JP5011679B2 - Brake control device for vehicle - Google Patents

Description

  The present invention relates to a vehicle brake control device and a vehicle brake control system, and more particularly to a vehicle brake control device and a vehicle brake control system that control a brake device having an electric actuator.

  2. Description of the Related Art In recent years, many electronically controlled brake systems that control the braking force of each wheel so as to give an optimal braking force to the vehicle according to the traveling state of the vehicle have been adopted as a braking device in the vehicle. Such an electronically controlled brake system usually has an electric motor that drives a pump for accumulating pressure in an accumulator in order to supply hydraulic fluid to each wheel. In order to secure a space in the vehicle compartment, an electric parking brake is often used as a braking device in the vehicle. This electric parking brake also has an electric motor for applying braking force to the wheels. Thus, the motor as an electric actuator provided in the braking device receives supply of electric power from the battery mounted on the vehicle.

However, there are cases where such a battery has a low remaining capacity and the power supply voltage is lowered. In such a case, sufficient electric power is not supplied to the motor of the braking device described above, which may affect the operability or safety of the vehicle. For this reason, for example, Patent Document 1 proposes a vehicle power supply control device having battery switching means for switching the power supply of the vehicle electrical device from the main battery to the sub battery when the main battery is abnormal. For example, Patent Document 2 proposes a vehicular braking control device that lowers the ratio of the pressure in the wheel cylinder to the amount of braking operation performed by the driver when the power supply voltage decreases when the engine is started. For example, Patent Document 3 proposes a vehicular braking control device that regulates the discharge pressure of an electric pump when a power supply abnormality is detected.
JP 2000-261982 A JP 2004-216939 A JP 2000-177570 A

  However, in the technique proposed in the above-mentioned patent document, the state of the braking device such as the operating state and temperature of the braking device is not considered. For this reason, when there is a possibility that electric power may not be sufficiently supplied to an electric actuator such as a motor provided in the braking device, the electric device provided in the braking device is suppressed while suppressing a decrease in the function of the braking device to brake the vehicle. The power consumed by the actuator cannot be reduced.

  The present invention has been made in view of these problems, and an object of the present invention is to reduce the power consumed by the electric actuator provided in the braking device while suppressing a decrease in the function of the braking device to brake the vehicle. It is in.

  In order to solve the above-described problems, a vehicle braking control device according to an aspect of the present invention includes a braking device having an electric actuator that is operated to apply a braking force to wheels, and an electric actuator based on the state of the braking device. Control means for reducing the power supplied to the power supply. According to this aspect, since the power consumption of the electric actuator can be reduced based on the state of the braking device, the consumption of the electric actuator provided in the braking device while suppressing a decrease in the function of the braking device to brake the vehicle. It becomes possible to reduce electric power.

  The braking device may include a pressure accumulating unit that accumulates the pressure energy of the hydraulic fluid, a pump that increases the hydraulic fluid pressure of the pressure accumulating unit, and a pump motor as an electric actuator that drives the pump. The control means may reduce the electric power supplied to the pump motor based on the temperature of the pressure accumulating means. According to this aspect, it is possible to effectively reduce the electric power supplied to the pump motor in accordance with the characteristics of the pressure accumulating means that changes depending on the temperature. For this reason, it becomes possible to reduce the power consumption of the pump motor while suppressing a decrease in the function of the braking device braking the vehicle due to an abnormal low pressure in the pressure accumulating means.

  The control means changes the pump driving start pressure based on the temperature of the pressure accumulating means, and activates the pump motor when the hydraulic fluid pressure accumulated in the pressure accumulating means is lower than the changed pump driving start pressure. The hydraulic fluid pressure accumulated in the pressure may be increased. According to this aspect, the pump drive start pressure can be changed to a low value in accordance with the temperature of the pressure accumulating means. Thereby, the operation opportunity of the relay which operates a pump motor can be reduced. Moreover, since it is driven at a low pressure, the power consumption of the pump motor (starting power at the start of driving) can be reduced.

  The control means may change the pump drive start pressure to a low value when the temperature of the pressure accumulating means becomes high. When the temperature of the pressure accumulating means becomes high, even if the pump drive start pressure is changed to a low value, the pressure accumulating means is suppressed from becoming a low pressure abnormality. According to this aspect, the pump drive start pressure can be changed to a low value while suppressing the pressure accumulation means from becoming a low pressure abnormality. Thereby, the operation opportunity of the relay which operates a pump motor can be reduced. Moreover, since it is driven at a low pressure, the power consumption of the pump motor (starting power at the start of driving) can be reduced.

  The control means changes the pump driving stop pressure to a low value when the temperature of the pressure accumulating means becomes high, and when the hydraulic fluid pressure accumulated in the pressure accumulating means is higher than the changed pump driving stop pressure, The operation of the motor may be stopped. According to this aspect, when the temperature of the pressure accumulating means becomes high, the operation of the pump motor can be stopped when a lower hydraulic fluid pressure is accumulated in the pressure accumulating means than when the temperature is low. For this reason, the opportunity to operate the pump motor can be reduced, and the power consumption (due to the reduced rated current) of the pump motor can be reduced.

  You may further provide the battery which stores the electric power supplied to a pump motor. The control means may reduce the electric power supplied to the pump motor based on the temperature of the pressure accumulating means when the remaining amount of the battery becomes less than a predetermined value. According to this aspect, the power consumption of the pump can be reduced when the remaining amount of the battery is reduced, and the pump motor can be favorably controlled according to the remaining amount of the battery.

  The control means may reduce the electric power supplied to the electric actuator based on the operating state of the braking device. According to this aspect, it is possible to reduce the power consumption of the electric actuator while suppressing a reduction in the function of the braking device to brake the vehicle according to the operating state of the braking device.

  The brake device rotates together with the wheel, a first brake device having a pressure accumulating means for accumulating the pressure energy of the hydraulic fluid, a pump for increasing the hydraulic fluid pressure of the pressure accumulator, and a pump motor as an electric actuator for driving the pump. And a second braking device having a brake motor as an electric actuator that presses and drives the friction member on the rotating member. The control means may reduce the power supplied to the brake motor based on the operating state of the pump motor. According to this aspect, since the power consumption of the brake motor can be reduced based on the operating state of the pump motor, the power consumed simultaneously by both the pump motor and the brake motor can be reduced. For this reason, it can suppress that much electric power is consumed simultaneously by both a pump motor and a brake motor, suppressing the fall of the function which brakes the vehicle of a 1st braking device and a 2nd braking device.

  The control means may reduce the electric power supplied to the brake motor when the pump motor is operating or when the hydraulic fluid pressure accumulated in the pressure accumulating means is lower than the pump drive start pressure. According to this aspect, the electric power supplied to the brake motor can be reduced when the pump motor is operating, or when the pump motor is likely to operate, and is consumed simultaneously by both the pump motor and the brake motor. Electric power can be reduced. For this reason, it can suppress that much electric power is consumed simultaneously by both a pump motor and a brake motor, suppressing the fall of the function which brakes the vehicle of a 1st braking device and a 2nd braking device.

  The control means may reduce the power supplied to the brake motor while the vehicle is running, when the pump motor is operating or when the hydraulic fluid pressure accumulated in the pressure accumulating means is lower than the pump drive start pressure. Good. According to this aspect, while the vehicle is traveling, the power consumption of the brake motor can be reduced while suppressing a decrease in the function of braking the vehicle of the first braking device suitable for braking the traveling vehicle. it can.

  You may further provide the battery which stores the electric power supplied to a pump motor and a brake motor. The control means may reduce the electric power supplied to the brake motor based on the operating state of the pump motor when the remaining amount of the battery becomes less than a predetermined value. According to this aspect, when the remaining amount of the battery decreases, the power consumption of the brake motor can be reduced, and the brake motor can be favorably controlled according to the remaining amount of the battery.

  The braking device includes a first braking device having an electric actuator that is operated to apply a braking force to the wheel, and a second braking device that has an electric actuator that is operated to apply a braking force to the wheel. Also good. The control means may reduce the electric power supplied to the electric actuator of the other when the braking force is applied to the wheel by one of the first braking device and the second braking device. According to this aspect, both the electric actuator of the first braking device and the electric actuator of the second braking device can simultaneously generate a large amount of electric power while suppressing a decrease in the function of braking the vehicle of the first braking device and the second braking device. Consumption can be suppressed.

  The first braking device may include a pressure accumulating unit that accumulates pressure energy of the hydraulic fluid, a pump that increases the hydraulic fluid pressure of the pressure accumulating unit, and a pump motor that serves as an electric actuator that drives the pump. The second braking device may include a brake motor as an electric actuator that presses and drives the friction member on the rotating member that rotates together with the wheel. The control means may reduce the electric power supplied to the pump motor when a braking force is applied to the wheel by the second braking device. According to this aspect, the power consumption of the pump motor can be reduced while suppressing a decrease in the function of braking the vehicle of the first braking device and the second braking device.

An accumulator that stores the pressure energy of the hydraulic fluid, a pump that increases the hydraulic fluid pressure of the accumulator, a pump motor that drives the pump, and the hydraulic fluid supplied from the accumulator increases the hydraulic fluid pressure and rotates with the wheels. A first brake device having a wheel cylinder that causes the rotating member to press the friction member, a second brake device having a brake motor that presses and drives the friction member to the rotary member that rotates together with the wheel, and hydraulic pressure of the wheel cylinder And control means for controlling the braking force of the wheels by the first braking device and controlling the operation of the brake motor to control the braking force of the wheels by the second braking device. Control means, if a second braking force to the wheel by the braking device is already given, may be the hydraulic fluid pressure in the wheel cylinders to reduce the pressure when the braking force is applied to the wheel by the first brake device.

The first braking device may further include a master cylinder whose hydraulic pressure is increased by operating the brake pedal. Control means, if the braking force to the wheel by a second braking device when the braking force is applied to the wheel by the first braking device is already given, even by vacuum wheel cylinder to the hydraulic fluid pressure of the master cylinder Good.

Control means, during the vehicle stop, if the braking force to the wheel by a second braking device is already given, the hydraulic fluid pressure in the wheel cylinders to reduce the pressure when the braking force is applied to the wheel by the first braking device May be.

