WO2011154801A1 - Vehicle brake control system - Google Patents
Vehicle brake control system Download PDFInfo
- Publication number
- WO2011154801A1 WO2011154801A1 PCT/IB2011/001243 IB2011001243W WO2011154801A1 WO 2011154801 A1 WO2011154801 A1 WO 2011154801A1 IB 2011001243 W IB2011001243 W IB 2011001243W WO 2011154801 A1 WO2011154801 A1 WO 2011154801A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- braking torque
- regenerative braking
- frictional
- regenerative
- torque
- Prior art date
Links
- 230000001172 regenerating effect Effects 0.000 claims abstract description 200
- 238000004364 calculation method Methods 0.000 description 29
- 230000006870 function Effects 0.000 description 17
- 239000012530 fluid Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000000994 depressogenic effect Effects 0.000 description 7
- 230000001052 transient effect Effects 0.000 description 6
- 230000002411 adverse Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
Definitions
- the present invention generally relates to a vehicle brake control system. More particularly, the present invention relates to a vehicle brake control system that cooperatively controls a frictional braking system and a regenerative braking system to enhance the feel of the braking operation in a transient period in which the regenerative braking torque changes suddenly.
- a typical vehicle brake control device controls regenerative braking and frictional braking components to achieve a target braking torque in response to a braking operation or other driving state.
- the vehicle brake control device will operate the regenerative braking components to perform regenerative braking to attempt to achieve the desired braking torque. If the desired braking torque cannot be achieved with regenerative braking, the control device can operate the frictional braking components to supply additional braking torque which compensates for the shortfall in braking torque provided by the regenerative braking components. Therefore, since regenerative braking is used as much as possible, the use of frictional braking can be kept to a minimum.
- the frictional braking system includes a motorized power assist-type master cylinder which operates in response to a braking operation via a brake pedal or the like.
- the master cylinder converts the braking operation force to fluid pressure that is used to operate a frictional brake unit to generate a frictional braking torque.
- the frictional braking torque can be moderated by motorized power assist control of the master cylinder.
- braking force control is performed to supply a target braking torque based on a braking operation or the like.
- the regenerative braking system supplies a regenerative braking torque
- the frictional braking system which is moderated by motorized power assist control supplies frictional braking torque to compensate for any braking torque shortfall.
- the motorized power assist-type master cylinder uses a motorized booster piston to push in a primary piston of the master cylinder.
- fluid pressure fluctuation during the motorized power assist control described above can cause variations in braking operafiofTforce.
- These variations can include variations in brake pedal effort which can adversely affect the feel of the braking operation. Therefore, when it is necessary to vary the frictional braking torque in response to variations in the regenerative braking torque, the fluid pressure fluctuation varies the brake pedal effort. Accordingly, the feel of the braking operation is adversely affected.
- an object of the present invention is to provide a braking force control apparatus that is capable of mitigating variations in braking operation force even during sudden transient variations in regenerative braking torque, so that the feel of the braking operation is not uncomfortable to the driver.
- a vehicle brake control system basically includes a regenerative braking control component, a frictional braking control component, a calculating component and a controlling component.
- the regenerative braking control component is configured to control a regenerative braking device to provide a regenerative braking torque.
- the frictional braking control component is configured to control a frictional braking device to provide a frictional braking torque.
- the controlling component is configured, during a first condition, to operate a motorized power assist control device based on the regenerative braking torque filter processing value, instead of based on the regenerative braking torque, to moderate the frictional braking torque, such that the regenerative braking torque and the moderated frictional braking torque provide a target braking torque that is based on a braking operation.
- Figure 1 is a functional block diagram showing an example of a vehicle brake control system according to a disclosed embodiment
- Figure 2 is a flowchart showing an example of a control process that can be executed by the pedal feel priority filter calculation processor of the vehicle brake control system shown in Figure 1 to compute the regenerative braking torque according to a disclosed embodiment
- Figure 3A is an operational time chart illustrating an example of a relationship between the regenerative braking torque, the frictional braking torque, and the target braking torque with respect to time when the pedal feel priority filter calculation processor does not perform the control process shown in Figure 2;
- Figure 3B is an operational time chart illustrating an example of a relationship between the regenerative braking torque, the frictional braking torque, and the target braking torque with respect to time when the pedal feel priority filter calculation processor performs the control process shown in Figure 2;
- Figure 4 is an operational time chart illustrating an example of the regenerative braking torque with respect to time that is achieved when the pedal feel priority filter calculation processor performs the control process shown in Figure 2;
- FIG. 5 is a flowchart showing an example of a control process that can be executed by the pedal feel priority filter calculation processor of the vehicle brake control system shown in Figure 1 to compute the regenerative braking torque according to another 3 ⁇ 43 ⁇ 4clo ⁇ e3 ⁇ 4 " 3 ⁇ 4 bodiment; and-
- Figure 6 is an operational time chart illustrating an example of the regenerative braking torque with respect to time that is achieved when the pedal feel priority filter calculation processor performs the control process shown in Figure 5.
- FIG. 1 is a functional block diagram illustrating an example of a vehicle brake control system according to a disclosed embodiment.
