direction, and the ground load on the turning inner ring side decreases. Further, since the load is moved in the front-rear direction during braking, the ground contact load on the rear wheel inside the turn is particularly reduced, and it may be difficult to ensure the rear wheel cornering force. Accordingly, the correction coefficient Ktc # is set as shown in FIG. 10 based on the turning state amount Tc of the vehicle. That is, when the turning state amount Tc is smaller than the predetermined value Tca, the correction coefficients Ktcf and Ktcr for the front wheels and the rear wheels are set to “1”. On the other hand, above the predetermined value Tca, the front wheel correction coefficient Ktcf increases from “1” and the rear wheel correction coefficient Ktcr decreases from “1” as the turning state amount Tc increases.

  In this case, the increase amount and the decrease amount of the front and rear wheel correction coefficients Ktcf and Ktcr from “1” are the vehicle deceleration increase characteristics (relationship between the braking operation amount and the vehicle deceleration) with respect to the braking operation amount Bs. It is determined so that it can be maintained substantially constant. In other words, the braking effectiveness coefficient, the effective braking radius, the wheel cylinder pressure receiving area, etc. are taken into consideration so that the amount of increase in the braking force with respect to the amount of increase in the correction coefficient is substantially equal to the amount of decrease in the braking force with respect to the amount of decrease in the correction coefficient. The correction coefficient Ktc # is set.

  It should be noted that the rear wheel correction coefficient Ktcr when the turning state quantity Tc is equal to or greater than the predetermined value Tcb (> Tca) by increasing the decreasing gradient of the rear wheel correction coefficient Ktcr with respect to the increase in the turning state quantity Tc at the predetermined value Tca or more. May be set to “0” (see Ktcr ′ in FIG. 10).

  Thus, as the turning state amount Tc increases, the front wheel ratio increases in the braking force distribution between the front and rear wheels by the correction coefficient Ktc #, and the rear wheel ratio decreases. As a result, the rear wheel cornering force is secured, so that vehicle stability is secured.

  The turning state quantity Tc is a state quantity that changes every moment due to braking, but the correction coefficients Ktcf and Ktcr for the front wheels and the rear wheels are set based on the turning state quantity Tco at the start of braking instead of the turning state quantity Tc. This also provides the same effect.

  The correction coefficients Ktcf and Ktcr for the front wheels and the rear wheels can be set based on the ground contact load of each wheel estimated according to the turning state amount Tc or Tco. In this case, a target value of the vehicle body deceleration is determined based on the braking operation amount Bs, and a total braking force for realizing this is calculated. The total braking force is distributed based on the ground load of each wheel. The ground load is estimated based on the detection result of the lateral acceleration sensor GY, the lateral acceleration Gy estimated based on the steering wheel angle δsw, and the vehicle reference specifications. Even in this case, the correction coefficients Ktcf and Ktcr for the front wheels and the rear wheels are calculated based on the turning state amount Tc or Tco.

3. Calculation of Correction Value (Correction Coefficient) Kpy # Based on Wheel State Quantity The wheel state quantity Py ** is a value that represents the slipperiness of each wheel, and the wheel state quantity Py ** that represents the slipperiness of each wheel. The correction coefficient Kpy # is set based on at least one of the above. Further, since the stability of the vehicle largely depends on the rear wheel cornering force, the rear wheel wheel state quantity Pyr (the rear wheel's slippery wheel state quantity or the average of the rear two wheel state quantities) The correction coefficient Kpy # can be set based on the value. The rear wheel state quantity Pyr is calculated from the wheel state quantity Py ** of each wheel.

  Here, the wheel state quantity Py ** is, for example, a wheel slip speed S1 ** obtained from a difference between the vehicle body speed and the wheel speed, and a wheel slip rate Sr ** obtained by dividing the wheel slip speed by the vehicle body speed is used. You can also. The calculation can also be performed using a known road surface μ gradient (for example, Japanese Patent Application Laid-Open No. 2001-133390, US Pat. No. 6,522,968) and a wheel grip degree (for example, Japanese Patent Application Laid-Open No. 2003-31465, US Pat. No. 6,895,317).