An accumulator that stores the pressure energy of the hydraulic fluid, a pump that increases the hydraulic fluid pressure of the accumulator, a pump motor that drives the pump, and the hydraulic fluid supplied from the accumulator increases the hydraulic fluid pressure and rotates with the wheels. A first brake device having a wheel cylinder that causes the rotating member to press the friction member, a second brake device having a brake motor that presses and drives the friction member to the rotary member that rotates together with the wheel, and hydraulic pressure of the wheel cylinder And control means for controlling the braking force of the wheels by the first braking device and controlling the operation of the brake motor to control the braking force of the wheels by the second braking device. Control means first when the braking force to the wheel by the braking device is already given, the hydraulic fluid pressure of the wheel cylinder may be reduced pressure when the braking force is applied to the wheel by a second brake device.

The first braking device may further include a master cylinder whose hydraulic pressure is increased by operating the brake pedal. Control means, if the braking force to the wheel by a first braking device is already given when the braking force is applied to the wheel by a second brake device, the hydraulic fluid pressure in the wheel cylinder to the hydraulic fluid pressure of the master cylinder The pressure may be reduced.

Control means, during the vehicle stop, if the braking force to the wheel by a first braking device is already given, the hydraulic fluid pressure in the wheel cylinders to reduce the pressure when the braking force is applied to the wheel by a second braking device May be.

  The braking device includes a first braking device having an electric actuator that is operated to apply a braking force to the wheel, and a second braking device that has an electric actuator that is operated to apply a braking force to the wheel. Also good. The control means may not start the operation of the electric actuator of the first braking device and the electric actuator of the second braking device at the same time. According to this aspect, it is possible to prevent a large amount of power from being consumed simultaneously by the electric actuator of the first braking device and the electric actuator of the second braking device. In addition, since either the electric actuator of the first braking device or the electric actuator of the second braking device can be operated, it is possible to suppress a decrease in the function of braking the vehicle of the first braking device and the second braking device. Can do.

  The first braking device may include a pressure accumulating unit that accumulates pressure energy of the hydraulic fluid, a pump that increases the hydraulic fluid pressure of the pressure accumulating unit, and a pump motor that serves as an electric actuator that drives the pump. The second braking device may include a brake motor as an electric actuator that presses and drives the friction member on the rotating member that rotates together with the wheel. The control means may not start the pump motor and the brake motor at the same time. According to this aspect, it can suppress that much electric power is consumed simultaneously by a pump motor and a brake motor. Moreover, since any one of a pump motor or a brake motor can be operated, the fall of the function which brakes the vehicle of a 1st braking device and a 2nd braking device can be suppressed.

  Another aspect of the present invention is a vehicle brake control system. The vehicle braking control system includes a braking device having an electric actuator that is operated to give a braking force to a wheel, a steering assist device having an electric actuator that is operated to assist steering of the vehicle, and a steering assist device. Control means for reducing electric power supplied to the electric actuator of the braking device based on the operating state of the electric actuator of the brake device. According to this aspect, it is possible to reduce the electric power consumed simultaneously by both the electric actuator of the steering assist device and the electric actuator of the braking device.

  The braking device may include a pressure accumulating unit that accumulates the pressure energy of the hydraulic fluid, a pump that increases the hydraulic fluid pressure of the pressure accumulating unit, and a pump motor as an electric actuator that drives the pump. The control means may reduce the electric power supplied to the pump motor based on the operating state of the electric actuator included in the steering assist device. According to this aspect, it is possible to reduce the power consumed simultaneously by both the electric actuator and the pump motor of the steering assist device.

  The control means changes the pump drive start pressure based on the operating state of the electric actuator included in the steering assist device, and when the hydraulic fluid pressure accumulated in the pressure accumulation means is lower than the changed pump drive start pressure, the pump motor And the hydraulic fluid pressure accumulated in the pressure accumulating means may be increased. According to this aspect, the opportunity to operate the pump motor can be reduced, and the power consumption of the pump motor can be reduced.

  The control means may change the pump drive start pressure to a low value when the electric power supplied to the electric actuator of the steering assist device is large. According to this aspect, when the electric power supplied to the electric actuator of the steering assist device is large, the pump motor is operated when the hydraulic fluid pressure accumulated in the pressure accumulating means is lower than when the electric power is small. Can do. Thereby, the operation opportunity of the relay which operates a pump motor can be reduced. Moreover, since it is driven at a low pressure, the power consumption of the pump motor (starting power at the start of driving) can be reduced.

  When the electric power supplied to the electric actuator of the steering assist device is large, the control means changes the pump drive stop pressure to a low value, and the hydraulic fluid pressure accumulated in the pressure accumulation means is greater than the changed pump drive stop pressure. If it is too high, the operation of the pump motor may be stopped. According to this aspect, when the electric power supplied to the electric actuator included in the steering assist device is large, the operation of the pump motor is stopped when the pressure accumulating means accumulates a lower hydraulic fluid pressure than when the electric power is small. Can do. For this reason, the opportunity to operate the pump motor can be reduced, and the power consumption of the pump motor can be reduced.

  The control means may change the pump drive start pressure to a low value when the steering angle is larger than a predetermined value. According to this aspect, it is possible to reduce the power consumed simultaneously by both the electric actuator and the pump motor of the steering assist device by detecting the steering angle.

  The control means may change the pump drive start pressure to a low value when the steering torque is greater than a predetermined value. According to this aspect, it is possible to reduce the power consumed simultaneously by both the electric actuator and the pump motor of the steering assist device by detecting the steering torque.

  The braking device may include a brake motor as an electric actuator that presses and drives the friction member on a rotating member that rotates together with the wheel. The control means may reduce the power supplied to the brake motor based on the operating state of the electric actuator included in the steering assist device. According to this aspect, it is possible to reduce the power consumed simultaneously by both the electric actuator and the brake motor of the steering assist device.

  You may further provide the battery which stores the electric power supplied to the electric actuator which a braking device has, and the actuator which a steering auxiliary device has. The control means may reduce the electric power supplied to the electric actuator included in the braking device based on the operating state of the electric actuator included in the steering assist device when the remaining amount of the battery is less than a predetermined value. According to this aspect, when the remaining amount of the battery decreases, the power consumption of the electric actuator included in the braking device can be reduced, and the electric actuator included in the braking device can be favorably controlled according to the remaining amount of the battery. It becomes possible to do.

  According to the vehicle brake control device of the present invention, it is possible to reduce the electric power consumed by the electric actuator provided in the brake device while suppressing a decrease in the function of the brake device to brake the vehicle.

  Hereinafter, embodiments of the present invention (hereinafter referred to as “embodiments”) will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is an overall configuration diagram of a vehicle braking control apparatus 200 according to the first embodiment. The vehicle brake control device 200 includes a battery 22, an electronic control unit 100 (hereinafter referred to as "ECU 100"), a hydraulic brake device, and the like.

  The hydraulic brake device includes a right front wheel brake 92FR, a left front wheel brake 92FL, a right rear wheel brake 92RR, a left rear wheel brake 92RL (hereinafter collectively referred to as “brake 92” as necessary), a brake hydraulic pressure generator. 20, a brake pedal 52, a stroke sensor 40, and the like. The hydraulic brake device functions as a hydraulic brake device that applies a braking force to the wheel by pressing the friction member against the rotating body that rotates together with the wheel according to the hydraulic pressure.

  The right front wheel brake 92FR, the left front wheel brake 92FL, the right rear wheel brake 92RR, and the left rear wheel brake 92RL are respectively referred to as the right front wheel 14FR, the left front wheel 14FL, the right rear wheel 14RR, and the left rear wheel 14RL (hereinafter collectively referred to as necessary). And "wheel 14"). The right front wheel brake 92FR, the left front wheel brake 92FL, the right rear wheel brake 92RR, and the left rear wheel brake 92RL include a right front wheel wheel cylinder 18FR, a left front wheel wheel cylinder 18FL, a right rear wheel wheel cylinder 18RR, and a left rear wheel, respectively. A wheel cylinder 18RL (hereinafter collectively referred to as “wheel cylinder 18” as necessary) is provided. The wheel cylinder 18 is connected to a brake fluid pressure generator 20, and the brake fluid pressure generator 20 increases and decreases the wheel cylinder pressure as the hydraulic fluid pressure of the wheel cylinder 18.

  When the wheel cylinder pressure is increased, the brake pad as the friction member is pressed by the caliper according to the wheel cylinder pressure against the disc rotor as the rotating body that rotates together with the wheel 14. As a result, a braking force is applied to the wheel 14 or the braking force applied to the wheel 14 is increased. When the wheel cylinder pressure is reduced, the brake pad is pulled back from the disk rotor, and the braking force applied to the wheel 14 is released or reduced.

  In this embodiment, disc brakes are employed for all four brakes 92, but it is a matter of course that drum brakes may be employed for all four wheels 14 or two rear wheels. In this case, when the wheel cylinder pressure is increased, the lining as the friction member is pressed together with the brake shoe against the drum as the rotating body that rotates together with the wheel 14 according to the wheel cylinder pressure. As a result, a braking force is applied to the wheel 14 or the braking force applied to the wheel 14 is increased. When the wheel cylinder pressure is reduced, the lining is pulled back together with the brake shoe by the shoe spring, and the braking force applied to the wheel 14 is released or reduced.

  The brake fluid pressure generator 20 has a pump motor 90 as an electric actuator. The pump motor 90 is connected to the ECU 100 via the relay 26, and the ECU 100 controls on / off of the relay 26. The relay 26 is also connected to the battery 22. When the relay 26 is turned on, electric power is supplied from the battery 22 to the pump motor 90, and the pump motor 90 operates.

  The vehicle brake control device 200 also includes sensors such as a wheel speed sensor 16, a battery remaining amount sensor 24, and an outside air temperature sensor 50. The wheel speed sensor 16 is provided in the vicinity of the wheel 14 and detects the rotation of the wheel 14 by a rotation sensor such as an electromagnetic pickup method or a Hall IC method. The battery remaining amount sensor 24 is provided in the battery 22 and detects the remaining amount of the battery 22 by detecting a potential difference of the battery 22. The outside air temperature sensor 50 is provided in front of the engine room of the vehicle body 12 and detects the outside air temperature of the vehicle 10. These sensors are connected to the ECU 100, and detection results from these sensors are input to the ECU 100.

  FIG. 2 is an overall configuration diagram of the hydraulic brake device 150 according to the first embodiment. The hydraulic brake device 150 includes a brake hydraulic pressure generator 20, a master cylinder 56, a brake 92, and the like. In this embodiment, the hydraulic brake device 150 employs an electronically controlled brake system. A braking force corresponding to the operation amount of the brake pedal 52 and the rotational speed of each wheel 14 is applied to each wheel 14 by the electronically controlled brake system.

