CN100554051C - Vehicular brake control apparatus and control method thereof - Google Patents
Vehicular brake control apparatus and control method thereof Download PDFInfo
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- CN100554051C CN100554051C CNB2006100747354A CN200610074735A CN100554051C CN 100554051 C CN100554051 C CN 100554051C CN B2006100747354 A CNB2006100747354 A CN B2006100747354A CN 200610074735 A CN200610074735 A CN 200610074735A CN 100554051 C CN100554051 C CN 100554051C
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Abstract
Control unit 10 controls act on the braking force on a pair of brake operating element L1, the L2 that works alone respectively, to carry out anti-lock control, avoid wheel may be in the locking state.When brake operating element L1, L2 worked, control unit 10 acted on braking force among wheel braking B1, the B2 of brake system one, and this brake system is different from the operated brake system of brake operating element.When one of brake operating element L1, L2 or both work, and wheel is may be in the locking state time, 10 pairs of control units are about to be in the brake system of the wheel of locking state and carry out anti-lock control, simultaneously, also braking force is acted on another brake system that is different from the brake system that is about to be in the locking state.
Description
Technical field
The present invention relates to a kind of Vehicular brake control apparatus and control method thereof, particularly, relate to a kind of Vehicular brake control apparatus and control method thereof, this device mainly be installed in joystick type vehicle such as automatic three-wheel vehicle, automatic bike or be applicable to the moving vehicle of various landform (all-terrain vehicle, ATV) on.
Background technology
Usually, known Vehicular brake control apparatus is (being that the Japanese unexamined patent publication No. of JP-A-2000-127930 and JP-A-2000-264278 is open referring to notification number for example) that brake fluid pressure by electronic control vehicle carries out vehicle braked.
The disclosed Vehicular brake control apparatus of these open texts all has following configuration, can carry out the control of braking of the front and back wheel of automatic bike separately, and can carry out interlocking between front-wheel and the trailing wheel.
In these traditional vehicle brake control apparatus, operating pressure based on brake actuating unit is braked front and back wheel in the mode of interlocking, therefore even in front and back wheel does not all have the motoring condition of locking, also can carry out the braking of this front and back wheel interlocking, and normal brake operating is carried out.Like this, different with traditional joystick type vehicle in traditional braking force control system, the braking of front-wheel and trailing wheel can't be carried out individually according to driver's wish, so just can't obtain good brake feel.And because such interlocking braking, the mobility that also can't realize adapting to driver's wish is travelled etc.
On the other hand, in the motoring condition of front and back wheel locking, needed is the brake operating that carries out front and back wheel in the mode of interlocking, so that vehicle remains on stabilized conditions when brake operating.
Summary of the invention
Therefore, one object of the present invention just provides a kind of Vehicular brake control apparatus and control method thereof, and it can access good brake feel, also makes vehicle remain on stabilized conditions simultaneously.
In order to achieve the above object, the invention provides a kind of Vehicular brake control apparatus, comprising: the brake operating element that at least one pair of works alone; Respectively with this brake system that brake operating element is linked to each other; Control unit with this brake system of control, wherein, this control unit is controlled as follows: when one in the operation brake operating element and may be in the locking state corresponding to the pairing wheel of one of them brake system of operated brake operating element the time, by the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, to increase, reduce or the maintenance brake fluid pressure, thereby control unit carries out anti-lock control to the brake system of operated brake operating element, also can carry out brake-power control with this control unit, on another wheel that braking force is applied to brake system, it is different from that wheel that brake system is carried out anti-lock control.
The present invention also provides a kind of Vehicular brake control apparatus, comprising: the brake operating element that at least one pair of works alone; Respectively with this brake system that brake operating element is linked to each other; Control unit with this brake system of control, wherein, this control unit is controlled as follows: when two in the operation brake operating element and may be in the locking state corresponding to the pairing wheel of one of them brake system of one of them brake operating element the time, by the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, to increase, reduce or the maintenance brake fluid pressure, thereby control unit with brake system that the wheel that may be in the locking state links to each other on carry out anti-lock control, this control unit also carries out brake-power control simultaneously, braking force is applied on another brake system, it is different from that brake system of carrying out anti-lock control.
The present invention provides a kind of control method that is used for braking force control system again, this device comprises a pair of brake operating element and the brake system that is connected respectively to described paired brake operating element, when one of them of described paired brake operating element is operated and may be in the locking state corresponding to the pairing wheel of one of them brake system of operated brake operating element, described control method is had an effect, described control method may further comprise the steps: by the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, to increase, reduce or the maintenance brake fluid pressure, thereby on the brake system of operated brake operating element, carry out ABS (Anti-lock Braking System) control; And to being different from another brake system brake activation power of the brake system of carrying out ABS (Anti-lock Braking System) control.The present invention provides a kind of control method that is used for braking force control system again, this device comprises a pair of brake operating element and the brake system that is connected respectively to described paired brake operating element, when two of described paired brake operating element are operated and may be in the locking state corresponding to the pairing wheel of one of them brake system of one of them brake operating element, described control method is had an effect, and described control method may further comprise the steps:
By the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, increasing, to reduce or to keep brake fluid pressure, thereby on the brake system that is connected to the wheel that is in the locking state, carry out ABS (Anti-lock Braking System) control; And
To being different from another brake system brake activation power of the brake system of carrying out ABS (Anti-lock Braking System) control.
Furtherly, according to a first aspect of the invention, provide a kind of Vehicular brake control apparatus, having comprised:
The brake operating element that at least one pair of works alone;
Respectively with described double-type brake operating element bonded assembly brake system; With
Control the control unit of this brake system,
Wherein, this control unit is controlled as follows:
In the time of may being in the locking state when operation in a pair of brake operating element and corresponding to the pairing wheel of one of them brake system of operated brake operating element,
Control unit on the brake system of operated brake operating element, carry out anti-lock control and
This control unit also can carry out brake-power control, and braking force is applied on another brake system, it is different from that brake system of carrying out anti-lock control.
