Braking control device for vehicle

Patent metadata

Field	Value
Publication number	US-9975531-B2
Application number	US-201715422078-A
Country	US
Kind code	B2
Filing date	Feb 1, 2017
Priority date	Nov 30, 2011
Publication date	May 22, 2018
Grant date	May 22, 2018

Abstract

A vehicle brake control device includes an electric motor controlled based on a target energization amount calculated based on an operation amount (Bpa) of a braking operation member. Based on the operation amount (Bpa), it is determined whether or not an inertia compensation control for compensating for the influence of the inertia of a brake actuator is necessary. When the inertia compensation control is determined to be necessary, an inertia compensation energization amount for compensating for the influence of the inertia of the brake actuator is calculated based on a time-series pattern set in advance based on the maximum response of the brake actuator. Based on the inertia compensation energization amount, the target energization amount is calculated. The vehicle brake control device is thus able to generate a braking torque that appropriately compensates for the influence of the inertia of the entire device including the inertia of the electric motor.

First claim

What is claimed is:

1. A vehicle brake control device, comprising:
operation amount acquisition means for acquiring an operation amount of a driver-operated braking operation member of a vehicle;
braking means for causing an electric motor to generate a braking torque to a wheel of the vehicle; and
control means for calculating a target energization amount based on the operation amount and controlling the electric motor based on the target energization amount,
wherein the control means is configured to:
determine, based on the operation amount, whether or not an inertia compensation control for compensating for an influence of an inertia of the braking means is necessary;
calculate, in a case where the inertia compensation control is determined to be necessary, an inertia compensation energization amount for compensating for the influence of the inertia of the braking means based on a time-series pattern that is set in advance based on a maximum response from the braking means; and
calculate the target energization amount based on the inertia compensation energization amount.

2. A vehicle brake control device according to claim 1 , wherein the control means is configured to:
determine, based on the operation amount, whether or not the inertia compensation control is necessary during acceleration of the electric motor in which a rotation speed thereof increases; and
use, in a case where the inertia compensation control during the acceleration is determined to be necessary, as the time-series pattern, a first pattern in which the inertia compensation energization amount increases from zero at an increase gradient and thereafter decreases to zero at a decrease gradient,
the increase gradient being set in advance based on an actual position change of the electric motor that occurs when a step input of the target energization amount is performed to the electric motor,
the decrease gradient being set in advance to be gentler than the increase gradient.

3. A vehicle brake control device according to claim 1 , wherein the control means is configured to:
determine, based on the operation amount, whether or not the inertia compensation control is necessary during deceleration of the electric motor in which a rotation speed thereof decreases; and
use, in a case where the inertia compensation control during the deceleration is determined to be necessary, as the time-series pattern, a second pattern in which the inertia compensation energization amount decreases from zero at a decrease gradient and thereafter increases to zero at an increase gradient,
the decrease gradient being set in advance based on an actual position change of the electric motor that occurs when a step input of the target energization amount is performed to the electric motor,
the increase gradient being set in advance to be gentler than the decrease gradient.

4. A vehicle brake control device according to claim 1 , wherein the control means is configured to:
determine, based on the operation amount, whether or not the inertia compensation control is necessary during acceleration of the electric motor in which a rotation speed thereof increases; and
use, in a case where the inertia compensation control during the acceleration is determined to be necessary, as the time-series pattern, a first pattern in which the inertia compensation energization amount increases from zero at an increase gradient and thereafter decreases to zero at a decrease gradient,
the increase gradient being set in advance based on an actual position change of the electric motor that occurs when a step input of the target energization amount is performed to the electric motor,
the decrease gradient being set in advance to be gentler than the increase gradient;

determine, based on the operation amount, whether or not the inertia compensation control is necessary during deceleration of the electric motor in which a rotation speed thereof decreases; and
use, in a case where the inertia compensation control during the deceleration is determined to be necessary, as the time-series pattern, a second pattern in which the inertia compensation energization amount decreases from zero at a decrease gradient and thereafter increases to zero at an increase gradient,
the decrease gradient being set in advance based on an actual position change of the electric motor that occurs when a step input of the target energization amount is performed to the electric motor,
the increase gradient being set in advance to be gentler than the decrease gradient.

5. A vehicle brake control device according to claim 4 , wherein the control means is configured to maintain the inertia compensation energization amount at zero in a case where the electric motor is in motion immediately before the inertia compensation control during the acceleration is determined to be necessary.

6. A vehicle brake control device according to claim 4 , wherein the control means is configured to calculate the inertia compensation energization amount based on the second pattern instead of the first pattern in a case where the inertia compensation control during the deceleration is determined to be necessary in a period during which the inertia compensation energization amount is calculated based on the first pattern.

7. A vehicle brake control device according to claim 4 , wherein the control means is configured to maintain the inertia compensation energization amount at zero in a case where the inertia compensation control during the deceleration is determined to be necessary in a state in which the inertia compensation control during the acceleration is not determined to be necessary.

8. A vehicle brake control device according to claim 2 , wherein the control means is configured to use, as the first pattern, a pattern in which the inertia compensation energization amount increases from zero in a concave-down fashion and thereafter decreases to zero in a concave-up fashion.

9. A vehicle brake control device according to claim 3 , wherein the control means is configured to use, as the second pattern, a pattern in which the inertia compensation energization amount decreases from zero in a concave-up fashion and thereafter increases to zero in a concave-down fashion.

10. A vehicle brake control device according to claim 1 , wherein the control means is configured to:
calculate, based on the operation amount, an operation state variable that corresponds to at least one of an operation acceleration or an operation speed; and
determine, based on the operation state variable, whether or not the inertia compensation control is necessary.

Assignees

• Advics Co Ltd

Inventors

• Yasui Yoshiyuki
• Kodama Hiroyuki
• SATAKE Naotoshi

Classifications

• B60T8/172

  Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} · CPC title

• B60T8/173

  Eliminating or reducing the effect of unwanted signals, e.g. due to vibrations or electrical noise · CPC title

• B60T8/171

  Detecting parameters used in the regulation; Measuring values used in the regulation · CPC title

• B60T7/042

  by electrical means, e.g. using travel or force sensors · CPC title

• B60T13/586 Primary

  the retarders being of the electric type · CPC title