  The brake pedal 52 is provided with a stroke sensor 40 that detects an operation amount by which the brake pedal 52 is depressed by the driver. A dry stroke simulator 54 is provided between the brake pedal 52 and the master cylinder 56.

  One end of a brake hydraulic pressure control conduit 68 for the right front wheel and one end of a brake hydraulic pressure control conduit 70 for the left front wheel are connected to the master cylinder 56. These brake hydraulic pressure control conduits are connected to the right front wheel wheel cylinder 18FR and the left front wheel wheel cylinder 18FL, respectively. Therefore, the master cylinder 56 and the right front wheel wheel cylinder 18FR are communicated by the brake hydraulic pressure control conduit 68. The master cylinder 56 and the left front wheel wheel cylinder 18FL are communicated with each other through a brake hydraulic pressure control conduit 70. For this reason, the brake hydraulic pressure control conduit 68 and the brake hydraulic pressure control conduit 70 function as a master cylinder communication path that connects the master cylinder 56 and the master cylinder of the front wheel. The master cylinder 56 pressure-feeds brake oil as hydraulic fluid to the brake hydraulic pressure control conduit 68 and the brake hydraulic pressure control conduit 70 in accordance with the depression operation of the brake pedal 52 by the driver.

  A right master cutoff valve 72FR is provided in the middle of the brake hydraulic control conduit 68. The right master shut-off valve 72FR is normally an electromagnetic valve in an open state (hereinafter referred to as “normally open type”), and shuts off the communication between the master cylinder 56 and the right front wheel wheel cylinder 18FR and releases the shut-off. Further, a left master cutoff valve 72FL is provided in the middle of the brake hydraulic pressure control conduit 70. The left master shut-off valve 72FL is a normally-open solenoid valve that shuts off the communication between the master cylinder 56 and the left front wheel wheel cylinder 18FL and releases the shut-off (hereinafter, the right master shut-off valve 72FR And the left master cutoff valve 72FL are collectively referred to as “master cutoff valve 72”). The drive circuit 112 supplies current to the master cutoff valve 72 with a duty corresponding to the control current input from the ECU 100. The master shut-off valve 72 opens and closes according to the supplied current, shuts off the communication between the master cylinder 56 and the wheel cylinder 18 and releases the shut-off.

  The brake hydraulic pressure control conduit 68 is provided with a right master cylinder pressure sensor 66FR, and the brake hydraulic pressure control conduit 70 is provided with a left master cylinder pressure sensor 66FL (hereinafter, the right master cylinder pressure sensor 66FR and the left master cylinder pressure sensor 66FL). Are collectively referred to as “master cylinder pressure sensor 66”). The right master cylinder pressure sensor 66FR and the left master cylinder pressure sensor 66FL detect the master cylinder pressure as the hydraulic fluid pressure of the master cylinder 56. The right master cylinder pressure sensor 66FR and the left master cylinder pressure sensor 66FL are connected to the ECU 100, and the detection results by these are input to the ECU 100.

  A reservoir tank 58 is connected to the master cylinder 56. In addition, a wet stroke simulator 62 is connected to the master cylinder 56 via an on-off valve 60. One end of a hydraulic supply / discharge conduit 64 is connected to the reservoir tank 58. The hydraulic supply / discharge conduit 64 is provided with a pump 80, and the discharge side of the pump 80 is connected to a high-pressure conduit 86. The pump 80 is driven by a pump motor 90 as an electric actuator. The high pressure conduit 86 is provided with an accumulator 82. The accumulator 82 has a function as a pressure accumulating means for accumulating a high hydraulic fluid pressure of, for example, 16 to 21.5 MPa increased by the pump motor 90. The high pressure conduit 86 is connected to the relief valve 84. When the accumulator pressure as the hydraulic fluid pressure of the accumulator 82 becomes a high pressure, for example, 30 MPa, the relief valve 84 is opened, and the high-pressure hydraulic fluid is released to the hydraulic supply / discharge conduit 64.

  The high-pressure conduit 86 is provided with an accumulator pressure sensor 88 that detects the accumulator pressure. The accumulator pressure sensor 88 is connected to the ECU 100, and the detection result of the accumulator pressure sensor 88 is input to the ECU 100. ECU 100 controls the operation and stoppage of pump motor 90 based on the detection result of accumulator pressure sensor 88 that has received the input.

  The high pressure conduit 86 includes a right front wheel pressure-increasing linear valve 74FR, a left front wheel pressure-increasing linear valve 74FL, a right rear wheel pressure-increasing linear valve 74RR, and a left rear wheel pressure-increasing linear valve 74RL (hereinafter collectively referred to as necessary). (Referred to as “pressure-increasing linear valve 74”). The right front wheel pressure-increasing linear valve 74FR, the left front wheel pressure-increasing linear valve 74FL, the right rear wheel pressure-increasing linear valve 74RR, and the left rear wheel pressure-increasing linear valve 74RL are respectively a right front wheel wheel cylinder 18FR and a left front wheel wheel cylinder 18FL. It is connected to the right rear wheel wheel cylinder 18RR and the left rear wheel wheel cylinder 18RL. Therefore, the accumulator 82 is connected to the wheel cylinders 18 of the four wheels 14 via the pressure increasing linear valve 74.

  The pressure-increasing linear valve 74 is a normally closed solenoid valve (referred to as a “normally closed type”), and the communication between the accumulator 82 and the wheel cylinder 18 is cut off in response to an operation command from the ECU 100. And release the block. When the pressure increasing linear valve 74 is opened, the hydraulic fluid pressure accumulated in the accumulator 82 is supplied to the wheel cylinder 18 to increase the wheel cylinder pressure.

  The right front wheel wheel cylinder 18FR, the left front wheel wheel cylinder 18FL, the right rear wheel wheel cylinder 18RR, and the left rear wheel wheel cylinder 18RL are respectively a right front wheel pressure reducing linear valve 76FR, a left front wheel pressure reducing linear valve 76FL, The rear wheel pressure reducing linear valve 76RR and the left rear wheel pressure reducing linear valve 76RL (hereinafter collectively referred to as “pressure reducing linear valve 76” as necessary) are connected to the hydraulic supply / discharge conduit 64. . The hydraulic supply / discharge conduit 64 is connected to the reservoir tank 58. Therefore, the wheel cylinder 18 is connected to the reservoir tank 58 via the pressure reducing linear valve 76.

  The right front wheel pressure reducing linear valve 76FR and the left front wheel pressure reducing linear valve 76FL are normally closed solenoid valves, and the right rear wheel pressure reducing linear valve 76RR and the left rear wheel pressure reducing linear valve 76RL are normally open type electromagnetic valves. It is a valve. In response to the operation command from the ECU 100, the pressure reducing linear valve 76 blocks communication between the reservoir tank 58 and the wheel cylinder 18 and releases the block. When the pressure reducing linear valve 76 is opened, the hydraulic fluid in the wheel cylinder 18 is released to the reservoir tank 58, and the wheel cylinder pressure is reduced.

  In the vicinity of each wheel cylinder 18 are a right front wheel W / C pressure sensor 78FR, a left front wheel W / C pressure sensor 78FL, a right rear wheel W / C pressure sensor 78RR, and a left rear wheel W / C pressure sensor. 78RL (hereinafter collectively referred to as “W / C pressure sensor 78” as necessary) is provided. The W / C pressure sensor 78 detects the wheel cylinder pressure of each wheel cylinder 18. The W / C pressure sensor 78 is connected to the ECU 100, and the detection result by the W / C pressure sensor 78 is input to the ECU 100.

  FIG. 3 is a functional block diagram of the ECU 100 in the vehicle braking control apparatus 200 according to the first embodiment. The ECU 100 includes a calculation unit 102, a ROM 104, a RAM 106, and the like, which are microcomputers.

The ROM 104 stores a plurality of programs such as a pressure-increasing linear valve control program, and a plurality of tables such as a pump driving table showing a pump driving start pressure P _on and a pump driving stop pressure P _off with respect to temperature. The RAM 106 is used as a work area for data storage and program execution. The arithmetic unit 102 executes various arithmetic operations using a program stored in the ROM 104, data stored in the RAM 106, and the like.

  The arithmetic unit 102 calculates the operation amount and operation force of the brake pedal 52 using the detection result of the stroke sensor 40 and the detection result of the master cylinder pressure sensor 66. The arithmetic unit 102 calculates the wheel cylinder pressure using the detection result of the W / C pressure sensor 78. The arithmetic unit 102 calculates the rotational speed of each wheel 14 using the detection result of the wheel speed sensor 16. The calculation unit 102 calculates the target wheel cylinder pressure of each wheel 14 based on the calculated operation amount and operation force of the brake pedal 52, wheel cylinder pressure, rotation speed of the wheel 14, and the like. The arithmetic unit 102 calculates a control current to be supplied to the pressure increasing linear valve 74 and the pressure reducing linear valve 76 from the calculated target wheel cylinder pressure. The calculated control current is output to the drive circuit 108 and the drive circuit 110. The drive circuit 108 and the drive circuit 110 supply current to the pressure-increasing linear valve 74 and the pressure-reducing linear valve 76 with a duty corresponding to the input control current. The pressure-increasing linear valve 74 and the pressure-decreasing linear valve 76 are opened and closed according to the supplied current to increase and decrease the wheel cylinder pressure. In this way, the electronically controlled brake system calculates the target wheel cylinder pressure of each of the four wheels 14 and controls the wheel cylinder pressure of each of the four wheels 14 to be the calculated target wheel cylinder pressure.

Moreover, the arithmetic unit 102 calculates the accumulator pressure using the detection result of the accumulator pressure sensor 88. ECU100 refers to the pump drive table stored in the ROM 104, the calculated accumulator pressure determines whether lower than the pump driving start pressure _{P on.} When the calculated accumulator pressure is lower than the pump drive start pressure P _on , the relay 26 is turned on to operate the pump motor 90 to increase the accumulator pressure. The ECU 100 refers to the pump drive table stored in the ROM 104 and determines whether or not the calculated accumulator pressure is higher than the pump drive stop pressure P _off . When the calculated accumulator pressure is higher than the pump drive stop pressure _Poff , the relay 26 is turned off to stop the operation of the pump motor 90, and the increase in the accumulator pressure is stopped. Thus, the ECU 100 controls the accumulator pressure so as to be within a predetermined pressure range.