  When the wheel state quantity Py ** (or the rear wheel state quantity Pyr) is high (that is, when the wheel is slippery), the directional stability of the vehicle is important. Therefore, the correction coefficient Kpy # is set as shown in FIG. 11 based on the wheel state quantity Py ** (or the rear wheel state quantity Pyr) of at least one of the wheels. That is, when the wheel state amount Py ** (or the rear wheel state amount Pyr) is smaller than the predetermined value Pya (Pyra), the front wheel and rear wheel correction coefficients Kpyf and Kpyr are set to “1”. On the other hand, above the predetermined value Pya (Pyra), the front wheel correction coefficient Kpyf increases from “1” as the wheel state quantity Py ** (or rear wheel state quantity Pyr) increases, and the rear wheel correction coefficient Kpyr. Decreases from “1”.

  In this case, the increase amount and the decrease amount of the front wheel and rear wheel correction coefficients Kpyf and Kpyr from “1” are the vehicle deceleration increase characteristics (relationship between the braking operation amount and the vehicle deceleration) with respect to the braking operation amount Bs. It is determined that it can be kept substantially constant. In other words, the braking effectiveness coefficient, the effective braking radius, the wheel cylinder pressure receiving area, etc. are taken into consideration so that the amount of increase in the braking force with respect to the amount of increase in the correction coefficient is substantially equal to the amount of decrease in the braking force with respect to the amount of decrease in the correction coefficient. The correction coefficient Kpy # is set.

  When the wheel state quantity Py ** is greater than or equal to the predetermined value Pyb (> Pya) by increasing the decreasing gradient of the rear wheel correction coefficient Kpyr with respect to the increase in the wheel state quantity Py ** above the predetermined value Pya (Pyra). Alternatively, the rear wheel correction coefficient Kpyr may be set to “0” (see Kpyr ′ in FIG. 11).

  Thus, as the wheel becomes slippery, the front wheel ratio increases and the rear wheel ratio decreases in the braking force distribution between the front and rear wheels by the correction coefficient Kpy #. Therefore, even if a slight slip angle is generated in the vehicle body due to disturbance or the like, the rear wheel cornering force is ensured, so that vehicle stability (direction stability) is ensured. As described above, the means for determining the auxiliary pressure target value SP # t in this way corresponds to the “target amount determination means”.

<Drive means>
Referring again to FIG. 3, the driving means applies the auxiliary pressure to the pressure generated by the first pressure generating means (master cylinder MC) to control the wheel cylinder pressure Pw ** of each wheel. Drives and controls the generating means (electric motor / pump) and the pressure adjusting means (linear solenoid valve LV #) of the front and rear wheel systems. That is, based on the auxiliary pressure target values SPft and SPrt calculated in the auxiliary pressure target value calculation, the rotation of the electric motor M and the opening and closing of the linear solenoid valves LV # of the front and rear wheel systems are controlled.

  Based on the auxiliary pressure target values SPft and SPrt, the electric motor M is controlled to a pump rotational speed capable of supplying the auxiliary pressure target values SPft and SPrt. Based on the detection result of the detection means BS (for example, the master cylinder pressure Pm #) and the auxiliary pressure target values SPft and SPrt, the pressure target values of the front and rear wheel systems are calculated. Based on these, the current value for driving the linear solenoid valve LV # is determined, and the linear solenoid valve LV # is controlled.

  When each of the front wheel and rear wheel systems is provided with a pressure sensor P **, feedback control is performed so that the actual pressure detected by the pressure sensor P ** matches the target pressure value. The pressure sensor P ** can be omitted. At this time, the pressure can be estimated based on the movement of the wheel (the process of the change in the wheel speed), the operating state of the solenoid valve, and the like.