According to a first aspect of the invention, the wheel of each brake system is applied in braking force respectively independently according to the action of at least one pair of brake operating element.In addition, when the independent operation owing to operated brake operating element makes the pairing wheel of one of them brake system corresponding to operated brake operating element may be in the locking state, control unit carries out anti-lock control to the brake system on this wheel, and to that brake system of being different from the brake system of carrying out anti-lock control also brake activation power.That is to say, when a wheel may be in the locking state, just can carry out brake operating to one of them the self contained function in the brake operating element according to this.On the contrary, when a wheel may be in the locking state, wheel carried out anti-lock control and the wheel of another brake system different with this wheel brake system will be applied in braking force in the mode of interlocking.So, in being in the motoring condition that the locking state do not have to take place and when carrying out the normal brake application operation, carry out brake operating according to this one of them independent operation to the brake operating element.Therefore, as traditional joystick type vehicle, can carry out the brake operating of front and back wheel independently based on driver's purpose, thereby obtain good brake feel.And, can realize that the mobility that adapts to driver's wish travels etc.
On the other hand, in the motoring condition of the wheel lockup that makes brake system owing to this one of them independent operation to the brake operating element, the brake system that may enter the wheel of locking state will be carried out anti-lock control, and with the mode of the interlocking brake system brake activation power to the brake system that is different from this wheel.So each brake system is all carried out brake operating so that vehicle be in stabilized conditions.Therefore, this brake operating can make the driver more have a sense of security.
According to a second aspect of the invention, provide a kind of Vehicular brake control apparatus, having comprised:
The brake operating element that at least one pair of works alone;
Respectively with this brake system that brake operating element is linked to each other; With
Control the control unit of this brake system,
It is characterized in that this control unit is controlled as follows:
When two in the operation brake operating element and may be in the locking state corresponding to one of them the pairing wheel of one of them brake system of brake operating element the time,
Control unit with the wheel bonded assembly brake system that is in the locking state on carry out anti-lock control and
This control unit also can carry out brake-power control simultaneously, and on another wheel that braking force is applied to brake system, it is different from that wheel that brake system is carried out anti-lock control.
According to a second aspect of the invention, the wheel of each brake system is applied in braking force respectively independently according to the action of at least one pair of brake operating element.In addition, when making owing to two operation in the described paired brake operating element may be in the locking state corresponding to one of them pairing one of them wheel of brake system of operated brake operating element the time, control unit carries out anti-lock control to the brake system on this wheel, and to the brake system brake activation power of the brake system that is different from anti-lock control.That is to say to have only when a wheel may be in the locking state, just can carry out brake operating to two action in the brake operating element according to this.On the contrary, when a wheel may be in the locking state, wheel will be subjected to anti-lock control and with the brake system brake activation power of mode pair another wheel different with the brake system of this wheel of interlocking.So, do not take place and carry out according to this brake operating being carried out in work of two in brake operating element in the motoring condition of normal brake application operation at the locking state.Therefore, as traditional joystick type vehicle, can carry out the brake operating of front and back wheel independently based on driver's purpose, thereby obtain good brake feel.And, can realize reflecting that the mobility that the driver is intended to travels etc.
Braking force control system according to the present invention preferably also comprises:
Calculate the slip rate calculating unit of the slip rate of wheel,
It is characterized in that when the slip rate that is calculated by the slip rate calculating unit during more than or equal to a predetermined value, described control unit carries out anti-lock control and brake-power control.
According to the present invention, when the slip rate that is calculated by the slip rate calculating unit during more than or equal to a predetermined value, control unit carries out anti-lock control and brake activation power, can guarantee that the action of vehicle can not be affected.
According to Vehicular brake control apparatus of the present invention, preferably, when the wheel corresponding to another brake system of carrying out brake-power control may be in the locking state, control unit carried out anti-lock control on another brake system.
According to the braking force control system of configuration like this, when the wheel corresponding to another brake system that is applied in braking force may be in the locking state, another brake system was carried out anti-lock control.Therefore, the action that can guarantee vehicle can not be affected.
In addition, according to a seventh aspect of the invention, a kind of control method that is used for braking force control system is provided, this device comprises a pair of brake operating element and the brake system that is connected respectively to described paired brake operating element, when one of them of described paired brake operating element is operated and may be in the locking state corresponding to the pairing wheel of one of them brake system of operated brake operating element, described control method is had an effect, and described control method may further comprise the steps:
On the brake system of operated brake operating element, carry out ABS (Anti-lock Braking System) control; And
To being different from another brake system brake activation power of the brake system of carrying out ABS (Anti-lock Braking System) control.
In brief, according to control method of the present invention, described control method is characterised in that, when only having one of them brake operating element to be operated and ABS (Anti-lock Braking System) is controlled at when carrying out on the wheel corresponding to the brake system of operated executive component, when on described wheel, carrying out simultaneously ABS (Anti-lock Braking System) control, described braking force by interlocking be applied to another wheel of described brake system, this wheel is connected to the executive component that is different from operated executive component.
According to this control method,, allow normal brake operating when when not carrying out the cruising state of ABS (Anti-lock Braking System) control.On the other hand, when wheel may be in the motoring condition of locking state, braking force was applied to the brake system of the wheel different with the wheel that carries out ABS (Anti-lock Braking System) control, the therefore operation that helps to stablize vehicle.
In addition, according to an eighth aspect of the invention, a kind of control method that is used for braking force control system is provided, this device comprises a pair of brake operating element and the brake system that is connected respectively to described paired brake operating element, when two of described paired brake operating element are operated and may be in the locking state corresponding to the pairing wheel of one of them brake system of one of them brake operating element, described control method is had an effect, and described control method may further comprise the steps:
On the brake system that is connected to the wheel that is in the locking state, carry out ABS (Anti-lock Braking System) control; And
To being different from another brake system brake activation power of the brake system of carrying out ABS (Anti-lock Braking System) control.
In brief, according to control method of the present invention, described control method is characterised in that, when the brake operating element all is operated and ABS (Anti-lock Braking System) is controlled at when carrying out on one of them wheel of brake system, when on described wheel, carrying out simultaneously ABS (Anti-lock Braking System) control, described braking force by interlocking be applied to another wheel.