  The arithmetic unit 102 calculates the remaining amount of the battery 22 using the detection result of the battery remaining amount sensor 24. The ECU 100 compares the calculated remaining amount of the battery 22 with the remaining amount when the system reset stored in the ROM 104 is executed. When the remaining amount of the battery 22 is smaller than the remaining amount when the system reset is executed, the ECU 100 executes the system reset and goes to the pump motor 90, the pressure increasing linear valve 74, the pressure reducing linear valve 76, and the master cutoff valve 72. Stop supplying power.

  When the system reset is executed, the wheel cylinder pressure cannot be increased or decreased by the pressure increasing linear valve 74 and the pressure reducing linear valve 76. On the other hand, since the master shut-off valve 72 is a normally-open electromagnetic valve, the master shut-off valve 72 is opened by stopping the supply of power to the master shut-off valve 72. Thus, the master cylinder 56 communicates with the right front wheel wheel cylinder 18FR and the left front wheel wheel cylinder 18FL. The master cylinder pressure increased by the operation of the brake pedal 52 is directly transmitted to the right front wheel wheel cylinder 18FR and the left front wheel wheel cylinder 18FL via the brake hydraulic pressure control conduit 68 and the brake hydraulic pressure control conduit 70, and the right front wheel 14FR and A braking force is applied to the left front wheel 14FL. As described above, by executing the system reset, it is possible to continuously apply the braking force to the wheels 14, but it is difficult to apply the braking force to each of the four wheels 14 by the electronically controlled brake system. It becomes.

  Further, in a state where the system reset is not executed, the wheel cylinder pressure is usually higher than the master cylinder pressure. For this reason, when the system reset is executed, the hydraulic fluid flows backward from the wheel cylinder 18 to the master cylinder 56. At this time, the master cylinder 56 is increased in pressure, and so-called kickback occurs in which the brake pedal 52 is pushed back in the direction opposite to the operation direction. If this kickback occurs while the driver is operating the brake pedal 52, the driver feels that the brake pedal 52 is pushed back, which may impair the operability of the driver. Thus, in order to give a braking force to the wheel 14 satisfactorily by the electronically controlled brake system and to suppress a reduction in the driver's operability, it is required to suppress the system reset.

For this reason, the vehicle brake control device 200 according to the present embodiment reduces the power supplied to the pump motor 90 based on the state of the hydraulic brake device 150. Specifically, the vehicle brake control device 200 changes the pump drive start pressure P _on based on the temperature of the accumulator 82 of the hydraulic brake device 150. The ECU 100 determines whether _to change the pump drive start pressure Pon using the detection result of the outside air temperature sensor 50.

FIG. 4 is a diagram illustrating a pump drive start pressure in the vehicle brake control apparatus 200 according to the first embodiment. In this figure, the horizontal axis indicates the gas capacity V of the accumulator 82, and the vertical axis indicates the accumulator pressure _Pacc . The curve on the left side of the figure shows the relationship between the gas volume V and the accumulator pressure P _acc when the accumulator temperature T _acc is equal to or lower than the threshold temperature T _1. The curve on the right side of the figure shows the relationship between the accumulator temperature T _{acc and the} threshold temperature T The relationship between the gas capacity V and the accumulator pressure P _acc when it is higher than ₁ is shown.

When the accumulator pressure _{P acc} is reduced to the low pressure abnormal pressure _{P e,} ECU 100 determines that the accumulator 82 is abnormal, stops the brake control by the electronic control brake system. For this reason, it takes some time until the accumulator 82 starts accumulating the hydraulic fluid pressure after the pump motor 90 is operated. Accumulator pressure when for accumulator pressure P _acc to suppress a decrease in low abnormal pressure P _e, consisting of gas volume V ₁ of the case to be low abnormal pressure P _e, the gas volume V ₂ that a margin only ΔV P ₁ has been normally set as a pump driving start pressure _{P on.}

When the temperature of the accumulator 82 is low, the gas capacity V becomes a lower value than the accumulator pressure P _acc as shown by the left curve in the figure. When the temperature of the accumulator 82 increases, the gas capacity V increases with respect to the accumulator pressure P _acc as shown by the curve on the right side of the figure. Therefore, the gas capacity when the low abnormal pressure P _e is changed to larger V ₃ than V _1. At this time, if you do not want to change the pump drive starting pressure P _on, the pump motor 90 allowance until the are accumulated onset of hydraulic fluid pressure from the hydraulic accumulator 82 is greater than [Delta] V V ₃ -V ₂ 'Become.

Therefore, in this embodiment, when the accumulator 82 is heated to a high temperature than the threshold temperature T _1, the V ₃ is a gas capacity when the low abnormal pressure P _e, is a gas volume which a margin only ΔV to _{P 2} is an accumulator pressure at which the V _4, to modify the pump drive starting pressure _{P on.} Thus, the accumulator pressure P _acc can be modified low while suppressing a decrease in the abnormal pressure P _e, to P ₂ lower than P ₁ before the change of the pump driving start pressure P _on. Thus, by changing the pump drive start pressure P _on to a low value, even when the accumulator pressure P _acc is lowered to a value lower than P ₁ before the change at a high temperature, for example, If it is ₂ or more, the operation of the pump motor 90 is inhibited. For this reason, the opportunity to operate the pump motor 90 can be reduced, and the power consumption of the pump motor 90 can be reduced. Moreover, since the opportunity to operate the pump motor 90 is reduced, the operation noise by the pump motor 90 can be reduced. Moreover, the opportunity to turn on / off the relay 26 can be reduced, and the life of the relay 26 can be increased.

  FIG. 5 is a flowchart showing processing of the vehicle brake control device 200 according to the first embodiment. The processing in this flowchart starts when the power source of the ECU 100 is turned on, and is repeated every predetermined time until the power source of the ECU 100 is turned off.

  The ECU 100 determines whether the pump motor 90 is not operating (S11). Whether or not the pump motor 90 is not operating is determined by detecting whether or not the supply of current to the pump motor 90 is stopped.

If the pump motor 90 is determined to not operating (S11 of Y), ECU 100 uses the detection result of the accumulator pressure sensor 88, the accumulator pressure _{P acc} is the pump drive start pressure _{P 1} at a low temperature It is determined whether or not it is small (S12). When it is determined that the accumulator pressure P _acc is equal to or higher than P ₁ (N in S12), the ECU 100 does not operate the pump motor 90 because the accumulator pressure P _acc has not decreased to the pump drive start pressure.

When the accumulator pressure _{P acc} is determined that _{P 1} is smaller than (S12 of Y), ECU 100 determines whether or not to change the pump drive starting pressure _{P on,} to change the determination processing of the pump driving start pressure _{P on} Transition. Changing the determination processing of the pump driving start pressure _{P on} the ECU 100, the battery remaining amount _{X B,} the vehicle speed _{Y C,} the accumulator temperature _{T acc,} the target wheel cylinder pressure _{P WT,} whether or not to change the pump drive starting pressure _{P on} Judging.

First, in the change determination process of the pump drive start pressure P _on , the ECU 100 uses the detection result of the battery remaining amount sensor 24 so that the battery remaining amount X _B is close to the battery remaining amount when the system reset is executed. It determines a predetermined remaining battery capacity _{X 1} less than or (S13). If the remaining battery capacity X _B is determined to X ₁ or more (S13 of N), is less likely that the system reset is performed by the battery power is low, the need to reduce the power consumption of the pump motor 90 Is low, the pump drive start pressure _Pon is not changed. The ECU 100 operates the pump motor 90 because the accumulator pressure P _acc has reached the pump drive start pressure P _on (S18).

If the remaining battery capacity _{X B} is determined to be _{X 1} is smaller than (S13 of Y), ECU 100 is the remaining battery capacity _{X B} is determined to be approaching the remaining battery capacity when the system reset is performed. Or Accordingly, ECU 100 may then, in order to suppress the influence of the braking of the vehicle when the vehicle is running by reducing the accumulator pressure, vehicle speed Y _C is zero by using the detection results of the wheel speed sensor 16 It is determined whether or not (S14).

If the vehicle speed Y _C is determined not to be zero, that is, when it is determined that the vehicle is traveling (S14 of N), ECU 100, in order to suppress the influence on the braking of the vehicle when the vehicle is traveling, the pump driving start pressure Do not change _Pon . The ECU 100 operates the pump motor 90 because the accumulator pressure P _acc has reached the pump drive start pressure P _on (S18).

If the vehicle speed _{Y C} is determined to be zero, that is, when it is determined that the vehicle is stopped (S14 of Y), ECU 100 uses the detection result of the outside air temperature sensor 50, an accumulator temperature _{T acc} is predetermined determines whether a higher threshold temperature _{T 1} (S15). Since the outside air temperature sensor 50 and the accumulator 82 are provided in the vicinity of the same engine room, in the vehicle braking control apparatus 200 according to this embodiment, the outside air temperature detected by the outside air temperature sensor 50 is used as the accumulator temperature T _acc. Handled.

If the accumulator temperature _{T acc} is determined to _{T 1} or less (S15 of N), ECU 100, in order to prevent the accumulator pressure _{P acc} is reduced to low abnormal pressure _{P e,} it does not change the pump drive starting pressure _{P on} . The ECU 100 operates the pump motor 90 because the accumulator pressure P _acc has reached the pump drive start pressure P _on (S18).

When it is determined that the accumulator temperature T _acc is higher than T ₁ (Y in S15), the ECU 100 reduces the accumulator pressure P _acc to the low-pressure abnormal pressure Pe even if the pump drive start pressure P _on is changed to a low value. It is determined that it can be suppressed. Therefore, ECU 100 is then target wheel cylinder pressure _{P WT} determines whether or lower or not than a predetermined wheel cylinder pressure _{P W1} representing the target cylinder pressure when the brake pedal 52 is operated strongly (S16).

When the target wheel cylinder pressure P _WT is judged to P _W1 higher (S16 of N), ECU 100, it is necessary to provide a strong braking force to the wheel for brake pedal 52 is operated strongly, pressure increasing high wheel cylinder pressure It is determined that it is necessary, and the pump drive start pressure _Pon is not changed. The ECU 100 operates the pump motor 90 because the accumulator pressure P _acc has reached the pump drive start pressure P _on (S18).