(Second Embodiment)
Next, the overall configuration of the vehicle brake control device according to the second embodiment will be described. As shown in FIGS. 12 and 13 showing the overall configuration, the second embodiment is different from the first embodiment having “front and rear pipes” only in that “diagonal pipes” are provided. That is, in the second embodiment, the two hydraulic pressure generation chambers of the master cylinder MC include the first system brake pipe (first hydraulic pipe) related to the left front wheel and the right rear wheel, the right front wheel, and the left rear. A second system braking pipe (second hydraulic pipe) related to the wheel is connected.

《Brake control configuration》
Next, the configuration of the braking control by the vehicle braking control apparatus according to the second embodiment will be described with reference to FIG.
<Calculation of auxiliary pressure reference value SP # o>
In the case of the first embodiment having “front and rear piping” as described above, different auxiliary pressure reference values are set for the front wheel and the rear wheel with respect to the braking operation amount Bs, but the second having “diagonal piping”. In the case of the embodiment, as shown in FIG. 15, the auxiliary pressure reference values SP1o and SP2o are calculated using the same characteristics in the first and second systems. In this case, the auxiliary pressure reference value SP # o increases proportionally (linearly) from “0” as the braking operation amount Bs increases from “0”.

  The auxiliary pressure reference value SP # o may be set so as to increase from “0” with a “convex downward” characteristic in response to an increase in the braking operation amount Bs from “0”. Alternatively, it may be set so as to increase from “0” by approximating the characteristic of “convex downward” and by a plurality of straight lines whose inclination increases as the braking operation amount Bs increases from “0”. .

  In setting the auxiliary pressure, an arbitrary amount of braking operation can be set as the starting point (starting point) for applying the auxiliary pressure. Here, it is desirable that a minute braking operation amount including “0” (“0” or a minute value in the vicinity of “0”) is used as a starting point for applying the auxiliary pressure. Although the operation characteristic of the brake pedal BP is changed by the application of the auxiliary pressure, a sense of discomfort to the driver can be suppressed by using a small amount of braking operation including “0” as the starting point of the application of the auxiliary pressure.

  Further, when the master cylinder MC includes a vacuum booster VB and the vacuum booster VB has a jump-in characteristic (a characteristic in which the assisting force of the vacuum booster increases stepwise from zero, also referred to as a jumping characteristic), this corresponds to a jump-in. The amount of braking operation can also be used as the starting point for applying auxiliary pressure. By combining the jump-in of the vacuum booster and the starting point of the application of the auxiliary pressure, it is possible to further suppress a sense of discomfort to the driver.

<Calculation of auxiliary pressure target value SP # t>
In the case of diagonal piping, it is necessary to generate a pressure difference between braking piping when the vehicle is turning. Therefore, the turning state amount Tc is calculated based on the detection result of the turning state amount detecting means TC, and the correction value (correction coefficient) Ktc # is calculated based on this.

  In addition, the slippage of the wheel (wheel state quantity) also changes with the movement of the load generated by turning, so the wheel state quantity Py ** is calculated based on the detection result of the wheel speed detection means WS **. Based on this, a correction value (correction coefficient) Kpy # may be calculated. In the second embodiment, the correction based on the correction value (correction coefficient) is performed only during turning.

<Calculation of correction value (correction coefficient)>
1. Calculation of Correction Value (Correction Coefficient) Kdc # Based on Traveling State Quantity The traveling state quantity in the case of diagonal piping is a state quantity (turning state quantity) Tc representing the turning motion of the vehicle. The correction value (correction coefficient) Kdc # is calculated based on the turning state amount Tc.

  When the vehicle turns, load movement occurs in the left-right direction, and the ground load on the turning inner ring side decreases. Further, since the load is moved in the front-rear direction during braking, the ground contact load on the rear wheel inside the turn is particularly reduced, and it may be difficult to ensure the rear wheel cornering force. If the rear-wheel cornering force cannot be secured, the vehicle will be caught in the direction of turning inside.