According to this control method,, allow normal brake operating when when not carrying out the cruising state of ABS (Anti-lock Braking System) control.On the other hand, when wheel may be in the motoring condition of locking state, be applied to the braking force interlocking brake system of the wheel different, the therefore operation that helps to stablize vehicle with the wheel that carries out ABS (Anti-lock Braking System) control.
According to braking force control system of the present invention and control method thereof, can obtain good brake feel, and the action of stable vehicle.
Description of drawings
Fig. 1 is the brake fluid pressure loop figure of Vehicular brake control apparatus according to an embodiment of the invention;
Fig. 2 is the block scheme of the keystone configuration of control setup;
Fig. 3 A is the braking force characteristic map under the constant load state;
Fig. 3 B is the braking force characteristic map under light-load state;
When Fig. 4 is anti-lock control, the figure that the time of the front and back wheel speed and the estimation speed of a motor vehicle changes;
Fig. 5 A is the braking force characteristic map under the constant load state;
Fig. 5 B is the braking force characteristic map under the light-load state;
Fig. 6 A is the braking force characteristic map of front-wheel may be in the locking state time;
Fig. 6 B is the braking force characteristic map of trailing wheel may be in the locking state time.
The specific embodiment
Hereinafter, will explain realization best mode of the present invention with reference to the accompanying drawings in detail.In the process of explaining, represent same element with same Reference numeral, and omit identical explanation.In the accompanying drawings, Fig. 1 is the brake fluid pressure loop figure of Vehicular brake control apparatus according to an embodiment of the invention, and Fig. 2 is the block scheme of the keystone configuration of control setup.
Braking force control system 1 is applicable to the joystick type vehicle as automatic three-wheel vehicle, automatic bike or all-terrain vehicle (ATV) and so on, and is suitable for controlling the braking force (producing by the brake fluid pressure device) of the front and back wheel that is applied to unshowned vehicle.Hereinafter, will make an explanation as an example with the braking force control system that is applied to automatic bike.As shown in Figure 1, braking force control system 1 comprises two brake system.A brake system is in front-wheel F side, and another brake system is in trailing wheel R side.Braking force control system 1 also comprises the control setup 10 that is suitable for controlling two each several parts in the brake system.The brake system of front-wheel F side comprises brake fluid pressure regulon E1, it can regulate the brake fluid pressure of front wheel brake B1, this unit is between master cylinder M1 and front wheel brake B1, wherein master cylinder is according to the action output hydraulic pressure as the brake rod L1 of brake operating element, and front wheel brake B1 is connected with the front-wheel of unshowned automatic bike.In addition, the brake system of trailing wheel R side comprises brake fluid pressure regulon E2, it can regulate the brake fluid pressure of trailing wheel braking B2, this unit is between master cylinder M2 and trailing wheel braking B2, wherein master cylinder is according to the action output hydraulic pressure as the brake rod L2 of brake operating element, and trailing wheel braking B2 is connected with the trailing wheel of unshowned automatic bike.So, though braking force control system 1 comprises two brake system, front wheel brake B1 and trailing wheel braking B2, but because these two brake system have same structure, so, below the main brake system of explaining front wheel brake B1, suitably the brake system of trailing wheel braking B2 is explained.
Master cylinder M1 comprises unshowned cylinder, and it links to each other with the unshowned braking liquid fuel tank that holds braking liquid.In this cylinder, a unshowned cylinder-piston is installed, the action by bar V1 makes it along axially the moving slidably of cylinder, so that braking liquid flows out.The master cylinder M2 of trailing wheel R side is that with the different of the master cylinder of front wheel side it is and brake pedal L2 bonded assembly.In the hydraulic path of master cylinder M1, M2, be separately installed with hydraulic pressure transducer 11a, 22a, to detect brake fluid pressure.Control setup 10 obtains the result of a measurement of hydraulic pressure transducer 11a, 22a at any time, to determine whether operating brake rod L1 or brake pedal L2.
Brake fluid pressure regulon E1 comprises fuel tank 2, pump 3, energy disperser 4, hole, regulating control and suction valve 7, also comprises motor 8, and it is used for driving the pump 3 of front wheel brake B1 and trailing wheel braking B2.In addition, brake fluid pressure regulon E1 also comprises control cock unit V, and it is used for controlling the brake fluid pressure that is applied to front wheel brake B1.
In the following description, the fluid path of linking regulating control 6 by master cylinder M1 (M2) is called " output hydraulic path D ", and the fluid path from regulating control 6 to front wheel brake B1 is called " wheel hydraulic path E ".In addition, the fluid path from output hydraulic path D to pump 3 is called " sucking hydraulic path J ", and the path from pump 3 to wheel hydraulic path E is called " ejection hydraulic path G ", and the path from wheel hydraulic path E to fuel tank 2 is called " open path H ".
Control cock unit V has the function of switching in following state: the state that disconnects or close open path H when being communicated with wheel hydraulic path E, when disconnecting or closing wheel hydraulic path E is communicated with the state of open path H simultaneously, and when disconnecting or disconnection or close the state of open path H during closing wheel hydraulic path E.The control cock unit comprises suction valve (inlet valve) 12, delivery valve 13 and boiler check valve 14.
The boiler check valve 14 parallel suction valves 12 that are connected to.Boiler check valve 14 allows braking liquid only to flow to regulating control 6 from front wheel brake B1.When discharging the input of brake rod L1, even suction valve 12 is in closed condition, this boiler check valve allows braking liquid to flow to regulating control 6 from front wheel brake B1.
Pump 3 is sucking between hydraulic path J and the ejection hydraulic path G, wherein sucks hydraulic path and is communicated with output hydraulic path D, and the ejection hydraulic path is communicated with wheel hydraulic path E.As mentioned above, this pump has the braking liquid that sucks in the fuel tank 2, thereby and the ejection braking liquid make ejection hydraulic path G suck the function of braking liquid.Action by pump 3 is delivered to wheel hydraulic path E with braking liquid.And, when carrying out anti-lock control, recovering the pressure of output hydraulic path D and wheel hydraulic path E, these two pressure are reduced by sucking braking liquid by fuel tank 2.After the braking maneuver of finishing brake rod L1, the termination valve that will describe after a while (cut valve) 6a allows braking liquid to flow into output hydraulic path D from wheel hydraulic path E, thereby turns back to master cylinder M1 by the braking liquid that output hydraulic path D will flow into wheel hydraulic path E.