- the vehicle brake control system can be employed in any suitable type of vehicle, such as a car, truck, van, SUV and so on having wheels 1.
- at least one of the wheels 1 is driven by an electric motor 2.
- the vehicle can instead be a hybrid vehicle as understood in the art, or any other type of suitably powered vehicle.
- a motor controller 3 converts the electrical power of a battery 4 (e.g., a condenser) from direct current to alternating current through the use of, for example, an inverter 5 or any other suitable device.
- the inverter 5 thus supplies the alternating-current power to the electric motor 2 as controlled by the controller 3.
- the controller 3 controls the driving of the electric motor 2 so that the torque of the electric motor 2 equals or at least substantially equals a target motor torque Tm provided by the motor controller 3.
- the target motor torque Tm provided by the motor controller 3 can include, for example, a torque value and information relating to a rotation direction to control the forward and reverse states of the vehicle. When the vehicle is stopped, the torque value can be zero.
- the motor controller 3 imparts a power generation load to the electric motor 2 via the inverter 5.
- the power generation load that is imparted to the electric motor 2 has a value so as to not overcharge the battery 4 while imparting a regenerative braking torque to the wheels 1.
- the motor controller 3 at this time converts the electrical power generated through regenerative braking by the electric motor 2 from alternating current to direct current through the use of the inverter 5. The motor controller 3 can thus use this direct current to charge the battery 4.
- the vehicle can also be braked by frictional braking.
- the combination of the regenerative braking system and the frictional braking system can be referred to as, for example, a combination system or a combination brake system as understood in the art.
- the frictional braking system in this example includes brake pedal 11 and a motorized power assist-type master cylinder 12 as shown in Figure 1. Certain components of the frictional braking system not otherwise described herein can be the same or similar to those described in Japanese Laid-Open Patent Application No. 2009-154814 discussed above.
- the brake pedal 1 1 When the driver depresses the brake pedal 1 1 , the brake pedal 1 1 generates a pedal stroke St according to the pedal effort (the braking operation force).
- the motorized power assist-type master cylinder 12 operates in response to the pedal stroke St, and a master cylinder fluid pressure Pm is generated by the pushing stroke of a primary piston (not shown).
- the motorized power assist-type master cylinder 12 converts the tread force (the braking operation force) of the brake pedal 1 1 to a master cylinder fluid pressure Pm.
- the master cylinder fluid pressure Pm is fed to brake calipers or other factional brake units 19 associated with the wheels 1.
- a factional brake unit 19 is operated by the fluid pressure to impart a frictional braking torque on the wheels 1.
- the motorized power assist-type master cylinder 12 and associated components can function as a frictional braking control component that is configured to control a frictional braking device 19 to provide a frictional braking torque.
- the motorized power assist-type master cylinder 12 in this example includes a servo motor 13 for administering motorized power assist control. Also in this example, the servo motor 13 is shown separate from the motorized power assist-type master cylinder 12 in Figure 1 for the sake of clarity. However, the servo motor 13 can be included in the motorized power assist-type master cylinder 12. The servo motor 13 pushesThe primary piston to perform the power assist function as discussed above.
- the motorized power assist-type master cylinder 12 can moderate and adjust the master cylinder fluid pressure Pm (i.e., the frictional braking torque) through
- a brake controller 14 can administer the motorized power assist control discussed above.
- the brake controller 14 can include a target braking torque computer 15, a regenerative/frictional braking torque allocation computer 16, a pedal feel priority filter calculation processor 17 and a subtractor 18 as shown in Figure 1.
- regenerative/frictional braking torque allocation computer 16 and the pedal feel priority filter calculation processor 17 shown in Figure 1, and any other controller discussed herein, can each include or share, for example, a microcomputer with a control program that controls and interacts with the components of the vehicle as discussed herein.
- regenerative/frictional braking torque allocation computer 16 can also each include or share other conventional components such as an input interface circuit, an output interface circuit, and storage devices such as a ROM (Read Only Memory) device and a RAM (Random Access Memory) device.
- the RAM and ROM store processing results and control programs that are run by the motor controller 3, the brake controller 14, the target braking torque computer 15, the regenerative/frictional braking torque allocation computer 16 and the pedal feel priority filter calculation processor 17.
- the motor controller 3, the brake controller 14, the target braking torque computer 15, the regenerative/frictional braking torque allocation computer 16, the pedal feel priority filter calculation processor 17 and any other controller discussed herein are operatively coupled to the components of the vehicle in a conventional manner. It will be apparent to those skilled in the art from this disclosure that the precise structure and algorithms for the motor controller 3, the brake controller 14, the target braking torque computer 15, the regenerative/frictional braking torque allocation computer 16, the pedal feel priority filter mlculation processor l " 7 " and any other controlle discussedTierein can be any co nb nation of hardware and software that will carry out the functions of the embodiments discussed herein.
- the target braking torque computer 15 calculates the target braking torque Ttotal of the vehicle as desired by the driver from the pedal stroke St and master cylinder fluid pressure Pm.