  Accordingly, the correction coefficient Ktc # (= Kdc #) is set as shown in FIG. 16 based on the turning state amount Tc of the vehicle. That is, when the turning state amount Tc is smaller than the predetermined value Tcc, the correction coefficients Ktcs and Ktcu are set to “1”. Here, Ktcs is a correction coefficient of the brake piping system including the turning outer front wheel, and Ktcu is a correction coefficient of the braking piping system including the turning inner front wheel. When the turning state amount is equal to or greater than the predetermined value Tcc, the correction coefficient Ktcs increases from “1” and the correction coefficient Ktcu decreases from “1” as the turning state amount Tc increases.

  The decrease amount of the correction coefficient Ktcu can make the increase amount of the correction coefficient Ktcs smaller. In the front wheels of the brake piping system including the turning inner front wheel, the ground load decreases due to load movement due to turning, but the ground load increases due to load movement due to braking. Further, in the rear wheel of the same system, the ground load increases due to load movement due to turning, but the ground load decreases due to load movement due to braking. Therefore, in order to keep the braking load, which is the ratio of the braking force to the ground load, approximately evenly at each wheel and to ensure the cornering force evenly, it is necessary to increase the amount of decrease in the auxiliary pressure in the brake piping system including the front wheels on the inside of the turn. There is no.

  On the other hand, since the ground contact load is reduced most in the rear wheel (turning inner rear wheel) including the front turning outer wheel, so-called ABS control or electronic braking distribution (EBD) is performed by the pressure increasing / decreasing means (see FIG. 12). Control) is performed, and the increase in braking pressure is limited based on the wheel slip speed. That is, the braking force that acts on the inner wheel on the inside of the turn is reduced.

  Therefore, in the brake piping system including the turning outer front wheel, the amount of increase in the auxiliary pressure is increased to increase the braking force of the turning outer front wheel. Thereby, the relationship between the amount of braking operation and the deceleration of a vehicle body can be made substantially constant. Further, since the yawing moment acting on the outside of the turn can be generated due to the braking force difference between the front wheels, it is possible to suppress the above-described vehicle entrainment.

2. Calculation of Correction Value (Correction Coefficient) Kpy # Based on Wheel State Quantity As a result of load movement accompanying turning, a wheel state quantity Py ** representing the slipperiness of each wheel changes. Therefore, the correction coefficient can be set using the wheel state amount Py ** of each wheel instead of the turning state amount Tc described above.

  Further, since the stability of the vehicle largely depends on the rear wheel cornering force, the rear wheel wheel state quantity Pyr (the rear wheel's slippery wheel state quantity or the average of the rear two wheel state quantities) The correction coefficient Kpy # can be set based on the value. The rear wheel state quantity Pyr is calculated from the wheel state quantity Py ** of each wheel.

  The correction value (correction coefficient) Kpy # based on this wheel state quantity is set as shown in FIG. That is, when the wheel state quantity Py ** (or the rear wheel state quantity Pyr) is smaller than the predetermined value Pyc (or Pyrc), the correction coefficients Kpys and Kpyu are set to “1”. Here, Kpys is a correction coefficient of the brake piping system including the turning outer front wheel, and Kpyu is a correction coefficient of the braking piping system including the turning inner front wheel. When the wheel state quantity Py ** (or the rear wheel state quantity Pyr) is equal to or greater than the predetermined value Pyc (or Pyrc), the correction coefficient is increased according to the increase in the wheel state quantity Py ** (or the rear wheel state quantity Pyr). Kpys increases from “1”, and the correction coefficient Kpyu decreases from “1”. By setting such a correction value (correction coefficient) Kpy #, the same effect as the correction based on the turning state amount can be obtained.

"effect"
Hereinafter, effects of the vehicle brake control device according to the first and second embodiments of the present invention will be described. The relationship of the wheel cylinder pressure Pw ** of each wheel with respect to the braking operation amount Bs is as shown in FIG. That is, the master cylinder MC (first pressure generating means) generates a braking pressure represented by the characteristic Pw1 ** in accordance with the driver's braking operation. To this braking pressure Pw1 **, a pump / electric motor (second pressure generating means) is generated, and an auxiliary pressure Pw2 ** adjusted by a linear solenoid valve LV # (pressure adjusting means) is applied. The pressure characteristic is represented by the characteristic Pw ** (= Pw1 ** + Pw2 **).