Weaken jointly by the vibration of the pressure of the braking liquid of pump 3 ejection with by the vibration that action produced of the regulating control 6 that will describe after a while in energy disperser 4 and hole 5.
Regulating control 6 has state and the function of disconnection braking liquid from switching between the state of output hydraulic path D inflow wheel hydraulic path E that flows into wheel hydraulic path E at the permission braking liquid from output hydraulic path D, and have when the braking liquid that flows into wheel hydraulic path E from output hydraulic path D is cut off, the hydraulic pressure of regulating wheel hydraulic path E and ejection hydraulic path G makes it be equal to or less than the function of setting value.Regulating control comprises termination valve 6a, boiler check valve 6b and safety valve 6c.
Stopping valve 6a is at the normal-open electromagnetic valve of exporting between hydraulic path D and the wheel hydraulic path E, wherein exports hydraulic path D and is communicated with master cylinder M1, and wheel hydraulic path E is communicated with front wheel brake B1.This termination valve can switch between the state and the cut-out braking liquid that allow braking liquid from output hydraulic path D inflow hydraulic path E flow into wheel hydraulic path E from output hydraulic path D state.Thereby control setup 10 controls stop valve 6a to be cut off it when pump 3 work, therefore cuts off the hydraulic pressure that comes from master cylinder M1 and is applied directly to wheel hydraulic path E from output hydraulic path D.So pump 3 absorbs the braking liquid of exporting hydraulic path D by sucking hydraulic path J (suction valve 7), output hydraulic path D will be described after a while.And, according to stopping of pump 3, stop valve 6a degaussing, thereby be in connected state.Therefore, by stopping valve 6a braking liquid is returned output hydraulic path D from wheel hydraulic path E.
Parallel being connected to of boiler check valve 6b stops on the valve 6a.Boiler check valve 6b only allows braking liquid to flow into wheel hydraulic path E from output hydraulic path D, even be locked in closed condition because fault etc. will stop valve 6a, also allows braking liquid to flow into wheel hydraulic path E from output hydraulic path D.
Parallel being connected to of safety valve 6c stops valve 6a, and when the brake fluid pressure of wheel hydraulic path E and ejection hydraulic path G met or exceeded setting value, 6c opened the safety-valve.
Suction valve 7 is to be positioned at the closed type electromagnetic valve that sucks hydraulic path J, can or close between the state that sucks hydraulic path J in the state and the cut-out of opening suction hydraulic path J to switch.Motion control device 10 according to pump 3 is opened suction valve 7, and the described control setup that stops according to pump 3 cuts off (closing) suction valve 7 simultaneously.The supply chamber 7a that stores braking liquid is set at and sucks hydraulic path J.
The suction valve 12 of control setup 10 major control control cock unit V and the work of delivery valve 13 and motor 8, and regulate and control the braking force of two brake system independently eliminating the locking phenomenon of front and back wheel, thereby realize anti-lock control.And control setup is controlled, and when brake rod L1 and one of them work of brake pedal L2, braking force is applied to the front wheel brake B1 or the trailing wheel braking B2 of the brake system on the side that is different from active side.In addition, for example, when the work of brake rod L1 made front-wheel may be in the locking state, control setup 10 carried out anti-lock control to regulate and the braking force of the brake system of control front wheel side F and braking force is applied to the trailing wheel braking B2 of the brake system of rear wheel-side R.This control setup 10 comprises front-wheel speed sensor 31 and sensor 32, wherein sensor 31 is arranged on fixed form on the opposite face of front-wheel side of pulsar gear (pulsar gear), this gear is fixed on the unshowned front-wheel, sensor 32 is arranged on the opposite face of pulsar gear (pulsar gear) with fixed form, and this gear is fixed on the unshowned trailing wheel.According to the output of the hydraulic pressure detecting sensor 11a, the 22a that are arranged on wheel hydraulic path E and the output of hydraulic pressure detecting sensor 11b, 22b, the suction valve 12 of control setup 10 control control cock unit V and the work of delivery valve 13 and motor 8.
To also make an explanation simultaneously according to Fig. 2 below with reference to the part-structure of Fig. 1 pair of control setup 10 relevant with anti-lock control.Control setup 10 comprises that front-wheel speed calculation unit 15a, front-wheel add/deceleration calculating unit 16a, front-wheel speed of a motor vehicle calculating unit 17a and front wheel side control part (slip rate calculating unit) 18a consistent with the brake fluid pressure regulon E1 of front wheel side F, and comprises that trailing wheel speed calculation unit 15b, trailing wheel add/deceleration calculating unit 16b, trailing wheel speed of a motor vehicle calculating unit 17b and rear wheel-side control part (slip rate calculating unit) 18b consistent with the brake fluid pressure regulon E2 of trailing wheel R.In addition, described control setup comprises interlocked operation control part 18c and the speed of a motor vehicle estimation unit 19 that brake fluid pressure regulon E1, E2 are shared.In control setup 10, since identical corresponding to the structure of the described part of front-wheel F with structure corresponding to the described part of rear wheel-side R, so the dependency structure of following main explanation front wheel side F.
Front-wheel speed calculation unit 15a receives the output signal of front-wheel speed sensor 31 to calculate the speed of front-wheel.Front-wheel adds/and deceleration calculating unit 16a carries out differential to the front-wheel speed that is obtained by front-wheel speed calculation unit 15a, to obtain adding/slowing down of front-wheel.Front-wheel speed of a motor vehicle calculating unit 17a based on the front-wheel speed that obtains by front-wheel speed calculation unit 15a and by front-wheel add/front-wheel acceleration that deceleration calculating unit 16a obtains calculates the front-wheel speed of a motor vehicle.