- the regenerative/frictional braking torque allocation computer 16 calculates a regenerative braking torque command Tm based on the target braking torque Ttotal and the detection values provided by various sensors. These detection values can include the wheel speed as provided by a wheel speed sensor, the lateral acceleration of the vehicle as provided by a lateral acceleration sensor, and the yaw rate of the vehicle as provided by a yaw rate sensor.
- the brake controller 14 and, in particular, the regenerative/frictional braking torque allocation computer 16 provides the regenerative braking torque command Tm to the motor controller 3.
- the motor controller 3 calculates the target motor torque Tm based on the regenerative braking torque command Tm.
- the motor controller 3 controls the driving of the electric motor 2 via the inverter 5 based on the target motor torque Tm to impart the regenerative braking torque on the wheels 1.
- any or all of the target braking torque computer 15, the regenerative/frictional braking torque allocation computer 16 and the motor controller 3 can function as a regenerative braking control component that is configured to control a regenerative braking device, such as the electric motor 2, to provide a regenerative braking torque.
- the motor controller 3 calculates a regenerative braking torque execution value T* imparted to the wheels 1 undergoing regenerative braking.
- the motor controller 3 thus provides the regenerative braking torque execution value T* to the pedal feel priority filter calculation processor 17.
- the pedal feel priority filter calculation processor 17 can execute the control operations shown in Figure 2.
- the pedal feel priority filter calculation processor 17 applies a predetermined filter processing to the regenerative braking torque execution value T*, and computes a cooperative control regenerative braking torque tT.
- the pedal feel priority filter calculation processor 17 can improve the feel of the braking operation during the braking force control for supplying the target braking lorque TtotaTby allowing for cooperation between regenerative braking and frictional braking.
- the regenerative braking torque execution value T* (or the regenerative braking torque command Tm) is used without modification.
- the subtractor 18 determines a difference between the regenerative braking torque execution value T* and the target braking torque Ttotal.
- the subtractor 18 determines the difference by subtracting the regenerative braking torque execution value T* from the target braking torque Ttotal.
- the difference output from the subtractor 18 is designated as a frictional braking torque command Tf.
- the frictional braking torque command Tf therefore controls the servo motor 13 to achieve a frictional braking torque based on the command value Tf.
- the regenerative braking torque execution value T* can undergo a sudden transient variation as shown in region a of Figure 3 A.
- the frictional braking torque command Tf obtained by subtracting the regenerative braking torque execution value T* from the target braking torque Ttotal also changes suddenly according to the same or about the same time variation.
- the motorized power assist-type master cylinder 12 supplies the frictional braking torque command Tf through motorized power assist control during which the servo motor 13 causes the primary piston to stroke. Therefore, the sudden variation of the frictional braking torque command Tf can cause the brake pedal effort (braking operation force) to change suddenly through the path ⁇ shown in Figure 1 via the sudden variation of the master cylinder fluid pressure. As a result, the feel of the braking operation of the brake pedal 11 can be adversely affected, and the driver may experience discomfort with the braking operation.
- the pedal feel priority filter calculation processor 17 can execute the exemplary operations shown in Figure 2. By performing these operations, the pedal feel priority filter calculation processor 17 can perform low- pass filtering on the regenerative braking torque execution value T* in accordance with the fluctuation frequency of the regenerative braking torque execution value ⁇ T*7 _ The ⁇ pedal- feel priority filter calculation processor 17 can compute a cooperative control regenerative braking torque tT in the manner described below. Furthermore, the pedal feel priority filter calculation processor 17 can use the cooperative control regenerative braking torque tT in braking force cooperative control by motorized power assist control. Furthermore it should be noted that the filtering need not be a low-pass filtering.
- any suitable filtering operation that is capable of setting a primary delay in the regenerative braking torque execution value T* can be used.
- the pedal feel priority filter calculation processor 17 performs the processing shown in Figure 2 in this example, the processing can be performed all or in part by any other suitable component in the vehicle brake control system.
- step SI 1 of Figure 2 the pedal feel priority filter calculation processor 17 reads the regenerative braking torque execution value T* provided by the motor controller 3.
- step SI 2 the pedal feel priority filter calculation processor 17 can perform filter processing on the regenerative braking torque execution value T* read in step SI 1 , in accordance with the fluctuation frequency of the regenerative braking torque execution value T*.
- the pedal feel priority filter calculation processor 17 can function as a calculating component that is configured to calculate a regenerative braking torque filter processing value based on a fluctuation frequency of the regenerative braking torque.
- step SI 3 the pedal feel priority filter calculation processor 17 thus reads the regenerative braking torque filter processing value T** to which the filter processing-has- teen-applied— Consequently, steps S12 and S13 can be considered as performing regenerative braking torque filter processing value computation.
- step SI 4 a determination is made based on the detection values of the various sensors shown in Figure 1 whether an anti-skid control device (ABS) has been actuated. As understood in the art, an ABS can adjust the braking torque to prevent brake lock-up of the wheels 1. A determination is also made in step S 14 as to whether a vehicle handling control device (VDC) for adjusting the braking torque to control vehicle handling is actuated. Furthermore, a determination is made in step S 14 as to whether braking force control by motorized power assist control is disabled by a condition such as disabling of regenerative braking due to full charging of the battery 4.