When the target wheel cylinder pressure _{P WT} is determined to be lower than _{P W1} (in S16 Y), ECU 100, in the change determination processing of the pump drive starting pressure _{P on,} to change the pump drive starting pressure _{P on,} battery It is determined that all the conditions of the remaining amount X _B , the vehicle speed Y _C , the accumulator temperature T _acc , and the target wheel cylinder pressure P _WT are satisfied, and the pump drive start pressure P _on is set as the pump drive start pressure P ₁ at low temperature. changing the pump driving start pressure P ₂ at high temperature from.

Since the pump drive start pressure P _on has been changed to P ₂ , the ECU 100 determines whether or not the accumulator pressure P _acc is smaller than P ₂ (S17). When it is determined that the accumulator pressure P _acc is equal to or higher than P ₂ (N in S17), the ECU 100 does not operate the pump motor 90 because the accumulator pressure P _acc has not reached the pump drive start pressure P _on , and this flowchart The process in is terminated. As a result, the opportunity to operate the pump motor 90 is reduced, so that the power consumption of the pump motor 90 can be reduced. When it is determined that the accumulator pressure P _acc is smaller than P ₂ (Y in S17), since the accumulator pressure P _acc has reached the pump drive start pressure P _on , the ECU 100 operates the pump motor 90 (S18).

When it is determined that the pump motor 90 is operated (N in S11), the ECU 100 determines whether or not the accumulator pressure P _acc is greater than P ₃ that is the pump drive stop pressure P _off (S19). When it is determined that the accumulator pressure P _acc is equal to or lower than P ₃ (N in S19), the ECU 100 continues the operation of the pump motor 90 because the accumulator pressure P _acc has not reached the pump drive stop pressure P _off . When it is determined that the accumulator pressure P _acc is greater than P ₃ (Y in S19), it is determined that the accumulator pressure P _acc has reached the pump drive stop pressure P _off , and the ECU 100 stops the operation of the pump motor 90 ( S20).

(Second Embodiment)
FIG. 6 is a diagram illustrating a pump drive start pressure and a pump drive stop pressure in the vehicle brake control apparatus 200 according to the second embodiment. Note that description of portions similar to those in the first embodiment is omitted.

Also in this embodiment, similarly to the first embodiment, when the accumulator temperature T _acc of the accumulator 82 is larger than the predetermined threshold temperature T ₁ , the pump drive start pressure P _on is changed from P ₁ to P ₂ . . At this time, ECU 100 changes the pump drive stop pressure _{P off} which is set to _{P 3} to _{P 4} of a lower value than _{P 3.} The pump drive stop pressure P _off is changed so that the difference between the pump drive start pressure P _on and the pump drive stop pressure P _off does not change. For example, in this _embodiment, so that the P 3 -P ₁ and _P 4 -P ₂ equal, ECU 100 changes the pump drive stop pressure _{P off.}

By changing the pump drive stop pressure P _off to a low value in this way, when the pump motor 90 is operating at a high temperature, for example, the accumulator pressure P _acc does not reach P ₃ before the change. even, if reached P ₂ after the change, the operation of the pump motor 90 is stopped. For this reason, the power consumption of the pump motor 90 can be reduced by reducing the opportunity to operate the pump motor 90. Moreover, since the opportunity to operate the pump motor 90 is reduced, the operation noise by the pump motor 90 can be reduced. Moreover, the opportunity to turn on / off the relay 26 can be reduced, and the life of the relay 26 can be increased.

  FIG. 7 is a flowchart showing processing of the vehicle brake control device 200 according to the second embodiment. The processing in this flowchart starts when the power source of the ECU 100 is turned on, and is repeated every predetermined time until the power source of the ECU 100 is turned off. Note that a description of the same parts as in FIG. 5 is omitted.

Since S31 to S37 are the same as the description of S11 to S17 in FIG. Also in the present embodiment, in the pump drive start pressure P _on change determination process, when all the change conditions for the pump drive start pressure P _on are satisfied, the ECU 100 sets the pump drive start pressure P _on higher than P ₁ before the change. to change to _{P 2} of low value. And if the change condition of the pump drive starting pressure P _on the filled all, (Y of S33) remaining battery capacity X _B is determined to a predetermined remaining battery capacity X ₁ smaller, it determines that the vehicle speed Y _C is zero is (S34 of Y), (Y of S35) accumulator temperature _{T acc} is determined to be higher than the predetermined threshold temperature _{T 1,} when the target wheel cylinder pressure _{P WT} is determined to a predetermined wheel cylinder pressure _{P W1} smaller (Y in S36).

In a variation determination process of the pump drive starting pressure _{P on,} changing conditions of the pump drive starting pressure _{P on} all met, when the pump driving start pressure _{P on} is changed to _{P 2} (S36 of Y), ECU 100 is an accumulator It is determined whether or not the pressure P _acc is lower than P ₂ (S37). When it is determined that the accumulator pressure P _acc is lower than P ₂ (Y in S37), since the accumulator pressure P _acc has reached the pump drive start pressure P _on , the ECU 100 operates the pump motor 90 (S38), The pump drive stop pressure P _off is set to P ₄ (S39).

In a variation determination process of the pump drive starting pressure _{P on,} if any of the changing condition of the pump driving start pressure _{P on} is not satisfied, ECU 100 does not change the pump drive starting pressure _{P on} the _{P 1.} The case where any of the conditions for changing the pump drive start pressure P _on is not satisfied means that the remaining battery level X _B is determined to be equal to or greater than the predetermined remaining battery level X ₁ (N in S33), or the vehicle speed Y _C is zero. If it is determined that the accumulator temperature T _acc is equal to or lower than the predetermined threshold temperature T ₁ (N in S35), or the target wheel cylinder pressure _PWT is the predetermined wheel cylinder pressure. This is the case when it is determined that P _W1 or more (N in S36). When the pump drive start pressure P _on is not changed from P ₁ , the ECU 100 operates the pump motor 90 because the accumulator pressure P _acc has reached the pump drive start pressure P _on (S40), and the pump drive stop pressure P _off. the set to _{P 3} (S41).

If the pump motor 90 is determined to be operating (S31 of N), ECU 100 is an accumulator pressure _{P acc} is determined whether greater than the set value of the pump drive stop pressure _{P off} (S42). That is, when the pump drive stop pressure P _off is set to P ₃ , the ECU 100 determines whether or not the accumulator pressure P _acc is greater than P ₃ . If the pump drive stop pressure _{P off} is set to _{P 4,} ECU 100 includes an accumulator pressure _{P acc} is determined whether greater than _{P 4.}

When the accumulator pressure _{P acc} is determined to be equal to or less than the set value of the pump drive stop pressure _{P off} (S42 in N), since the accumulator pressure _{P acc} does not reach the pump drive stop pressure _{P off,} ECU 100 is a pump motor 90 Continue operation. When the accumulator pressure _{P acc} is determined to be larger than the set value of the pump drive stop pressure _{P off} (S42 of Y), the accumulator pressure _{P acc} is determined to have reached the pump drive stop pressure _{P off,} ECU 100, the pump motor The operation of 90 is stopped (S43). Therefore, when the temperature of the accumulator 82 is high and the pump drive start pressure P _on is set to P ₄ , the opportunity to operate the pump motor 90 is reduced, so that the power consumption of the pump motor 90 can be reduced. .

(Third embodiment)
FIG. 8 is an overall configuration diagram of a vehicle brake control device 200 according to the third embodiment. The vehicle brake control device 200 includes a battery 22, an ECU 100, a hydraulic brake device, an electric parking brake device, and the like. Note that a description of the same parts as those in the above-described embodiment is omitted.

  As the hydraulic brake device, an electronically controlled brake system similar to the hydraulic brake device 150 described in FIGS. 1 and 2 is employed. A braking force corresponding to the operation amount of the brake pedal 52 and the rotational speed of each wheel 14 is applied to each wheel 14 by the electronically controlled brake system.

  The electric parking brake device includes a brake motor 30 as an electric actuator, a speed reduction mechanism 32, a tension sensor 34, a basic wire 35, a balancer 36, a right wire 38R, a left wire 38L, a right rear wheel brake 92RR, a left rear wheel brake 92RL, a parking lot. A brake switch 46 and the like are included. In the present embodiment, the right rear wheel brake 92RR and the left rear wheel brake 92RL are shared with the hydraulic brake device. The electric parking brake device functions as an electric braking device that applies a braking force to the wheels by pressing the friction member against the rotating body that rotates together with the wheels by hydraulic power.

  The brake motor 30 employs a motor capable of normal / reverse rotation, and the motor shaft rotates forward and backward according to the supplied current. The brake motor 30 is connected to the ECU 100 via the drive circuit 28. The brake motor 30 is also connected to the battery 22 via the drive circuit 28. Therefore, the battery 22 supplies power to both the pump motor 90 and the battery 22. The ECU 100 supplies a control current to the drive circuit 28, and the drive circuit 28 supplies a current to the brake motor 30 with a duty corresponding to the supplied control current. The brake motor 30 rotates with a torque corresponding to the duty of the supplied current.

  The motor shaft of the brake motor 30 is connected to a speed reduction mechanism 32 configured by a gear mechanism, and the speed reduction mechanism 32 is connected to one end of a basic wire 35. The speed reduction mechanism 32 converts the rotational motion of the low-torque brake motor 30 into the tensile motion of the basic wire 35 having a high tensile force. Further, the speed reduction mechanism 32 is configured such that the tensile force of the basic wire 35 is not transmitted to the brake motor 30. Thus, for example, even when electric power is not supplied to the brake motor 30 and torque is not applied to the speed reduction mechanism 32 by the brake motor 30, the electric parking brake device holds the right rear wheel brake 92RR and the left rear wheel brake 92RL. Thus, the braking force can be continuously applied to the right rear wheel 14RR and the left rear wheel 14RL.

  The basic wire 35 is provided with a tension sensor 34 that detects the tension of the basic wire 35. The tension sensor 34 is connected to the ECU 100, and the detection result of the tension sensor 34 is input to the ECU 100.

  The other end of the basic wire 35 is connected to the approximate center of the balancer 36. One end of the right wire 38R is connected to the right end portion of the balancer 36, and one end of the left wire 38L is connected to the left end portion. In the right rear wheel brake 92RR, the other end of the right wire 38R is connected to the brake shoe via a brake shoe lever (not shown). Similarly, in the left rear wheel brake 92RL, the other end of the left wire 38L is connected to the brake shoe via a brake shoe lever.

  A parking brake switch 46 is provided in the vehicle 10. The parking brake switch 46 is configured to be turned on and off by an operator, and the parking brake switch 46 detects an on and off operation by the operator. The parking brake switch 46 is connected to the ECU 100, and the detection result is input to the ECU 100.