Speed of a motor vehicle estimation unit 19 is provided with the estimation speed of a motor vehicle based on the speed of a motor vehicle of front-wheel speed of a motor vehicle calculating unit 17a calculating and the speed of a motor vehicle of trailing wheel speed of a motor vehicle calculating unit 17b calculating, and this estimation speed of a motor vehicle is to determine the reference value of front and back wheel slip rate.For example, select value bigger in the speed of a motor vehicle that the speed of a motor vehicle that front-wheel speed of a motor vehicle calculating unit 17a calculates and trailing wheel speed of a motor vehicle calculating unit 17b calculate as the estimation speed of a motor vehicle.
Front wheel side control part 18a based on the front-wheel speed of calculating by front-wheel speed calculation unit 15a, by front-wheel add/front-wheel that deceleration calculating unit 16a calculates adds/slows down and by the estimation speed of a motor vehicle calculating slip rate of speed of a motor vehicle estimation unit 19, and determine the brake fluid pressure controlling valu of front wheel brake B1 based on the slip rate that calculates, thus carry out the suction valve 12 of control cock unit V and delivery valve 13 open/close drive controlling.Concrete, suppose that slip rate is SR, front-wheel speed is W, estimates that the speed of a motor vehicle is SVR, then slip rate SR=(SVR-W).In addition, front wheel side control part 18a operates motor 8 with scheduled volume, to realize anti-lock control.For this reason, front wheel side control part 18a is provided with a slip rate as the target slip rate based on the estimation speed of a motor vehicle that is obtained by speed of a motor vehicle estimation unit 19, and this slip rate is the expected value when travelling with the estimation speed of a motor vehicle.And, the front wheel side control part calculate the target slip rate and the slip rate that obtains by aforementioned manner between deviation and calculate the brake fluid pressure controlling valu of front wheel brake B1, so that deviation approaches " 0 " as much as possible, thereby the suction valve 12 of control cock unit V and delivery valve 13 and motor 8 are driven and control based on the brake fluid pressure controlling valu of calculating.
When one of front and back wheel being carried out anti-lock control, interlocked operation control part 18c controls, braking force is applied to the brake system on the side of not carrying out anti-lock control.For example, in the action of brake rod L1 front-wheel may be under the situation of locking state, when front wheel side F being carried out anti-lock control, interlocked operation control part 18c controls, with the trailing wheel braking B2 of the brake system that braking force is applied to rear wheel-side R.
The anti-lock of front wheel side F is controlled and the anti-lock of rear wheel-side R is controlled is independent the execution.Therefore, in interlocked operation control part 18c controls process with the trailing wheel braking B2 of the brake system that braking force is applied to rear wheel-side R, when trailing wheel may be in the locking state, also trailing wheel is carried out anti-lock control.
Next, the operation of the braking force control system 1 of configuration by this way will be explained in detail.
(normal running)
At wheel is under the normal brake application state of a control (normal running) of impossible locking, when operation brake rod L1, the brake fluid pressure that output hydraulic path D by front wheel side F will be produced by the operating effort of brake rod passes to front wheel brake B1, thereby front-wheel is braked.Also have, the brake fluid pressure that the output hydraulic path D by rear wheel-side R will be produced by the operating effort of brake pedal L2 passes to trailing wheel braking B2, thereby trailing wheel is braked.
(anti-lock control)
At brake rod L1 on period, when front-wheel may be in the locking state, control setup 10 beginning anti-lock controls.ABS (Anti-lock Braking System) control is carried out in the following manner, control cock unit V corresponding to the wheel braking of the wheel that may be in the locking state (front wheel brake B1 and trailing wheel braking B2) is controlled, to increase, to reduce or to keep acting on brake fluid pressure on front wheel brake B1 or the trailing wheel braking B2.
The braking force characteristic of front and back wheel in the time of will explaining anti-lock control according to Fig. 3 A, B and Fig. 1.Fig. 3 A and 3B are the braking force characteristics of the front and back wheel when anti-lock is controlled, and wherein Fig. 3 A is the braking force characteristic map under the constant load state, and Fig. 3 B is the braking force characteristic map under the little loading condition.At first, when explanation was had only the brake rod L1 operation of front-wheel F, front-wheel may be in the braking force characteristic map under the locking state.The constant load state is a kind of like this state, in the time holding two passengers, has two passengers to take, or a passenger and very heavy parcel.Light-load state is a kind of like this state, in the time holding two passengers, has only a passenger, and a passenger and very light parcel are perhaps arranged.
In Fig. 3 A, abscissa is represented the braking force of front-wheel, and ordinate is represented the braking force of trailing wheel, and dashed curve (using (101) expression in the drawings) is desirable brakig force distribution characteristic curve.Zone shown in the oblique line (A) is the zone of wheel lockup.
As operation brake rod L1, thus by output hydraulic path D with hydraulic pressure when master cylinder M1 is provided to front wheel brake B1 and only front-wheel is carried out control of braking, the brake fluid pressure of front-wheel increases, the increase of front wheel brake power is shown in the thick arrow (102) among Fig. 3 A.
Fluid pressure continuation increase when front-wheel, when slip rate meets or exceeds the value of reservation (when the front-wheel braking force may enter in the locking zone (A)), control setup 10 drives and controls control cock unit V and the regulating control 6 of front-wheel F, operating electrical machines 8 is controlled thereby enter anti-lock so that the braking force increment rate of front wheel brake B1 reduces simultaneously.
When front-wheel F enters anti-lock control, the interlocked operation control part 18c (see figure 2) of control setup 10 is controlled, thereby the trailing wheel that braking force is applied to the brake system of the trailing wheel R that does not carry out brake operating is braked on the B2, thereby with the mode of front wheel brake B1 interlocking trailing wheel braking B2 is carried out brake operating.That is to say that when front-wheel F entered anti-lock control, control setup 10 drove and control control cock unit V and the regulating control 6 of front-wheel F, while operating electrical machines 8, thereby with the mode of front-wheel interlocking trailing wheel R is carried out brake operating.So shown in the dotted arrow (103) of Fig. 3 A, rear-wheel braking force has also increased, therefore just enter locking zone (A) before at the front and back wheel braking force, the front and back wheel braking force moves on to brake area (B).Thereafter, rear-wheel braking force increases along dotted arrow (103).Subsequently, when rear-wheel braking force surpassed maximum braking force point (104) and may enter locking zone (A), control setup 10 was controlled trailing wheel R is carried out anti-lock control.