- VDC vehicle handling control device
- step S14 When a determination is made in step S14 that a first condition exists in which the ABS and the VDC are not actuated, and the braking force cooperative control is not disabled, the regenerative braking torque filter processing value T** read in step S13 is set as the cooperative control regenerative braking torque tT in step SI 5. However, when a determination is made in step S14 that the ABS or the VDC is actuated, or the braking force cooperative control is disabled (e.g., a second condition exists), the processing continues to step S16.
- step S16 the smaller value min(T*, T**) of the regenerative braking torque execution value T* read in step S 1 1 and the regenerative braking torque filter processing value T** read in step S13 is set as the cooperative control regenerative braking torque tT.
- the pedal feel priority filter calculation processor 17 provides the calculated cooperative control regenerative braking torque tT to the subtractor 18.
- the subtractor 18 thus subtracts the cooperative control regenerative braking torque tT from the target braking torque Ttotal to produce the frictional braking torque command Tf.
- the subtractor 18 provides the frictional braking torque command Tf to the servo motor 13.
- the servo motor 13 moderates and adjusts the master cylinder fluid pressure Pm from a reference pressure that was based on the tread force (braking operation force) of the brake pedal 11 to provide the frictional braking torque based on the command value Tf. That is, the servo motor 13 performs motorized power assist control of the motorized power assist-type master cylinder 12 to provide the frictional braking torque based on the command value Tf.
- the vehicle brake control system described above provides the
- the regenerative braking torque filter processing value T** is set as the cooperative control regenerative braking torque tT (step SI 5) when the ABS and VDC are not actuated and the braking force cooperative control is not disabled (step SI 4).
- the frictional braking torque command Tf is calculated from the target braking torque Ttotal and the regenerative braking torque filter processing value T**, which is substituted for the regenerative braking torque execution value T* as shown in Figure 3B. Also, the rictional ⁇ Braking torque command TFis usedToFBraking force control to supply " the target braking torque Ttotal.
- the components of the brake controller 14 can be considered to function as a controlling component that is configured, during the first condition as described above, to operate a motorized power assist control device based on the regenerative braking torque filter processing value, instead of based on the regenerative braking torque, to moderate the frictional braking torque, such that the regenerative braking torque and the moderated frictional braking torque provide a target braking torque that is based on the braking operation.
- the motorized power assist-type master cylinder 12 (servo motor 13) can use the regenerative braking torque filter processing value T** instead of the regenerative braking torque execution value T* during braking force cooperative control as discussed above. Therefore, even when the regenerative braking torque execution value T* undergoes a sudden transient variation as shown in region a of Figure 3 A, the variation in the cooperative control regenerative braking torque tT used in the braking force cooperative control is gradual and small, as shown in region ⁇ of Figure 3B. Consequently, a gradual, small variation also occurs in the frictional braking torque command Tf that is obtained by subtracting the cooperative control regenerative braking torque tT
- the actuation (motorized power assist control effect) of the servo motor 13 for supplying the frictional braking torque command Tf is therefore gradual and small. Furthermore, the variation in tread force (variation in braking operation force) of the brake pedal 11 by motorized power assist control of the master cylinder 12 can be adequately mitigated. This can prevent the feel of the braking operation from being uncomfortable to the driver.
- the regenerative braking torque and the moderated frictional braking torque provide the target braking torque that is based on the braking operation.
- the pedal feel priority filter calculation processor 17 can be considered to function as an anti-skid determination component that is configured to determine a third condition during which a braking torque being applied to wheels of a vehicle including the vehicle brake control system is adjusted to prevent brake lock-up of the wheels.
- the brake controller 14 can be considered to function as the controlling component which is further configured, during the third condition, to operate the motorized power assist control device based on a smaller of the regenerative braking torque and the regenerative braking torque filter processing value, to moderate the frictional braking torque.
- the regenerative braking torque and the moderated frictional braking torque provide the target braking torque that is based on the braking operation while the anti-skid determination component is adjusting the braking torque being applied to wheels to prevent brake lock-up of the wheels.
- the pedal feel priority filter calculation processor 17 can be considered to function as a vehicle handling determination component that is configured to determine a fourth condition during which a braking torque used for vehicle handling control of a vehicle including the vehicle brake control system is adjusted.
- the brake controller 14 can be considered to function as the controlling component which is further configured, during the fourth condition, to operate the motorized power assist control device based on a smaller of the regenerative braking torque and the regenerative braking torque filter processing value, to moderate the frictional braking torque.
- the regenerative braking torque and the moderated frictional braking torque provide the target braking torque that is based on the braking operation while the vehicle handling control component is adjusting the braking torque used for vehicle handling control.
- the cooperative control regenerative braking torque tT is the same as the regenerative braking torque filter processing value T** at or before time tl as indicated by the dotted dashed line.