  When the parking brake switch 46 is operated from OFF to ON by the operator, the ECU 100 controls the brake motor 30 by inputting a control current to the drive circuit 28 so that the motor shaft of the brake motor 30 rotates forward. When the motor shaft of the brake motor 30 rotates forward, a tensile force is applied to the basic wire 35 via the speed reduction mechanism 32. As a result, a tensile force is also applied to the right wire 38R and the left wire 38L via the balancer 36.

In the right rear wheel brake 92RR and the left rear wheel brake 92RL, when a tensile force is applied to the right wire 38R and the left wire 38L, the brake shoes coupled thereto are driven. In accordance with these tensile forces, the lining as a friction member is pressed and driven by a drum as a rotating body that rotates together with the wheel 14, and braking force is applied to the right rear wheel 14RR and the left rear wheel 14RL.
At this time, the balancer 36 rotates around the substantially central portion to which the basic wire 35 is connected in accordance with the difference in tension between the right wire 38R and the left wire 38L. Even if the lengths of the right wire 38R and the left wire 38L are different or change due to changes over time, a substantially equal tensile force is applied to the right wire 38R and the left wire 38L, the right rear wheel 14RR and An equal braking force can be applied to the left rear wheel 14RL. When it is determined from the detection result of the tension sensor 34 that the tension of the basic wire 35 has reached the target value, the ECU 100 stops increasing the current supplied to the brake motor 30 and the current supplied to the brake motor 30. Is kept constant.

  When the parking brake switch 46 is operated from on to off by the operator, the ECU 100 controls the brake motor 30 so that the motor shaft rotates in the reverse direction. By reversely rotating the motor shaft of the brake motor 30, the tensile force applied to the basic wire 35 is gradually reduced, and the tensile force applied to the right wire 38R and the left wire 38L is also gradually reduced. The brake shoe coupled to the right wire 38R and the left wire 38L is pulled back from the drum by the shoe spring together with the lining, and the braking force applied to the wheel 14 is released. When it is determined from the detection result of the tension sensor 34 that the tension of the basic wire 35 has been reduced to a predetermined value, the ECU 100 stops supplying current to the brake motor 30 and stops the operation of the brake motor 30. .

  FIG. 9 is a flowchart showing processing of the vehicle brake control device 200 according to the third embodiment. The processing in this flowchart starts when the power source of the ECU 100 is turned on, and is repeated every predetermined time until the power source of the ECU 100 is turned off.

ECU100 the vehicle speed _{Y C} whether greater than zero, i.e., determines whether the vehicle 10 is either running (S51). Greater than zero vehicle speed _{Y C,} i.e. when the vehicle 10 is determined to traveling (S51 of Y), ECU 100 performs the hydraulic brake priority control (S52). If the vehicle speed _{Y C} is zero, i.e. the vehicle 10 is determined to stopped (S51 of N), ECU 100 performs the parking brake priority control (S53).

  The hydraulic brake priority control according to the present embodiment is performed when the braking of the wheel 14 by the hydraulic braking device 150 employing the electronic control brake system and the braking of the wheel 14 by the electric parking brake device are performed simultaneously. Control that prioritizes braking of the wheels 14 by the brake device 150 and reduces power consumption of the electric parking brake device. In addition, parking brake priority control gives priority to braking of the wheel 14 by the electric parking brake device when the braking of the wheel 14 by the hydraulic brake device 150 and the braking of the wheel 14 by the electric parking brake device are performed simultaneously. Control that reduces the power consumption of the hydraulic brake device 150. The hydraulic brake device 150 is more suitable for braking the traveling vehicle 10 than the electric parking brake device. For this reason, during the traveling of the vehicle 10, the hydraulic brake priority control is performed in order to suppress a decrease in the function of the hydraulic brake device 150 braking the vehicle 10. In addition, the electric parking brake device can maintain the vehicle 10 in a stopped state. For this reason, when the vehicle 10 is stopped, parking brake priority control is performed in order to suppress a decrease in the function of the electric parking brake device to brake the vehicle 10.

  FIG. 10 is a flowchart showing the hydraulic brake priority control process of S52 in FIG. In the hydraulic brake priority control, the ECU 100 first determines whether or not the hydraulic brake device 150 has been operated from off to on, that is, whether or not the brake pedal 52 has been operated by the driver (S61). Whether or not the brake pedal 52 has been operated is determined using the detection result of the stroke sensor 40 and the detection result of the master cylinder pressure sensor 66.

If the hydraulic brake device 150 is determined to have been operated from OFF to ON (S61 in Y), ECU 100 uses the detection result of the tension sensor 34, the tension _{F P} of the base wire 35 is given tensile force _{F 1} It is determined whether it is larger (S62). Thus, ECU 100 determines whether braking force is applied to right rear wheel 14RR and left rear wheel 14RL by the electric parking brake device.

If the tensile force _{F P} of the base wire 35 is determined to a predetermined greater tension _{F 1} (S62 of Y), ECU 100 determines that braking force to the right rear wheel 14RR and rear left wheel 14RL is given, The braking control of the right front wheel 14FR and the left front wheel 14FL is performed, and the braking control of the right rear wheel 14RR and the left rear wheel 14RL is stopped (S63). As a result, it is possible to suppress an overlapping braking force from being applied to the right rear wheel 14RR and the left rear wheel 14RL. Since the braking control of the right rear wheel 14RR and the left rear wheel 14RL is stopped, the supply of hydraulic fluid from the accumulator 82 to the wheel cylinders 18 of the right rear wheel 14RR and the left rear wheel 14RL is suppressed. For this reason, the opportunity to operate the pump motor 90 is reduced, and the power consumption of the pump motor 90 can be reduced.

  At this time, the ECU 100 may stop supplying power to the brake motor 30. Even when the supply of electric power to the brake motor 30 is stopped, the braking force applied to the right rear wheel 14RR and the left rear wheel 14RL by the electric parking brake device is maintained by the frictional force of the gear of the speed reduction mechanism 32 or the like. . As a result, the pump motor 90 and the brake motor 30 are prevented from being operated simultaneously, and the power consumed by the pump motor 90 and the brake motor 30 can be reduced.

If the tensile force _{F P} of the base wire 35 is determined to a predetermined tension _{F 1} below (S62 of N), ECU 100 is a braking force is not given to the right rear wheel 14RR and rear left wheel 14RL by the electric parking brake system Therefore, the brake control of all four wheels 14 by the electronically controlled brake system is performed as usual (S64).

  When it is determined that the hydraulic brake device 150 is not operated from off to on (N in S61), the ECU 100 uses the detection result of the parking brake switch 46 to turn off the parking brake switch 46 from the off state by the operator. It is determined whether or not it has been turned on (S65). When it is determined that the parking brake switch is not operated from OFF to ON (N in S65), the ECU 100 does not operate both the hydraulic brake device 150 and the electric parking brake device.

  When it is determined that the parking brake switch 46 has been operated from OFF to ON (Y in S65), the ECU 100 determines whether or not the hydraulic brake device 150 is operating (S66). Whether or not the hydraulic brake device 150 is operating is determined by whether or not the brake pedal 52 is operated by the driver. Therefore, whether or not the hydraulic brake device 150 is operating is determined using the detection result of the stroke sensor 40.

  As described above, when the electric parking brake device is operated while the hydraulic brake device 150 is operating, the ECU 100 reduces the electric power supplied to the brake motor 30 based on the operating state of the pump motor 90. Since the power consumption of the brake motor 30 can be reduced based on the operating state of the pump motor 90, the power consumed simultaneously by both the pump motor 90 and the brake motor 30 can be reduced. Therefore, it is possible to suppress a large amount of power from being consumed simultaneously by both the pump motor 90 and the brake motor 30 while suppressing a decrease in the function of the first braking device or the second braking device braking the vehicle.

Specifically, when it is determined that the hydraulic brake device 150 is operating (Y in S66), the ECU 100 determines whether the relay 26 is turned on, whereby the pump motor 90 is operated. It is determined whether or not (S67). If the pump motor 90 is determined to be operating (S67 of Y), ECU 100 is a to zero current _{I P} supplied to the brake motor 30 (S68). As a result, the power consumed simultaneously by both the pump motor 90 and the brake motor 30 can be reduced.

If the pump motor 90 is determined to stopped (S67 of N), ECU 100 is an accumulator pressure _{P acc} is determined whether the lower pump drive starting pressure _{P on} (S69). When the accumulator pressure _{P acc} is determined to be lower than the pump drive starting pressure _{P on} (S69 of Y), ECU 100 is a to zero current _{I P} supplied to the brake motor 30 (S68). As a result, the power consumed simultaneously by both the pump motor 90 and the brake motor 30 can be reduced.

  Thus, the ECU 100 does not operate the pump motor 90 and the brake motor 30 at the same time. As a result, it is possible to prevent a large amount of power from being consumed simultaneously by the pump motor 90 and the brake motor 30. Moreover, since either the pump motor 90 or the brake motor 30 can be operated, the braking force applied to the wheels 14 by the hydraulic brake device 150 and the electric parking brake device can be ensured.

Incidentally, when the pump motor 90 is operating, or when the accumulator pressure _{P acc} is lower than the pump drive starting pressure _{P on,} ECU 100 can also reduce the current _{I P} is supplied to the brake motor 30 to a value greater than zero Of course it is good. This also makes it possible to reduce the power consumed simultaneously by both the pump motor 90 and the brake motor 30 when the pump motor 90 is operating or when there is a high possibility of operation.

If the hydraulic brake device 150 is determined not operating (S66: N), and if the accumulator pressure _{P acc} is determined that pump drive starting pressure _{P on} more (S69: N), the ECU 100 includes a pump It is determined that the motor 90 is stopped. ECU100 actuates the brake motor 30 until the tension _{F P} of the base wire 35 to a predetermined tension _{F 2,} giving a braking force to the right front wheel 14FR and the left front wheel 14FL by the electric parking brake system (S70).

  FIG. 11 is a flowchart showing the parking brake priority control process of S53 in FIG. In the parking brake priority control, the ECU 100 first determines whether or not the hydraulic brake device 150 has been operated from off to on by the driver (S81). Whether or not the brake pedal 52 has been operated is determined using the detection result of the stroke sensor 40 as described above.