  The auxiliary pressurization is corrected based on at least one of the vehicle state quantity, the running state quantity, and the wheel state quantity, and is surrounded by the region A (the pressure characteristic Pw1 ** and the limit pressure characteristic in FIG. 18). Control within the range of the (region)).

  In FIG. 18, the correction to the reference value of the auxiliary pressure is performed at a point C (when the braking operation amount Bs is the value Bsc). While increasing the auxiliary pressure of the brake piping system on one side, the auxiliary pressure of the brake piping system on the other side is decreased. By this correction, as described above, the directional stability of the vehicle can be ensured and the relationship between the braking operation and the vehicle body deceleration can be made substantially constant.

  Although the correction of the auxiliary pressure is preferably performed at the same time, it is not always necessary to match the correction time points. Only the correction on one side is performed first, and the correction on the other side when the difference between the increase and decrease from the reference value exceeds the predetermined pressure (or the predetermined value of the braking force difference converted from the braking pressure) You can also start.

  During normal braking (in the present invention, when the vehicle specifications are the reference specifications, the vehicle speed is below a predetermined value, the vehicle is running straight ahead, and there is little slippage of the wheels and there is a margin in the grip) Also, an auxiliary pressure is generated. Therefore, when it is not during normal braking (when the vehicle specifications deviate from the reference specifications, or when the vehicle speed becomes higher than a predetermined value, during turning, or when the wheel slips greatly, the grip For the device using a braking pressure higher than the braking pressure generated at the time of normal braking, the ABS cylinder is connected to the ABS control valve (the pressure increasing / decreasing means in FIGS. 1 and 12). The region A in which the braking pressure can be controlled without being interrupted can be enlarged.

  The operation characteristics of the brake pedal (the relationship between the brake pedal stroke and the operation force) according to the driver's operation depend on the rigidity of the brake caliper, the brake pad, the brake pipe, and the like. In this embodiment, the braking force adjustment between the two systems of braking piping is performed within the range of adjustment of the auxiliary pressure, and the connection from the master cylinder to the wheel cylinder is blocked by the ABS control valve as much as possible. Absent. Therefore, it is possible to perform the braking force control without changing the operation characteristics of the brake pedal.

  In setting the auxiliary pressure, an arbitrary amount of braking operation can be set as the starting point for applying the auxiliary pressure. However, it is desirable that a minute braking operation amount including “0” (“0” or a minute value in the vicinity of “0”) be a starting point for applying the auxiliary pressure. This is to improve the connection of braking effect when the auxiliary pressure is applied.

  Furthermore, when a vacuum booster having the jump-in characteristic is provided, the braking operation amount corresponding to the jump-in can be set as the starting point for applying the auxiliary pressure. This is to improve the connection between the application of the assisting force and the application of the auxiliary pressure by the vacuum booster.

  FIG. 19 is a time chart showing an example of the case where the auxiliary pressures of the two brake piping systems are adjusted based on the turning state amount Tc as an example of operation when the first and second embodiments are applied. is there. Hereinafter, only the case where the first embodiment is applied will be described, but the same applies to the case where the second embodiment is applied.

  In a state where the vehicle is turning with the turning state amount Tc = Tc1, the braking operation is started at time t0. Note that the value Tc1 is greater than the value Tcb (see FIG. 10). When the braking operation amount Bs reaches the value Bs1 (minute value) at time t1, the adjustment of the auxiliary pressure is started.

  As a result, the auxiliary pressure of the front wheel system is corrected and increased, and the auxiliary pressure of the rear wheel system is corrected and decreased. Here, the reason why the correction amount gradually increases over a short period from the start of the correction of the auxiliary pressure (time t1) is based on the fact that there is a limit on the time change rate of the correction amount.