- the ABS or VDC is actuated, or the braking force cooperative control is disabled by a condition such as the disabling of regenerative braking. Accordingly, the cooperative control regenerative braking torque tT becomes the same as the smaller min(T*, T**) of the regenerative braking torque execution value T* and the regenerative braking torque filter processing value T** as described above. As indicated by the dotted dashed line in Figure 4, when the value of the regenerative braking torque execution value T* falls below the value of the regenerative braking torque filter processing value T**, the cooperative control regenerative braking torque tT becomes the value of T*.
- the frictional braking torque command Tf is calculated by subtracting the min(T*, T**) from the target braking torque Ttotal. As discussed above, the frictional braking torque command Tf is used for the braking force cooperative control to provide the target braking torque Ttotal.
- the cooperative control regenerative braking torque tT is reduce beginning at time tl . Therefore, the frictional braking torque can be rapidly restored when the ABS or VDC is actuated or the braking force cooperative control is disabled by a condition such as the disabling of regenerative braking.
- ABS anti-skid control device
- FIG. 5 is a flowchart showing an example of a control process that can be executed by, for example, the pedal feel priority filter calculation processor 17 to compute the regenerative braking torque tT that is used for braking force cooperative control.
- the operations SI 1 through S 16 correspond to those of the flowchart shown in Figure 2.
- the process shown in Figure 5 further includes steps S21 through S26 which will be discussed below. As shown, step S21 is performed immediately before or at least prior to step SI 1.
- step S21 the depression stroke St (see Figure 1) of the brake pedal 1 1 -isTeadT
- steps SI 1 through SI 3 the same or a similar processing is performed as in the steps indicated by the same reference numerals in Figure 2.
- the regenerative braking torque execution value T* is read in step S 1 1.
- the regenerative braking torque filter processing value T* * that is the result of filter processing of the regenerative braking torque execution value T* is calculated in step SI 2.
- the regenerative braking torque filter processing value T** is read in step SI 3.
- step S22 is performed immediately after or at least subsequent to step SI 3.
- the processing determines whether a fifth condition exists in which an automatic headway distance control device (ACC) for automatically generating a braking torque for controlling the headway distance is actuated.
- the pedal feel priority filter calculation processor 17 can be considered to function as an automatic headway distance condition determination component that is configured to determine a fifth condition during which a braking torque used for automatic control of headway distance for a vehicle including the vehicle brake control system is generated.
- step S22 determines in step S22 that the ACC is not actuated. Therefore, when the processing determines in step S22 that the ACC is not actuated, the processing continues to steps S14 through S16 as discussed above. [0054] However, when the processing determines in step S22 that the ACC is actuated, the processing continues to step S23. In the processing beginning in step S23, the cooperative control regenerative braking torque tT is calculated as described below, and the cooperative control regenerative braking torque tT is used for braking force
- step S23 the processing determines whether the brake pedal 1 1 is currently depressed based on whether the brake pedal stroke St read in step S21 is equal to or greater than a depression determination value StO.
- step S24 the processing determines in step S24 whether the previous brake pedal stroke St was a state of brake pedal depression. That is, the processing determines whether the state of brake pedal depression is continuing, or whether the brake pedal 11 is being currently depressed rom a released state. In this example, the determination's made- based on whether the previous brake pedal stroke St (previous value) is equal to or greater than the depression determination value StO.
- step S24 When the processing determines in step S24 that the brake pedal 11 is depressed from a released state, the filter processing performed previously in step S 12 is initialized in step S25 that is performed once at the start of the brake pedal depression.
- step S26 the regenerative braking torque execution value T* is set as the cooperative control regenerative braking torque tT and used for the braking force cooperative control shown in Figure 1 as discussed above.
- the brake controller 14 can be considered to function as the controlling component that is further configured, during the fifth condition, to operate the motorized power assist control device based on the regenerative braking torque, instead of the regenerative braking torque filter processing value, to moderate the frictional braking torque.
- the regenerative braking torque and the moderated frictional braking torque provide the target braking torque that is based on the braking operation while the automatic headway distance condition determination component.
- step S24 determines in step S24 that the depressed state of the brake pedal 1 1 is continuing, the feel of the braking operation is to be taken into consideration. Hence, the processing continues to step SI 5, and the regenerative braking torque filter processing value T** calculated in step S12 after the initialization in step S25 is set as the cooperative control regenerative braking torque tT.
- This cooperative control regenerative braking torque tT is used for the braking force cooperative control as shown in Figure 1.
- step S23 when the processing determines in step S23 that the brake pedal stroke St is less than the depression determination value StO, the processing determines that the brake pedal 11 is not depressed and is thus in the released state. Since the feel of the braking operation need not be considered at this time, the processing continues to step S26.
- the regenerative braking torque execution value T* is set as the cooperative control regenerative braking torque tT and used for the braking force cooperative control as shown in Figure 1.
- the regenerative braking torque and the moderated frictional braking torque provide the target braking torque that is based on the braking operation after the automatic headway distance has finished generating the braking torque used for the automatic control of the headway distance.
- the target braking torque Ttotal can be provided in the same or similar manner as by the processing shown in Figure 2. That is, the target braking torque Ttotal can be provided by
- step S22 when the ACC is not actuated (step S22), the same or similar processing is performed in steps S14 through SI 6 as in Figure 2.