  When it is determined that the hydraulic brake device 150 has been operated from off to on (Y in S81), the ECU 100 uses the detection result of the parking brake switch 46 to determine whether the parking brake switch 46 is on. Is determined (S82). When it is determined that the parking brake switch 46 is on (Y in S82), the ECU 100 determines that the braking force is applied to the wheel 14 by the electric parking brake device.

ECU100 is right master cylinder pressure sensor and the master cylinder pressure _{P MC} in the brake pressure control line 68 detected by 66FR, the right front wheel cylinder 18FR detected by the right front W / C pressure sensor 78FR wheel cylinder pressure P Compare with _WC . In the electronic control brake system such as hydraulic brake system 150 of the present embodiment, the normal higher wheel cylinder pressure P _WC than the master cylinder pressure P _MC. If the master cylinder pressure _{P MC} and the right front wheel cylinder 18FR wheel cylinder pressure _{P WC} brake pressure control line 68 is not the same, ECU 100 activates the right front wheel pressure-reducing linear valve 76FR, right-front-wheel cylinder 18FR reducing the wheel cylinder pressure P _WC until substantially equal to the master cylinder pressure P _MC brake pressure control line 68.

Similarly, ECU 100 is the master cylinder pressure _{P MC} and the left front-wheel cylinder 18FL detected by the left front wheel W / C pressure sensor 78FL in the brake pressure control line 70 which is detected by the left master cylinder pressure sensor 66FL wheel The cylinder pressure P _WC is compared. If the wheel cylinder pressure _{P WC} of the master cylinder pressure _{P MC} and the left front-wheel cylinder 18FL of the brake pressure control line 70 is not the same, ECU 100 actuates the linear valve 76FL for the left front wheel pressure-reducing, the wheel cylinder 18FL for the left front wheel reducing the wheel cylinder pressure _{P WC} until substantially equal to the master cylinder pressure _{P MC} brake pressure control line 70 (S83).

In this case, since the braking force is applied to the right rear wheel 14RR and the left rear wheel 14RL by the electric parking brake device, the vehicle 10 is maintained in a braked state even if the hydraulic fluid pressure supplied to the wheel cylinder 18 is reduced. be able to. Further, since reducing the wheel cylinder pressure P _WC in the right front-wheel cylinder 18FR and the right front-wheel cylinder 18FR, the opportunity to operate the pump motor 90 can be reduced. For this reason, the power consumption by the pump motor 90 can be reduced.

Further, for example, when the remaining amount of the battery 22 becomes smaller than a predetermined value, a system reset is executed. When the system reset is executed, the normally shut-off master cutoff valve 72 is opened, the right front wheel wheel cylinder 18FR communicates with the master cylinder 56 via the brake hydraulic control conduit 68, and the left front wheel wheel cylinder. 18FL communicates with the master cylinder 56 via the brake hydraulic pressure control conduit 70. In this case, the wheel cylinder pressure P _WC is leaving higher than the master cylinder pressure P _MC, kickback pushes back the brake pedal in the operating direction and the reverse direction by hydraulic fluid pressure in the wheel cylinder is supplied to the master cylinder May occur and the operability of the driver may be impaired.

When the braking force is applied to the wheel 14 by the electric parking brake device, the vehicle braking control device 200 according to the present embodiment has the wheel cylinder pressure P of the right front wheel wheel cylinder 18FR and the left front wheel wheel cylinder 18FL. the _WC substantially equal to the master cylinder pressure _{P MC.} For this reason, even if the wheel cylinder 18 and the master cylinder 56 communicate with each other by executing the system reset, it is possible to suppress the occurrence of kickback.

  When it is determined that the parking brake switch 46 is off (N in S82), the ECU 100 determines that the braking force is not applied to the wheel 14 by the electric parking brake device, and the normal control by the electronic control brake system is performed. Braking control is performed (S84).

  When it is determined that the hydraulic brake device 150 is not operated from OFF to ON (N in S81), the ECU 100 determines whether the parking brake switch 46 is operated from OFF to ON by the driver (S85). ). When it is determined that the parking brake switch 46 is not operated from OFF to ON (N in S85), the ECU 100 does not operate both the hydraulic brake device 150 and the electric parking brake device.

If the parking brake switch 46 is determined to have been operated from OFF to ON (S85 in Y), ECU 100 actuates the brake motors 30 to the tension _{F P} of the base wire 35 becomes a predetermined tension _{F 2,} the wheel 14 A braking force is applied to (S86). When braking force is applied to the wheels 14, the ECU 100 determines whether or not the hydraulic brake device 150 is operating (S87). Also in this case, whether or not the hydraulic brake device 150 is operating is determined by whether or not the brake pedal 52 is operated by the driver. Therefore, whether or not the hydraulic brake device 150 is operating is determined using the detection result of the stroke sensor 40.

When it is determined that the hydraulic brake device 150 is not operating (N in S87), the ECU 100 ends the processing in this flowchart because it is less necessary to reduce the power consumption of the hydraulic brake device 150. When it is determined that the hydraulic brake device 150 is operating (Y in S87), the ECU 100 applies braking force to the wheel 14 by the electric parking brake device, so that the right front wheel 14FR and the left front wheel are the same as in S83. the wheel cylinder pressure _{P WC} in 14FL reduced until substantially the same as the master cylinder pressure _{P MC} (S88). Thereby, the power consumption of the pump motor 90 can be reduced. Moreover, even if a system reset is performed, kickback can be suppressed and a driver's operativity fall can be suppressed.

(Fourth embodiment)
FIG. 12 is an overall configuration diagram of a vehicle brake control system 300 according to the fourth embodiment. Note that a description of the same parts as those in the above-described embodiment is omitted.

  The vehicle brake control system 300 includes a hydraulic brake device, an electric parking brake device, a power steering device 98, and the like. The power steering device 98 functions as a steering assist device that assists the steering of the vehicle. The hydraulic brake device is the same as in the first to third embodiments, and the electric parking brake device is the same as in the first and second embodiments.

  The power steering device 98 includes a power steering motor 94 as an electric actuator, a gear mechanism 96, and the like. The gear mechanism 96 is provided on the steering shaft 95 and transmits the driving torque of the power steering motor 94 to the steering shaft 95. The steering shaft 95 is connected to a steering rack extending in the lateral direction of the vehicle 10 via a rack and pinion type gear box (not shown). The torque transmitted to the steering shaft 95 is converted into thrust of the steering rack in the lateral direction of the vehicle 10 by the rack gear and the pinion gear in the gear box. When the steering rack moves in the lateral direction, the right front wheel 14FR and the left front wheel 14FL are steered via a tie rod (not shown) and a knuckle arm (not shown), and the steering of the vehicle 10 is realized.

  The power steering motor 94 is connected to the battery 22 via the drive circuit 29, and the battery 22 supplies power to the power steering motor 94. Accordingly, the battery 22 supplies power to the power steering motor 94, the pump motor 90 of the hydraulic brake device, and the brake motor 30 of the electric parking brake device. The power steering motor 94 is also connected to the ECU 100 via the drive circuit 29. The ECU 100 supplies a control current to the drive circuit 29. The drive circuit 29 supplies power to the power steering motor 94 with a duty corresponding to the control current supplied from the ECU 100, and operates the power steering motor 94.

  The steering shaft 95 is provided with a handle 45, a steering torque sensor 42, and a steering angle sensor 44. The steering torque sensor 42 detects the steering torque applied to the handle 45 when the driver operates the handle 45. The steering angle sensor 44 detects an angle at which the driver operates the handle 45. The steering torque sensor 42 and the steering angle sensor 44 are connected to the ECU 100, and the detection results of each are input to the ECU 100.

  The ECU 100 calculates the steering torque using the detection result of the steering torque sensor 42. The ECU 100 supplies a control current to the drive circuit 29 according to the calculated steering torque, and operates the power steering motor 94. In this way, the ECU 100 assists the driver's steering in accordance with the steering torque by the power steering device 98, and reduces the torque at which the driver operates the handle 45. The vehicle brake control system 300 according to the present embodiment supplies electric power to be supplied to the pump motor 90 of the hydraulic brake device or the brake motor 30 of the electric parking brake device based on the operating state of the power steering device 98 and the power steering motor 94. To reduce.

The ECU 100 reduces the power supplied to the brake motor 30 based on the operating state of the power steering motor 94 of the power steering device 98. Specifically, the ECU 100 stops the supply of electric power to the brake motor 30 when the steering wheel 45 is steered by the driver until the steering angle θ _h is larger than the predetermined angle θ ₁ . As a result, the power consumed simultaneously by both the power steering motor 94 and the brake motor 30 can be reduced. Note that the ECU 100 does not stop supplying power to the brake motor 30 when the steering wheel 45 is steered by the driver until the steering angle θ _h is larger than the predetermined angle θ _1. Of course, it may be reduced to a value larger than zero.

Further, the ECU 100 reduces the power supplied to the brake motor 30 based on the operating state of the power steering motor 94 of the power steering device 98. Specifically, the ECU 100 changes the pump drive start pressure P _on of the pump motor 90 to a low value when the handle 45 is steered by the driver until the steering angle θ _h is larger than the predetermined angle θ _1. To do. This process will be described in detail in the description of the flowchart shown in FIG.

  FIG. 13 is a flowchart showing processing of the vehicle brake control system 300 according to the fourth embodiment. The processing in this flowchart starts when the power source of the ECU 100 is turned on, and is repeated every predetermined time until the power source of the ECU 100 is turned off. Note that a description of the same parts as those in the above-described embodiment is omitted.

  The ECU 100 determines whether or not the pump motor 90 is not operating (S91). Whether or not the pump motor 90 is not operating is determined by detecting whether or not current is supplied to the pump motor 90.

If the pump motor 90 is determined to not operating (S91 of Y), ECU 100 uses the detection result of the accumulator pressure sensor 88, whether the accumulator pressure _{P acc} is lower than a predetermined accumulator pressure _{P 5} Is determined (S92). When it is determined that the accumulator pressure P _acc is equal to or higher than P ₅ (N in S92), the ECU 100 does not operate the pump motor 90 because the accumulator pressure P _acc has not decreased to the pump drive start pressure.

When the accumulator pressure _{P acc} is determined to be lower than _{P 5} (S92 of Y), ECU 100 determines whether or not to change the pump drive starting pressure _{P on,} to change the determination processing of the pump driving start pressure _{P on} Transition. In the change determination process for the pump drive start pressure P _on , the ECU 100 determines whether the pump drive start pressure P _on should be changed from the steering angle θ _h and the target wheel cylinder pressure P _WT .