Shown in Fig. 3 B, in the braking force characteristic of light-load state, also utilize control setup 10 to control in a similar manner.In this case, little during its braking-force ratio constant load because compare its load with constant load little so the braking force of front and back wheel is about to enter locking zone (A '), the braking district (B ') also less than the braking district under the constant load state.By the way, locking zone (A), (A) and brake area (B), (B ') do not fix, and can suitably set and change according to the friction coefficient on travel surface etc.
When Fig. 4 is the control of expression anti-lock, the figure that the time of the wheel velocity of front and back wheel and the estimation speed of a motor vehicle changes.
As shown in Figure 4, when to front-wheel brake activation power, when front-wheel may be in the locking state and therefore front-wheel F be carried out anti-lock control then, also with interlock mode to trailing wheel R brake activation power, thereby the wheel velocity of trailing wheel has also reduced.So, estimate that the speed of a motor vehicle has also reduced.When trailing wheel be about to be in locking state, also begin trailing wheel R carried out anti-lock control thereafter.That is to say and since when front-wheel F is carried out anti-lock control time also in the mode of interlocking to trailing wheel R brake activation power, the speed of trailing wheel R has just reduced, the while has also reduced the estimation speed of a motor vehicle effectively.
Next, explain braking force characteristic when the brake pedal L2 that only operates trailing wheel R and front-wheel may be in the locking state with reference to figure 5A and 5B.In these figure, with identical Reference numeral represent with Fig. 3 A and 3B in the like explained.
As control lever L2, by output hydraulic path D with fluid pressure when thereby master cylinder M2 is provided to trailing wheel braking B2 and only trailing wheel is carried out control of braking, the brake fluid pressure of trailing wheel increases, and the braking force that applies front-wheel also increases shown in the solid arrow among Fig. 5 A (105) like that.
Brake fluid pressure continuation increase when trailing wheel, when slip rate meets or exceeds predetermined value (when rear-wheel braking force may enter locking zone (A)), control setup 10 drives and control control cock unit V, and operating electrical machines 8 is controlled thereby enter anti-lock to reduce the braking force of trailing wheel braking B2 simultaneously.
When trailing wheel R begins anti-lock control, the interlocked operation control part 18c (see figure 2) of control setup 10 is controlled, on the front wheel brake B1 with the brake system that braking force is applied to the front-wheel F that does not carry out brake operating, thereby with the mode of trailing wheel braking B2 interlocking front wheel brake B1 is carried out brake operating.That is to say that when trailing wheel R began anti-lock control, control setup 10 drove and control control cock unit V and the regulating control 6 of front-wheel F, and operating electrical machines 8, thereby with the mode of trailing wheel interlocking front-wheel F is carried out brake operating.Therefore, shown in the dotted arrow among Fig. 5 A (106), front wheel brake power increases, thereby just may enter locking zone (A) before at the braking force of front and back wheel, is maintained in the brake area (B) thereby the braking force of front and back wheel is all mobile.Thereafter, front wheel brake power increases along dotted arrow (106).Subsequently, when the front-wheel braking force surpasses maximum braking force point (104), when entering locking zone (A), control setup 10 is controlled, thereby makes front-wheel F enter anti-lock control.
Shown in Fig. 5 B, when being in underloaded braking force characteristic, also carry out the control of control setup 10 in a similar manner.In this case, because to compare load less with constant load, so the front and back wheel braking force may enter locking zone (A '), the braking force of its braking force during, the brake area of brake area (B ') during also less than constant load less than constant load.By the way, locking zone (A), (A ') and brake area (B), (B ') do not fix, but can carry out suitable setting and change according to the friction coefficient on travel surface etc.
Next, in the time of will explaining that making front wheel brake B1 and trailing wheel brake B2 as operation brake rod L1 and brake pedal L2 is front and back wheel brake activation power in conjunction with Fig. 1 and 6, one of front and back wheel may be in the operation of locking state.
Fig. 6 A and 6B represent the braking force characteristic map of anti-lock when control front and back wheel, and wherein Fig. 6 A is the braking force characteristic map of front-wheel may be in the locking state time, and Fig. 6 B is the braking dynamic characteristic figure of trailing wheel may be in the locking state time.In addition, Fig. 6 A represents braking force that front-wheel the is applied situation greater than the braking force that trailing wheel is applied, and Fig. 6 B represents braking force that trailing wheel the is applied situation greater than the braking force that front-wheel is applied.
As shown in Figure 6A, when the braking force of front-wheel greater than the situation of rear-wheel braking force under when operation brake rod L1 and brake pedal L2, by output hydraulic path D, D with hydraulic action on front wheel brake B1 and trailing wheel braking B2, thereby respectively front and back wheel is braked.In this case, the brake fluid pressure of front and back wheel increases and is applied to the braking force increase of front and back wheel, shown in the thick arrow (107) of Fig. 6 A.
When the brake fluid pressure of front and back wheel continues to increase and the slip rate of front-wheel when meeting or exceeding predetermined value (when the front-wheel braking force may enter locking zone (A)), control setup 10 drives and controls control cock unit V and the regulating control 6 of front-wheel F, and operating electrical machines 8, with the increment rate of the braking force that reduces front wheel brake B1, thereby enter anti-lock control.
When front-wheel F began anti-lock control, control setup 10 drove and controls control cock unit V and the regulating control 6 of trailing wheel R, while operating electrical machines 8, thereby with the mode of front-wheel F interlocking trailing wheel R is carried out brake operating.Therefore, the braking force that is interlock mode with front wheel brake B1 just is added on the trailing wheel braking B2, this trailing wheel braking is so far braked separately and is operated by brake pedal L2, thereby rear-wheel braking force has just increased additional braking force, shown in the dotted arrow among Fig. 6 A (108).Like this, just the braking force in front and back wheel may enter locking zone (A) before, thereby the braking force of front and back wheel moves and is maintained in the brake area (B).Then, rear-wheel braking force just increases along dotted arrow (108).Subsequently, when the front-wheel braking force surpassed maximum braking force point (104) and may enter locking zone (A), control setup 10 was controlled, thereby also made trailing wheel R enter anti-lock control.
