Braking control device for vehicle

Patent metadata

Field	Value
Publication number	US-2018178657-A1
Application number	US-201715792534-A
Country	US
Kind code	A1
Filing date	Oct 24, 2017
Priority date	Dec 26, 2016
Publication date	Jun 28, 2018
Grant date	—

Abstract

A braking control device for a vehicle includes an anti-lock controller and a resonance controller. The anti-lock controller is configured to perform an anti-lock control that includes making adjustment of braking torque command, to cause suppression of one or more wheels from being locked in braking of the vehicle. The resonance controller is configured to correct the braking torque command, to control resonance of a power transmitter. The resonance controller includes a resonance generation processor is configured to generate the resonance while imposing a limitation on magnitude of the resonance. The resonance controller is configured to suppress the resonance except during the anti-lock control, and allow the resonance generation processor to generate the resonance while imposing the limitation on the magnitude of the resonance during the anti-lock control.

First claim

1 . A braking control device for a vehicle, the braking control device being mounted on a vehicle including one or more wheels, at least one armature, and a power transmitter, the at least one armature configured to electrically generate braking torque on a basis of braking torque command, and the power transmitter configured to transmit the braking torque command generated by the at least one armature to the one or more wheels, the braking control device comprising:
an anti-lock controller configured to perform an anti-lock control that includes making adjustment of the braking torque command, to cause suppression of the one or more wheels from being locked in braking of the vehicle; and a resonance controller configured to correct the braking torque command, to control resonance of the power transmitter, wherein the resonance controller
includes a resonance generation processor configured to generate the resonance while imposing a limitation on magnitude of the resonance, and
is configured to suppress the resonance except during the anti-lock control, and allow the resonance generation processor to generate the resonance while imposing the limitation on the magnitude of the resonance during the anti-lock control, the anti-lock control including the adjustment of the braking torque command by the anti-lock controller.

2 . The braking control device for the vehicle according to claim 1 , wherein
the resonance controller
includes a resonance evaluator configured to evaluate the magnitude of the resonance and output an evaluation value, and
is configured correct the braking torque command, to bring the evaluation value of the resonance evaluator to a target value.

3 . The braking control device for the vehicle according to claim 1 , the braking control device further comprising:
a signal input unit configured to receive a signal indicating vehicle states; and a resonance strength setting unit configured to change, in accordance with the vehicle states, a target value of the magnitude of the resonance during the anti-lock control.

4 . The braking control device for the vehicle according to claim 3 , wherein
the vehicle states include a speed of the vehicle, and the resonance strength setting unit sets the target value of the magnitude of the resonance at a first value on a condition that the speed of the vehicle is lower than a first speed, and sets the target value of the magnitude of the resonance at a second value lower than the first value on a condition that the speed of the vehicle is higher than the first speed.

5 . The braking control device for the vehicle according to claim 3 , wherein
the vehicle states include a speed of the vehicle, and the resonance strength setting unit sets the target value of the magnitude of the resonance at a third value on a condition that the speed of the vehicle is lower than a first speed, and sets the target value of the magnitude of the resonance at a fourth value higher than the third value on a condition that the speed of the vehicle is higher than the first speed.

6 . The braking control device for the vehicle according to claim 1 , the braking control device further comprising:
a recovery processor configured, with the resonance generation processor making a changeover from a state with the resonance being generated to a state with the resonance being suppressed, to make a correction in accordance with the magnitude of the resonance on the braking torque command, to cause quicker attenuation of the resonance than is devoid of the correction in accordance with the magnitude of the resonance.

7 . The braking control device for the vehicle according to claim 2 , the braking control device further comprising:
a recovery processor configured, with the resonance generation processor making a changeover from a state with the resonance being generated to a state with the resonance being suppressed, to make a correction in accordance with the magnitude of the resonance on the braking torque command, to cause quicker attenuation of the resonance than is devoid of the correction in accordance with the magnitude of the resonance.

8 . The braking control device for the vehicle according to claim 3 , the braking control device further comprising:
a recovery processor configured, with the resonance generation processor making a changeover from a state with the resonance being generated to a state with the resonance being suppressed, to make a correction in accordance with the magnitude of the resonance on the braking torque command, to cause quicker attenuation of the resonance than is devoid of the correction in accordance with the magnitude of the resonance.

9 . The braking control device for the vehicle according to claim 4 , the braking control device further comprising:
a recovery processor configured, with the resonance generation processor making a changeover from a state with the resonance being generated to a state with the resonance being suppressed, to make a correction in accordance with the magnitude of the resonance on the braking torque command, to cause quicker attenuation of the resonance than is devoid of the correction in accordance with the magnitude of the resonance.

10 . The braking control device for the vehicle according to claim 5 , the braking control device further comprising:
a recovery processor configured, with the resonance generation processor making a changeover from a state with the resonance being generated to a state with the resonance being suppressed, to make a correction in accordance with the magnitude of the resonance on the braking torque command, to cause quicker attenuation of the resonance than is devoid of the correction in accordance with the magnitude of the resonance.

11 . The braking control device for the vehicle according to claim 1 , wherein
the at least one includes a first armature and a second armature, and during the anti-lock control, a limitation value on the magnitude of the resonance corresponding to whichever margin is larger out of a margin of the braking torque of the first armature and a margin of the braking torque of the second armature is set to a smaller value than a limitation value on the magnitude of the resonance corresponding to whichever margin is smaller out of the margin of the braking torque of the first armature and the margin of the braking torque of the second armature.

12 . The braking control device for the vehicle according to claim 2 , wherein
the at least one includes a first armature and a second armature, and during the anti-lock control, a limitation value on the magnitude of the resonance corresponding to whichever margin is larger out of a margin of the braking torque of the first armature and a margin of the braking torque of the second armature is set to a smaller value than a limitation value on the magnitude of the resonance corresponding to whichever margin is smaller out of the margin of the braking torque of the first armature and the margin of the braking torque of the second armature.

13 . The braking control device for the vehicle according to claim 3 , wherein
the at least one includes a first armature and a second armature, and during the anti-lock control, a limitation value on the magnitude of the resonance corresponding to whichever margin is larger out of a margin of the braking torque of the first armature and a margin of the braking torque of the second armature is set to a smaller value than a limitation value on the magnitude of the resonance corresponding to whichever margin is smaller out of the margin of the braking torque of the first armature and the margin of the braking to

Assignees

• Subaru Corp

Inventors

• Moriya Fumiyuki
• Ienaga Hiroshi

Classifications

• B60L3/108 Primary

  whilst braking, i.e. ABS · CPC title

• B60L7/10

  Dynamic electric regenerative braking (B60L7/22 takes precedence) · CPC title

• B60T8/176

  Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS (B60T8/1755 takes precedence) · CPC title

• B60T13/741

  acting on an ultimate actuator · CPC title

• B60L15/2009

  for braking · CPC title