- step S22 when a determination is made in step S22 that the ACC is actuated, and a determination is made in step S23 that the brake pedal 1 1 is in the released state, the regenerative braking torque execution value T* is set as the cooperative control regenerative braking torque tT in step S26.
- This setting for the cooperative control regenerative braking torque tT is used for the braking force cooperative control as shown in- Figure 1.
- Figure 6 is an exemplary time chart for operation during continuous actuation of the ACC. As shown, until time tl of brake pedal depression, the cooperative control regenerative braking torque tT has the same value as the regenerative braking torque execution value T*. Thus, the braking force cooperative control as shown in Figure 1 is performed accordingly.
- the braking force cooperative control is based on the regenerative braking torque execution value T* to which the filter processing has not been applied. Accordingly, fluctuations in acceleration in the front-rear direction of the vehicle that occur during torque switching between regenerative braking torque and frictional braking torque can be reduced.
- step S22 when a determination is made in step S22 that the ACC is actuated, but a determination is made in step S23 that the brake pedal 11 is depressed, the regenerative braking torque filter processing value T** is set as the cooperative control regenerative braking torque tT in step SI 5.
- This set value for the cooperative control regenerative braking torque tT is used for the braking force cooperative control as shown in Figure 1.
- the cooperative control regenerative braking torque tT has the same value as the regenerative braking torque filter processing value T** after initialization.
- the braking force cooperative control as shown in Figure 1 is performed accordingly. That is, the braking force cooperative control is based on the regenerative braking torque filter processing value T** to which filter processing has been applied after the aforementioned
- the regenerative braking torque filter processing value obtained by applying filter processing can be used instead of the regenerative braking torque, the variation of the frictional braking torque can be gradual and small even when there is a sudden transient variation of the regenerative braking torque. Therefore, it is possible to adequately mitigate a variation in the motorized power assist-type braking operafionforce that is causedi ⁇ th ⁇ e ⁇ variatrorrof t ⁇
- detect or “sense” and their variations as used herein to describe an operation or function carried out by a component, a section, a device or the like includes a component, a section, a device or the like that does not require physical detection or sensing, but rather includes determining, measuring, modeling, predicting or computing or the like to carry out the operation or function.
- configured as used herein to describe a component, section or part of a device includes hardware and/or software that is constructed and/or programmed to carry out the desired function. The terms of degree such as “substantially”, “about” and
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11733907.7A EP2560851B1 (en) | 2010-06-07 | 2011-06-06 | Vehicle brake control system |
RU2012155598/11A RU2520859C1 (en) | 2010-06-07 | 2011-06-06 | Vehicle brake control system |
CN201180026736.0A CN102917926B (en) | 2010-06-07 | 2011-06-06 | Vehicle braking control system |
US13/701,165 US9002609B2 (en) | 2010-06-07 | 2011-06-06 | Vehicle brake control system |
MX2012013174A MX2012013174A (en) | 2010-06-07 | 2011-06-06 | Vehicle brake control system. |
BR112012031055-0A BR112012031055B1 (en) | 2010-06-07 | 2011-06-06 | vehicle brake control system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010129558A JP5736673B2 (en) | 2010-06-07 | 2010-06-07 | Braking force coordination controller for compound brake |
JP2010-129558 | 2010-06-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011154801A1 true WO2011154801A1 (en) | 2011-12-15 |
Family
ID=44534498
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IB2011/001243 WO2011154801A1 (en) | 2010-06-07 | 2011-06-06 | Vehicle brake control system |
Country Status (9)
Country | Link |
---|---|
US (1) | US9002609B2 (en) |
EP (1) | EP2560851B1 (en) |
JP (1) | JP5736673B2 (en) |
CN (1) | CN102917926B (en) |
BR (1) | BR112012031055B1 (en) |
MX (1) | MX2012013174A (en) |
MY (1) | MY164025A (en) |
RU (1) | RU2520859C1 (en) |
WO (1) | WO2011154801A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104169138A (en) * | 2012-03-14 | 2014-11-26 | 日产自动车株式会社 | Brake control device and control method |