In addition, shown in Fig. 6 B, when rear-wheel braking force greater than the situation of front wheel brake power under when operation brake rod L1 and brake pedal L2, the brake fluid pressure of front and back wheel increases, the braking force of front and back wheel increases, shown in the thick arrow (109) among Fig. 6 B.
When the brake fluid pressure of front and back wheel continues to increase and the slip rate of trailing wheel when meeting or exceeding predetermined value (when rear-wheel braking force may enter locking zone (A)) braking force of control setup 10 control trailing wheels braking B2, thereby the control of beginning anti-lock.
When trailing wheel R began anti-lock control, control setup 10 drove and controls control cock unit V and the regulating control 6 of front-wheel F, while operating electrical machines 8, thereby with the mode of trailing wheel R interlocking front-wheel F is carried out brake operating.Therefore, the braking force that is interlock mode with trailing wheel braking B2 just is added on the front wheel brake B1, this front wheel brake is so far braked separately and is operated by brake rod L1, thereby front wheel brake power has just increased additional braking force, shown in the dotted arrow among Fig. 6 B (110).Like this, just the braking force in front and back wheel may enter locking zone (A) before, and the braking force of front and back wheel moves in the brake area (B).
Then, front wheel brake power just increases along dotted arrow (110).Subsequently, when the front-wheel braking force surpassed maximum braking force point (104) and may enter locking zone (A), control setup 10 was controlled, thereby also made front-wheel F enter anti-lock control.
Make an explanation in conjunction with Fig. 1 again.When reducing the brake fluid pressure that acts on the front wheel brake B1 under anti-lock control situation, control cock unit V cuts off wheel hydraulic path E, opens open path H.That is to say that control setup 10 drives suction valve 12, makes it be in closed condition, drives delivery valve 13 simultaneously, makes it be in open mode.Therefore, by open path H, the braking liquid of wheel hydraulic path E flows into fuel tank 2, and wherein wheel hydraulic path E is communicated with front wheel brake B1, thereby reduces the brake fluid pressure that acts on front wheel brake B1.
When the brake fluid pressure on the front-wheel braking B1 remained steady state value, control cock unit V cut off wheel hydraulic path E and open path H.That is to say that control setup 10 drives suction valve 12 makes it be in closed condition, makes delivery valve 13 demagnetizations make it be in closed condition simultaneously.Therefore, braking liquid just is limited in the path that is surrounded by front wheel brake B1, suction valve 12 and delivery valve 13, thereby the brake fluid pressure that acts on the front wheel brake B1 just remains steady state value.
In addition, when increase acted on brake fluid pressure on the front wheel brake B1, control cock unit V opened wheel hydraulic path E and disconnects open path H.That is to say that control setup 10 makes suction valve 12 demagnetizations, makes it be in open mode, also make delivery valve 13 demagnetizations simultaneously, make it be in closed condition.Therefore, by pump 3 effects, the braking liquid that flows out from ejection hydraulic path G just acts on the wheel hydraulic path E by suction valve 12, thereby the brake fluid pressure that acts on the front wheel brake B1 just increases.
Owing to carry out brake-power control etc. in the situation of not operating brake rod L1, and the hydraulic pressure that makes wheel hydraulic path E and ejection hydraulic path G is discharged into output hydraulic path D by safety of operation valve 6c with the braking liquid among wheel hydraulic path E and the ejection hydraulic path G when meeting or exceeding predetermined value.So, can prevent to act on the excessive phenomenon of brake fluid pressure of front wheel brake B1.
In addition, since energy disperser 4 and hole 5 absorb jointly and suppressed that the work of regulating control 6 causes in the vibrations of ejection hydraulic path G etc., so the operating noise that is produced by vibrations will be very little.
According to above-mentioned braking force control system 1, the front wheel brake B1 and the trailing wheel braking B2 that are connected to each brake system can work alone, with operation according to brake rod L1 and brake pedal L2, and the independent brake activation power of difference.In addition, when because one of brake rod L1 and brake pedal L2 or common operation when making one of front and back wheel may be in the locking state, control setup 10 carries out anti-lock control, with the braking force of the brake system of controlling a wheel, simultaneously braking force is acted on front wheel brake B1 different or the trailing wheel braking B2 with the brake system of the wheel that may be in the locking state.That is to say, may be in the locking state, just brake or brake according to the co-operate of brake rod L1 and brake pedal L2 according to the independent operation of one of brake rod L1 and brake pedal L2 up to a wheel.On the contrary, when a wheel may be in the locking state, this wheel began anti-lock control, and the mode with interlocking acts on braking force on the wheel of another brake system that is different from this wheel brake system simultaneously.Therefore, when carrying out when the locking state does not take place travelling under the situation of normal brake application operation, carry out brake operating or carry out brake operating according to the co-operate of brake rod L1 and brake pedal L2 according to the independent operation of one of brake rod L1 and brake pedal L2.So,, can independently carry out the brake operating of front and back wheel based on driver's intention, thereby obtain good brake feel as the vehicle of traditional handle types.In addition, can realize that also the mobility that adapts to driver's wish travels etc.
On the other hand, when travelling under one of them the generation locking situation that causes front and back wheel owing to brake operating, the wheel that may be in the locking state is carried out anti-lock control, and with interlock mode braking force is acted on the wheel of another brake system of the brake system that is different from this wheel.Therefore, brake operating acts on each wheel respectively, thereby makes the action of vehicle stable.So, just can make the driver feel that brake operating is very safe.
In addition, because braking force control system disposes by this way, promptly be provided for calculating the front-wheel control part 18a (trailing wheel control part 18b) of the slip rate of corresponding wheel, when the slip rate of front-wheel control part 18a calculating meets or exceeds predetermined value, control setup 10 carries out anti-lock control and brake activation power, so can prevent the reduction of travel condition of vehicle definitely.
And, when be different from carry out anti-lock control wheel another wheel (for example, trailing wheel R when front-wheel carries out ABS (Anti-lock Braking System)) in the time of may being in the locking state, control setup 10 also carries out anti-lock control to trailing wheel R, to regulate and to control the braking force of back wheel brake system.So can prevent the reduction of travel condition of vehicle definitely.