  The auxiliary pressure is adjusted based on the turning state amount Tc. For this reason, the correction amount of the auxiliary pressure decreases as the turning state amount Tc decreases due to the decrease in the vehicle speed (time t2 to t3). Here, the turning state amount Tc becomes the value Tcb at time t2, and becomes the value Tc2 (= Tca) at time t3 (see FIG. 10). Then, when the turning state amount Tc becomes equal to or less than the value Tc2, the adjustment of the auxiliary pressure is finished.

  The present invention is not limited to the above embodiment, and various modifications can be employed within the scope of the present invention. For example, in the above embodiment, the braking pressure generated by the master cylinder (first pressure generating means) has a characteristic that is approximately proportional to the braking operation amount Bs. However, as shown in FIG. 20, if the braking pressure characteristic Pw1 ** is a characteristic in which the slope (increasing slope) increases as the braking operation amount Bs increases, the range of adjustment by the auxiliary pressure can be expanded. .

  In FIG. 20, a characteristic constituted by two straight lines in which the slope (increasing gradient of the braking hydraulic pressure Pw1 ** with respect to the braking operation amount Bs) increases at the point D (when the braking operation amount Bs is the value Bsd) is adopted. However, a characteristic constituted by three or more straight lines whose inclination increases as the braking operation amount Bs increases, or a characteristic constituted by a curve may be employed.

  The characteristic of the braking pressure in which the inclination increases as the braking operation amount Bs increases can be realized based on the mechanical structure of the master cylinder as disclosed in, for example, Japanese Patent Laid-Open No. 2000-203409. Further, as disclosed in Japanese Patent Laid-Open No. 2002-347590, the structure of a link mechanism for supporting a brake pedal or a negative pressure booster (vacuum booster) as disclosed in Japanese Patent Laid-Open No. 10-250565 is used. Can be realized based on.

  Auxiliary pressure generated by the pump / electric motor (second pressure generating means) and adjusted by the linear solenoid valve (pressure adjusting means) with respect to the braking pressure characteristic Pw1 ** generated by the master cylinder (first pressure generating means) The pressure Pw2 ** is applied, and the characteristic of the pressure of the wheel cylinder is represented by the characteristic Pw ** (= Pw1 ** + Pw2 **). Since the slope of the braking pressure characteristic Pw1 ** increases as the braking operation amount Bs increases, the control range of the auxiliary pressure Pw2 ** is expanded as indicated by the region B. This is particularly effective when the auxiliary pressure is corrected to be lower than the reference value.

  Even when the auxiliary pressure cannot be sufficiently obtained due to a problem with the power source or the like, when the driver depresses the brake pedal, the braking pressure necessary for vehicle deceleration can be ensured in a region with a large inclination.

  In the above description, the correction value of the auxiliary pressure is used as the correction coefficient, and the auxiliary pressure is adjusted by multiplying the correction value by the reference value. However, instead of the correction coefficient, the correction value (correction pressure) is used in the pressure dimension. The auxiliary pressure may be adjusted by calculating and increasing / decreasing this with respect to the reference value.