EP3351421A4 (en) * | 2015-09-18 | 2018-08-29 | Hitachi Automotive Systems, Ltd. | Brake control device |
CN110614984A (en) * | 2018-06-20 | 2019-12-27 | 华为技术有限公司 | Method and device for hybrid braking |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5664770B2 (en) * | 2011-04-22 | 2015-02-04 | トヨタ自動車株式会社 | Brake system |
JP6214220B2 (en) * | 2013-06-03 | 2017-10-18 | Ntn株式会社 | Electric brake control system |
US9156358B2 (en) | 2013-10-15 | 2015-10-13 | Ford Global Technologies, Llc | Regenerative braking in the presence of an antilock braking system control event |
US9493075B2 (en) * | 2014-03-25 | 2016-11-15 | Ford Global Technologies, Llc | Regenerative braking control system and method |
US9463873B2 (en) * | 2014-07-13 | 2016-10-11 | The Boeing Company | Vehicle braking system having braking control and skid reduction functions |
US9440632B2 (en) * | 2014-11-05 | 2016-09-13 | Bendix Commercial Vehicle Systems Llc | Method, controller and system for monitoring brake operation |
DE102014017464B4 (en) * | 2014-11-21 | 2020-07-30 | Technische Universität Ilmenau | System and method for controlling the wheel braking torques with simultaneous interference compensation in electric vehicles |
KR102286732B1 (en) * | 2015-05-18 | 2021-08-05 | 현대자동차 주식회사 | In vehicle braking system and vehicle braking method |
US10106040B2 (en) | 2017-01-30 | 2018-10-23 | Ford Global Technologies, Llc | Regenerative braking system and method |
US10730393B2 (en) * | 2017-10-13 | 2020-08-04 | Ford Global Technologies, Llc | Regenerative hybrid vehicle braking system and methods |
KR102440597B1 (en) * | 2017-12-11 | 2022-09-05 | 현대자동차 주식회사 | System and Method For Controlling Regenerative Braking of Hybrid Vehicle |
JP6641646B2 (en) * | 2017-12-28 | 2020-02-05 | マツダ株式会社 | Vehicle control device |
JP7146167B2 (en) * | 2018-06-26 | 2022-10-04 | 株式会社アドヴィックス | vehicle braking controller |
CN111619359A (en) * | 2019-02-28 | 2020-09-04 | 北京新能源汽车股份有限公司 | Control method for recovering vehicle braking energy, vehicle control unit and vehicle |
DE102019204708A1 (en) | 2019-04-02 | 2020-10-08 | Volkswagen Aktiengesellschaft | Method for decelerating a motor vehicle during an emergency braking with an electric motor of an electric drive of the motor vehicle and a braking torque of a service brake system of the motor vehicle and motor vehicle |
CN110775032B (en) * | 2019-10-25 | 2021-09-14 | 精诚工科汽车***有限公司 | Control method and device of electronic brake booster and vehicle |
DE102019134583A1 (en) * | 2019-12-16 | 2021-06-17 | Bombardier Transportation Gmbh | METHOD FOR ASSISTANT IN THE CONTROL OF A SPEED OF A RAIL VEHICLE, METHOD FOR ASSISTED CONTROL OF A SPEED OF A RAIL VEHICLE AND THE ASSOCIATED RAIL VEHICLE |
CN113060119B (en) * | 2021-04-08 | 2022-04-12 | 中国第一汽车股份有限公司 | Anti-skid control method for transfer case |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004044599A1 (en) * | 2003-09-15 | 2005-04-14 | Continental Teves Ag & Co. Ohg | Brake control process for a motor vehicle having an electric regenerative brake has generator and hydraulic friction brakes and uses auxiliary pressure unit |
US20090115242A1 (en) * | 2005-09-26 | 2009-05-07 | Yukio Ohtani | Electrically Actuated Booster |
JP2009154814A (en) | 2007-12-27 | 2009-07-16 | Hitachi Ltd | Electric booster |
JP2010129558A (en) | 2008-11-25 | 2010-06-10 | Nec Corp | Structure for mounting flexible printed board, and sliding electronic device |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19964048A1 (en) | 1999-06-30 | 2001-01-04 | Bosch Gmbh Robert | Method and device for stabilizing a road vehicle |
JP3702749B2 (en) * | 2000-05-24 | 2005-10-05 | トヨタ自動車株式会社 | Hybrid vehicle and control method thereof |
DE10101830B4 (en) * | 2001-01-17 | 2015-03-26 | Robert Bosch Gmbh | Brake torque control for a vehicle, method for controlling a brake torque and circuit for a braking torque control |
JP3939936B2 (en) * | 2001-05-30 | 2007-07-04 | トヨタ自動車株式会社 | Brake control device for vehicle |
JP4039146B2 (en) * | 2001-09-27 | 2008-01-30 | 日産自動車株式会社 | Braking control device |
JP2003231422A (en) * | 2002-02-08 | 2003-08-19 | Hitachi Ltd | Automatic inter-vehicle distance control device and car |
US6663197B2 (en) * | 2002-04-02 | 2003-12-16 | Ford Global Technologies, Llc | Vehicle brake system having adaptive torque control |
US6655754B2 (en) * | 2002-04-02 | 2003-12-02 | Ford Global Technologies, Llc | Vehicle brake system having adaptive torque control |
JP2004106663A (en) | 2002-09-17 | 2004-04-08 | Toyota Motor Corp | Integrated drive control system and integrated drive control method |