As mentioned above, though be that embodiments of the invention are made an explanation, the present invention is not limited to previous embodiment, but can carry out suitable improvement.
For example, the present invention also can be configured with the following methods, when with interlock mode front and back wheel being carried out control of braking, detects the state of a control of the wheel carry out anti-lock control etc., thereby and front and back wheel is carried out the brakig force distribution that brake operating is preset.And, braking force control system according to embodiment also can be used for such vehicle, wherein be communicated with by disconnecting valve or cut off output hydraulic path D, and control according to the hydraulic pressure of the braking liquid of front wheel brake B1, wherein this output hydraulic path is connected to front wheel brake B1 from brake rod L1.
Though described the preferred embodiments of the present invention, but those skilled in the art can understand, can carry out various changes and improvements in the case of without departing from the present invention, so, the changes and improvements in the principle and scope of the present invention under the present invention is intended to contain in the claim.
Claims (8)
1. Vehicular brake control apparatus comprises:
The brake operating element that at least one pair of works alone;
Respectively with this brake system that brake operating element is linked to each other; With
Control the control unit of this brake system,
It is characterized in that this control unit is controlled as follows:
When one in the operation brake operating element and may be in the locking state corresponding to the pairing wheel of one of them brake system of operated brake operating element the time,
By the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, increasing, to reduce or to keep brake fluid pressure, thereby control unit to the brake system of operated brake operating element carry out anti-lock control and
This control unit also can carry out brake-power control, and on another wheel that braking force is applied to brake system, it is different from that wheel that brake system is carried out anti-lock control.
2. Vehicular brake control apparatus as claimed in claim 1 also comprises:
Calculate the slip rate calculating unit of the slip rate of wheel,
It is characterized in that,, carry out anti-lock control and brake-power control when the slip rate that calculates by the slip rate calculating unit during more than or equal to a predetermined value.
3. Vehicular brake control apparatus as claimed in claim 1 is characterized in that, when the wheel corresponding to another brake system of carrying out brake-power control may be in the locking state, control unit carried out anti-lock control to another brake system.
4. Vehicular brake control apparatus comprises:
The brake operating element that at least one pair of works alone;
Respectively with this brake system that brake operating element is linked to each other; With
Control the control unit of this brake system,
It is characterized in that this control unit is controlled as follows:
When two in the operation brake operating element and may be in the locking state corresponding to the pairing wheel of one of them brake system of one of them brake operating element the time,
By the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, to increase, to reduce or the maintenance brake fluid pressure, thereby control unit with brake system that the wheel that may be in the locking state links to each other on carry out anti-lock control and
This control unit also carries out brake-power control simultaneously, and braking force is applied on another brake system, it is different from that brake system of carrying out anti-lock control.
5. Vehicular brake control apparatus as claimed in claim 4 also comprises:
Calculate the slip rate calculating unit of the slip rate of wheel,
It is characterized in that,, carry out anti-lock control and brake-power control when the slip rate that calculates by the slip rate calculating unit during more than or equal to a predetermined value.
6. Vehicular brake control apparatus as claimed in claim 4 is characterized in that, when the wheel corresponding to another brake system of carrying out brake-power control may be in the locking state, control unit carried out anti-lock control to another brake system.
7. control method that is used for braking force control system, this device comprises a pair of brake operating element and the brake system that is connected respectively to described paired brake operating element, when one of them of described paired brake operating element is operated and may be in the locking state corresponding to the pairing wheel of one of them brake system of operated brake operating element, described control method is had an effect, and described control method may further comprise the steps:
By the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, increasing, to reduce or to keep brake fluid pressure, thereby on the brake system of operated brake operating element, carry out ABS (Anti-lock Braking System) control; And
To being different from another brake system brake activation power of the brake system of carrying out ABS (Anti-lock Braking System) control.
8. control method that is used for braking force control system, this device comprises a pair of brake operating element and the brake system that is connected respectively to described paired brake operating element, when two of described paired brake operating element are operated and may be in the locking state corresponding to the pairing wheel of one of them brake system of one of them brake operating element, described control method is had an effect, and described control method may further comprise the steps:
By the control cock unit corresponding to the wheel braking of the wheel that may be in the locking state is controlled, increasing, to reduce or to keep brake fluid pressure, thereby on the brake system that is connected to the wheel that is in the locking state, carry out ABS (Anti-lock Braking System) control; And
To being different from another brake system brake activation power of the brake system of carrying out ABS (Anti-lock Braking System) control.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP076971/05 | 2005-03-17 | ||
| JP2005076971 | 2005-03-17 | ||
| JP068857/06 | 2006-03-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1833930A CN1833930A (en) | 2006-09-20 |
| CN100554051C true CN100554051C (en) | 2009-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100747354A Expired - Fee Related CN100554051C (en) | 2005-03-17 | 2006-03-17 | Vehicular brake control apparatus and control method thereof |
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| CN (1) | CN100554051C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4938598B2 (en) * | 2007-09-06 | 2012-05-23 | トヨタ自動車株式会社 | Vehicle control device |
| JP2017132363A (en) | 2016-01-28 | 2017-08-03 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Control device for motorcycle brake system, motorcycle brake system, and control method for motorcycle brake system |
| CN110758361B (en) * | 2018-07-25 | 2021-09-10 | 六和机械股份有限公司 | Differential steering system of tricycle |
| CN109131708B (en) * | 2018-08-02 | 2021-04-13 | 芜湖职业技术学院 | Braking force distribution system of electric bicycle |
| CN111348025B (en) | 2019-04-26 | 2021-11-19 | 京西重工（上海）有限公司 | Electro-hydraulic brake system and method for preventing wheel slip of vehicle using the same |
| TWI783833B (en) * | 2021-12-22 | 2022-11-11 | 彥豪金屬工業股份有限公司 | Control method of bicycle anti-lock brake device and bicycle anti-lock brake system |
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2006
- 2006-03-17 CN CNB2006100747354A patent/CN100554051C/en not_active Expired - Fee Related
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| CN1833930A (en) | 2006-09-20 |
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