It is a figure showing the whole brake control device composition for vehicles concerning a 1st embodiment of the present invention. It is the figure which showed the detail of the brake fluid pressure circuit in the whole structure shown in FIG. It is a functional block diagram when the apparatus shown in FIG. 1 performs braking control. It is the graph which showed the table which prescribes | regulates the relationship between the amount of braking operations, and the front wheel auxiliary pressure reference value which the apparatus shown in FIG. 1 refers. It is the graph which showed the table which prescribes | regulates the relationship between the amount of braking operation, and the rear-wheel auxiliary pressure reference value which the apparatus shown in FIG. 1 refers. 6 is a graph showing another example of a table that defines the relationship between the braking operation amount and the front wheel auxiliary pressure reference value, which is referred to by the apparatus shown in FIG. 1. 6 is a graph showing another example of a table that defines the relationship between the braking operation amount and the rear wheel auxiliary pressure reference value, which is referred to by the device shown in FIG. 1. It is the graph which showed the table which prescribes | regulates the relationship between a load distribution ratio and a correction coefficient which the apparatus shown in FIG. 1 refers. It is the graph which showed the table which prescribes | regulates the relationship between the eccentric load and the correction coefficient which the apparatus shown in FIG. 1 refers. It is the graph which showed the table which prescribes | regulates the relationship between the gravity center height and the correction coefficient which the apparatus shown in FIG. 1 refers. It is the graph which showed the table which prescribes | regulates the relationship between a vehicle body speed and a correction coefficient which the apparatus shown in FIG. 1 refers. It is the graph which showed the table which prescribes | regulates the relationship between a turning state quantity and a correction coefficient which the apparatus shown in FIG. 1 refers. It is the graph which showed the table which prescribes | regulates the relationship between a wheel state quantity and a correction coefficient which the apparatus shown in FIG. 1 refers. It is the figure which showed the whole structure of the braking control apparatus for vehicles which concerns on 2nd Embodiment of this invention. It is the figure which showed the detail of the brake hydraulic circuit in the whole structure shown in FIG. FIG. 13 is a functional block diagram when the device shown in FIG. 12 performs braking control. 13 is a graph showing a table that defines a relationship between a braking operation amount and an auxiliary pressure reference value, which is referred to by the device shown in FIG. 12. It is the graph which showed the table which prescribes | regulates the relationship between a turning state quantity and a correction coefficient which the apparatus shown in FIG. 12 refers. It is the graph which showed the table which prescribes | regulates the relationship between a wheel state quantity and a correction coefficient which the apparatus shown in FIG. 12 refers. It is a figure for demonstrating the effect of this invention. It is the time chart which showed an example in case the auxiliary pressure of two brake piping systems is adjusted based on a turning state quantity. It is a figure for demonstrating the effect by the brake control apparatus for vehicles which concerns on the modification of this invention.

Explanation of symbols

  MC ... Master cylinder, VB ... Vacuum booster, HP # ... Pump, M ... Motor, PM # ... Master cylinder pressure sensor, LV # ... Linear solenoid valve, WC ** ... Wheel cylinder

Claims (7)