In the change determination process of the pump drive start pressure P _on , first, the ECU 100 determines whether or not the steering angle θ _h is larger than the predetermined steering angle θ ₁ using the detection result of the steering torque sensor 42 (S93). . When the steering angle theta _h is determined to theta ₁ or less (S93 of N), because the power consumption of the steering angle theta _h is small power steering motor 94 is not large, it does not change the pump drive starting pressure P _on. The ECU 100 operates the pump motor 90 because the accumulator pressure P _acc has reached the pump drive start pressure P _on (S96).

When the steering angle theta _h is determined to be greater than theta ₁ (S93 of Y), ECU 100, the target wheel cylinder pressure _{P WT} determines whether less than _{P W2} (S94). When the target wheel cylinder pressure P _WT is judged to P _W2 higher (S94 of N), ECU 100, it is necessary to provide a strong braking force to the wheel for brake pedal 52 is operated strongly, pressure increasing high wheel cylinder pressure It is determined that it is necessary, and the pump drive start pressure _Pon is not changed. The ECU 100 operates the pump motor 90 because the accumulator pressure P _acc has reached the pump drive start pressure P _on (S96).

When the target wheel cylinder pressure _{P WT} is determined to be lower than the _{P W2} (S94 of Y), ECU 100, in the change determination processing of the pump drive starting pressure _{P on,} the steering angle for changing the pump drive starting pressure _{P on} It is determined that the conditions of θ and target wheel cylinder pressure _PWT are satisfied, and the pump drive start pressure P _on is changed to P ₆ having a value lower than P ₅ . P ₆ is set to a value capable of suppressing the braking force applied to the wheel 14 by the hydraulic brake device from being reduced and reducing the power consumed simultaneously by both the power steering motor 94 and the pump motor 90. The P ₆ is stored in the ROM 104 of the ECU 100.

When the pump drive start pressure P _on is changed to P ₆ , the ECU 100 determines whether or not the accumulator pressure P _acc is lower than P ₆ (S95). When it is determined that the accumulator pressure P _acc is equal to or higher than P ₆ (N in S95), the ECU 100 does not operate the pump motor 90 because the accumulator pressure P _acc has not reached the pump drive start pressure P _on , and this flowchart The process in is terminated. Thereby, the power consumption of the pump motor 90 can be reduced by reducing the opportunity to operate the pump motor 90. When it is determined that the accumulator pressure P _acc is lower than P ₆ (Y in S95), since the accumulator pressure P _acc has reached the pump drive start pressure P _on , the ECU 100 operates the pump motor 90 (S96).

If the pump motor 90 is determined not to be actuated (S91 of N), ECU 100 is an accumulator pressure _{P acc} is determined whether greater than _{P 7} as a pump drive stop pressure _{P off} (S97). When it is determined that the accumulator pressure P _acc is equal to or lower than P ₇ (N in S97), the ECU 100 continues the operation of the pump motor 90 because the accumulator pressure P _acc has not reached the pump drive stop pressure P _off . When it is determined that the accumulator pressure P _acc is greater than P ₇ (Y in S97), it is determined that the accumulator pressure P _acc has reached the pump drive stop pressure P _off , and the ECU 100 stops the operation of the pump motor 90 ( S98).

  The present invention is not limited to the above-described embodiments, and an appropriate combination of the elements of each embodiment is also effective as an embodiment of the present invention. Various modifications such as design changes can be added to each embodiment based on the knowledge of those skilled in the art, and embodiments to which such modifications are added can also be included in the scope of the present invention. Here are some examples.

  In the first to third embodiments, the vehicle brake control device 200 may include a shift sensor that detects a shift position, such as a P range or a D range. The ECU 100 may determine whether the vehicle 10 is running or stopped using the detection result of the shift sensor. This also allows ECU 100 to determine whether vehicle 10 is running or stopped.

  In the third and fourth embodiments, the ECU 100 reduces the power supplied to the brake motor 30 based on the operating state of the pump motor 90 when the remaining amount of the battery 22 becomes less than a predetermined value. Also good. Further, the ECU 100 may reduce the electric power supplied to the pump motor 90 based on the operating state of the brake motor 30 when the remaining amount of the battery 22 becomes less than a predetermined value. Thereby, when the remaining amount of the battery 22 decreases, the power consumed simultaneously by the pump motor 90 and the brake motor 30 can be reduced.

In the third embodiment, the ECU 100 detects the right front wheel wheel cylinder 18FR and the left front wheel wheel cylinder when an abnormality occurs in the hydraulic brake device and braking force is applied to the wheel 14 by the electric parking brake device. the wheel cylinder pressure _{P WC} in 18FL, may be reduced to be substantially equal to the master cylinder pressure _{P MC.} In this case, the wheel cylinder pressure _PWC of the wheel cylinder 18 of the wheel 14 in which no abnormality has occurred may be changed. Thus, even when an abnormality occurs in the hydraulic brake device, the power consumption of the pump motor can be reduced.

In the fourth embodiment, the ECU 100 may change the pump drive start pressure _Pon to a low value when the steering torque detected by the steering torque sensor 42 is larger than a predetermined value. In this case, the power consumed simultaneously by the power steering motor 94 of the power steering device 98 and the pump motor 90 of the hydraulic brake device or the brake motor 30 of the electric parking brake device can be reduced by detecting the steering torque. It becomes possible.

In the fourth embodiment, the ECU 100 may change the pump drive stop pressure P _off to P ₈ having a value lower than P ₇ . The pump drive stop pressure P _off may be changed so that the difference between the pump drive start pressure P _on and the pump drive stop pressure P _off does not change. For example, in the present embodiment, the ECU 100 may change the pump drive stop pressure P _off so that P ₇ -P ₅ and P ₈ -P ₆ are equal. Thereby, the opportunity to operate the pump motor 90 can be reduced, and the power consumption of the pump motor 90 can be reduced. Further, it is possible to reduce the operation noise by the pump motor 90 and to extend the life of the relay 26.

1 is an overall configuration diagram of a vehicle brake control device according to a first embodiment. 1 is an overall configuration diagram of a hydraulic brake device according to a first embodiment. It is a functional block diagram of ECU in the brake control apparatus for vehicles concerning a 1st embodiment. It is a figure which shows the pump drive start pressure in the brake control apparatus for vehicles which concerns on 1st Embodiment. It is a flowchart which shows the process of the brake control apparatus for vehicles which concerns on 1st Embodiment. It is a figure which shows the pump drive start pressure and pump drive stop pressure in the brake control apparatus for vehicles which concerns on 2nd Embodiment. It is a flowchart which shows the process of the brake control apparatus for vehicles which concerns on 2nd Embodiment. It is a whole block diagram of the brake control apparatus for vehicles which concerns on 3rd Embodiment. It is a flowchart which shows the process of the brake control apparatus for vehicles which concerns on 3rd Embodiment. 10 is a flowchart showing a process of hydraulic brake priority control in S52 in FIG. FIG. 10 is a flowchart showing a parking brake priority control process of S53 in FIG. 9. FIG. It is a whole block diagram of the brake control system for vehicles which concerns on 4th Embodiment. It is a flowchart which shows the process of the brake control system for vehicles which concerns on 4th Embodiment.

Explanation of symbols

  10 vehicle, 14 wheel, 16 wheel speed sensor, 18 wheel cylinder, 22 battery, 24 remaining battery sensor, 26 relay, 30 brake motor, 42 steering torque sensor, 44 steering angle sensor, 46 parking brake switch, 50 outside air temperature sensor , 56 master cylinder, 80 pump, 82 accumulator, 90 pump motor, 94 power steering motor, 98 power steering device, 100 ECU, 150 hydraulic brake device, 200 vehicle brake control device, 300 vehicle brake control system.

Claims (6)

An accumulator that stores the pressure energy of the working fluid, a pump that increases the working fluid pressure of the accumulator, a pump motor that drives the pump, and the working fluid is supplied from the accumulator to increase the working fluid pressure. A first brake device having a wheel cylinder that presses the friction member against a rotating member that rotates together with the wheel;
A second braking device having a brake motor that presses and drives a friction member on a rotating member that rotates together with the wheel;
Control for controlling the hydraulic pressure of the wheel cylinder to control the braking force of the wheel by the first braking device, and control for controlling the braking motor to control the braking force of the wheel by the second braking device. Means,
With
Wherein if the braking force to the wheel by the second braking device when the braking force on the wheel is given by the first brake device is already given, depressurizes the hydraulic fluid pressure of the wheel cylinder A brake control device for a vehicle, characterized in that: The first braking device further includes a master cylinder whose hydraulic pressure is increased by operating a brake pedal,
Wherein if the braking force to the wheel by the second braking device when the braking force on the wheel is given by the first brake device is already given, the to hydraulic fluid pressure of said master cylinder The vehicle brake control device according to claim 1, wherein the wheel cylinder is depressurized. Wherein, during a vehicle stop, if the braking force to the wheel by the second braking device when the braking force on the wheel is given by the first brake device is already given, the wheel cylinder The vehicle brake control device according to claim 1 or 2, wherein the hydraulic pressure is reduced. An accumulator that stores the pressure energy of the working fluid, a pump that increases the working fluid pressure of the accumulator, a pump motor that drives the pump, and the working fluid is supplied from the accumulator to increase the working fluid pressure. A first brake device having a wheel cylinder that presses the friction member against a rotating member that rotates together with the wheel;
A second braking device having a brake motor that presses and drives a friction member on a rotating member that rotates together with the wheel;
Control for controlling the hydraulic pressure of the wheel cylinder to control the braking force of the wheel by the first braking device, and control for controlling the braking motor to control the braking force of the wheel by the second braking device. Means,
With
Wherein if the braking force to the wheel by the first braking device when the braking force on the wheel is given by the second brake device is already given, depressurizes the hydraulic fluid pressure of the wheel cylinder A brake control device for a vehicle, characterized in that: The first braking device further includes a master cylinder whose hydraulic pressure is increased by operating a brake pedal,
Wherein if the braking force to the wheel by the first braking device when the braking force on the wheel is given by the second brake device is already given, the hydraulic fluid pressure of the wheel cylinder The vehicular braking control apparatus according to claim 4, wherein the pressure is reduced to the hydraulic pressure of the master cylinder. Wherein, during a vehicle stop, if the braking force to the wheel by the first braking device when the braking force on the wheel is given by the second brake device is already given, the wheel cylinder 6. The vehicle brake control device according to claim 4, wherein the hydraulic fluid pressure is reduced.

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