Four wheel braking devices that respectively apply braking torque corresponding to the braking hydraulic pressure supplied to the wheel cylinders of the four front, rear, left, and right wheels of the vehicle to the corresponding wheels;
A first hydraulic pressure generating device having two hydraulic pressure generating chambers each generating a hydraulic pressure amount corresponding to a braking operation amount by a driver of the vehicle;
Hydraulic piping for front wheels that hydraulically connects one of the two hydraulic pressure generating chambers to two corresponding to the left and right front wheels of the four wheel braking devices;
A hydraulic piping for a rear wheel that hydraulically connects the other of the two hydraulic pressure generating chambers to two corresponding to the left and right rear wheels of the four wheel braking devices;
A power-driven second hydraulic pressure generating device that generates auxiliary hydraulic pressure added to the hydraulic pressure amount generated by the first hydraulic pressure generating device in each of the hydraulic piping of the front wheel and the rear wheel;
Detecting means for detecting the amount of braking operation;
Based on only the detected braking operation amount, reference amount determination means for determining the auxiliary hydraulic pressure reference amount for the front wheel in the hydraulic piping for the front wheel and the auxiliary hydraulic pressure reference amount for the rear wheel in the hydraulic piping for the rear wheel. When,
Obtaining means for obtaining at least one of a state quantity representing a load state of the vehicle, a state quantity representing a running state of the vehicle, and a state quantity representing the slipperiness of the wheels;
Based on the determined auxiliary hydraulic pressure reference amount of the front and rear wheels and the acquired state quantity, the auxiliary hydraulic pressure target amount of the front wheel in the hydraulic piping of the front wheel is greater than or equal to the auxiliary hydraulic pressure reference amount of the front wheel. and determines a value in the range of, at the same time, the target amount determination for determining the auxiliary hydraulic target amount of the rear wheels in the liquid pressure line of the rear wheel to a value in the range of less auxiliary hydraulic reference amount of the rear wheel Means,
Pressure adjusting means for adjusting the auxiliary hydraulic pressure in each of the hydraulic piping of the front wheel and the rear wheel so as to match the determined auxiliary hydraulic pressure target amount of the front wheel and the rear wheel, respectively;
A vehicle braking control apparatus comprising: Four wheel braking devices that respectively apply braking torque corresponding to the braking hydraulic pressure supplied to the wheel cylinders of the four front, rear, left, and right wheels of the vehicle to the corresponding wheels;
A first hydraulic pressure generating device having two hydraulic pressure generating chambers each generating a hydraulic pressure amount corresponding to a braking operation amount by a driver of the vehicle;
A first hydraulic pipe that hydraulically connects one of the two hydraulic pressure generating chambers to two corresponding to the left front wheel and the right rear wheel of the four wheel braking devices;
A second hydraulic pipe that hydraulically connects the other of the two hydraulic pressure generating chambers to two corresponding to the right front wheel and the left rear wheel of the four wheel braking devices;
A power-driven second hydraulic pressure generator for generating an auxiliary hydraulic pressure to be added to the hydraulic pressure amount generated by the first hydraulic pressure generator in each of the first and second hydraulic pressure pipes; ,
Detecting means for detecting the amount of braking operation;
A reference amount for determining a first auxiliary hydraulic pressure reference amount in the first hydraulic piping and a second auxiliary hydraulic pressure reference amount in the second hydraulic piping based only on the detected braking operation amount. A determination means;
Obtaining means for obtaining at least one of a state quantity representing a turning state of the vehicle and a state quantity representing the slipperiness of the wheels;
Based on the determined first and second auxiliary hydraulic pressure reference amounts and the acquired state amount in the turning state of the vehicle, the turning outer front wheel and the turning of the first and second hydraulic pipes The first auxiliary hydraulic pressure target amount in one hydraulic pressure pipe corresponding to the inner rear wheel is set as one auxiliary hydraulic pressure reference corresponding to the one hydraulic pressure pipe among the first and second auxiliary hydraulic pressure reference amounts. and determines a value in the range of more than an amount, at the same time, the first and the other liquid-pressure first in line 2 of the auxiliary hydraulic target amount the first of the second liquid pressure pipe, a second auxiliary Target amount determination means for determining a value within a range equal to or less than the other auxiliary hydraulic pressure reference amount of the hydraulic pressure reference amount;
Pressure adjusting means for adjusting the auxiliary hydraulic pressure in each of the one and the other hydraulic pipings so as to match the determined first and second auxiliary hydraulic pressure target amounts, respectively;
A vehicle braking control apparatus comprising: The vehicle brake control device according to claim 1,
The acquisition means includes
A vehicle braking control device configured to acquire a value representing a static loading state of the vehicle as a state quantity representing the load state. The vehicle brake control device according to claim 1,
The acquisition means includes
A vehicle braking control device configured to acquire at least one of a vehicle body speed of the vehicle and a value representing a turning state of the vehicle as a state quantity representing the traveling state. In the vehicle brake control device according to claim 1 or 2,
The acquisition means includes
A braking control device for a vehicle configured to acquire a slip speed of the wheel as a state quantity indicating the slipperiness of the wheel. In the vehicle brake control device according to claim 1 or 2,
The target amount determining means includes
The auxiliary hydraulic pressure target amount of the front wheel, the rear wheel, or the first and second auxiliary hydraulic pressure target amounts is larger than zero over a range where the braking operation amount is zero or larger than a minute value near zero. A vehicle braking control device configured to determine a value. The vehicle brake control device according to claim 1,
The reference amount determination means includes
The auxiliary hydraulic pressure reference amount of the front wheel is determined so as to increase with an increase in the braking operation amount and an increase gradient with an increase in the braking operation amount,
Brake control for a vehicle configured to determine the auxiliary hydraulic pressure reference amount of the rear wheel so as to increase as the braking operation amount increases and to decrease the increase gradient as the braking operation amount increases. apparatus.

Images