JP4370775B2 (en) * | 2002-12-17 | 2009-11-25 | 日産自動車株式会社 | Combined brake coordination controller |
JP2004217175A (en) * | 2003-01-17 | 2004-08-05 | Toyota Motor Corp | Vehicle-to-vehicle distance control device |
US7146266B2 (en) * | 2004-07-01 | 2006-12-05 | Ford Global Technologies, Llc | Controlling a hydraulic hybrid vehicle powertrain having an internal combustion engine and a hydraulic pump/motor |
JP2006281992A (en) * | 2005-03-31 | 2006-10-19 | Hitachi Ltd | Electric booster |
JP2006312384A (en) * | 2005-05-09 | 2006-11-16 | Honda Motor Co Ltd | Regenerative braking and friction braking device for vehicle |
JP4692837B2 (en) * | 2005-06-30 | 2011-06-01 | 日立オートモティブシステムズ株式会社 | Electric booster |
JP4756247B2 (en) * | 2006-07-28 | 2011-08-24 | 日立オートモティブシステムズ株式会社 | Electric booster |
JP4743052B2 (en) * | 2006-09-06 | 2011-08-10 | 日産自動車株式会社 | Brake control device for vehicle |
FR2909956B1 (en) * | 2006-12-18 | 2009-03-06 | Peugeot Citroen Automobiles Sa | RECUPERATIVE BRAKING METHOD FOR A HYBRID VEHICLE BASED ON PEDAL SUPPORT AND PRESSURE GRADIENT FOR APPLICATION OF ELECTRICAL BRAKING |
EP2289746B1 (en) * | 2009-08-27 | 2015-07-22 | Fiat Group Automobiles S.p.A. | System for enhancing cornering performance of a vehicle controlled by a safety system |
-
2010
- 2010-06-07 JP JP2010129558A patent/JP5736673B2/en active Active
-
2011
- 2011-06-06 RU RU2012155598/11A patent/RU2520859C1/en active
- 2011-06-06 US US13/701,165 patent/US9002609B2/en active Active
- 2011-06-06 WO PCT/IB2011/001243 patent/WO2011154801A1/en active Application Filing
- 2011-06-06 MX MX2012013174A patent/MX2012013174A/en active IP Right Grant
- 2011-06-06 BR BR112012031055-0A patent/BR112012031055B1/en active IP Right Grant
- 2011-06-06 CN CN201180026736.0A patent/CN102917926B/en active Active
- 2011-06-06 EP EP11733907.7A patent/EP2560851B1/en active Active
- 2011-06-06 MY MYPI2012005221A patent/MY164025A/en unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004044599A1 (en) * | 2003-09-15 | 2005-04-14 | Continental Teves Ag & Co. Ohg | Brake control process for a motor vehicle having an electric regenerative brake has generator and hydraulic friction brakes and uses auxiliary pressure unit |
US20090115242A1 (en) * | 2005-09-26 | 2009-05-07 | Yukio Ohtani | Electrically Actuated Booster |
JP2009154814A (en) | 2007-12-27 | 2009-07-16 | Hitachi Ltd | Electric booster |
JP2010129558A (en) | 2008-11-25 | 2010-06-10 | Nec Corp | Structure for mounting flexible printed board, and sliding electronic device |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104169138A (en) * | 2012-03-14 | 2014-11-26 | 日产自动车株式会社 | Brake control device and control method |
EP2826681A4 (en) * | 2012-03-14 | 2015-05-13 | Nissan Motor | Brake control device and control method |
US9707847B2 (en) | 2012-03-14 | 2017-07-18 | Nissan Motor Co., Ltd. | Braking control device and control method |
EP3351421A4 (en) * | 2015-09-18 | 2018-08-29 | Hitachi Automotive Systems, Ltd. | Brake control device |
US10647205B2 (en) | 2015-09-18 | 2020-05-12 | Hitachi Automotive Systems, Ltd. | Braking control apparatus |
CN110614984A (en) * | 2018-06-20 | 2019-12-27 | 华为技术有限公司 | Method and device for hybrid braking |
Also Published As
Publication number | Publication date |
---|---|
CN102917926A (en) | 2013-02-06 |
US20130085650A1 (en) | 2013-04-04 |
EP2560851B1 (en) | 2015-03-18 |
MY164025A (en) | 2017-11-15 |
BR112012031055B1 (en) | 2020-11-24 |
JP5736673B2 (en) | 2015-06-17 |
US9002609B2 (en) | 2015-04-07 |
MX2012013174A (en) | 2012-11-29 |
JP2011259541A (en) | 2011-12-22 |
EP2560851A1 (en) | 2013-02-27 |
RU2520859C1 (en) | 2014-06-27 |
CN102917926B (en) | 2016-01-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2560851B1 (en) | Vehicle brake control system | |
JP4147850B2 (en) | Braking control device | |
US9150109B2 (en) | Braking control device | |
US9283936B2 (en) | Braking force control apparatus for vehicle | |
JP5740905B2 (en) | Braking force control device for vehicle | |
JP5104998B2 (en) | Vehicle braking force control device | |
EP1327556B1 (en) | Brake control system for vehicle | |
JP5982808B2 (en) | Braking torque control device and braking torque control method | |
JP5853682B2 (en) | Brake control device for vehicle | |
JP6429276B2 (en) | Braking control device or braking control method | |
JP5251319B2 (en) | Electric brake device | |
JP2011073664A (en) | Vehicular brake device | |
JP2000264184A (en) | Regenerative cooperation brake controller for vehicle | |
JP3797266B2 (en) | Braking control device | |
JP2012175754A (en) | Brake system of vehicle | |
JP3760917B2 (en) | Braking control device | |
JP3772573B2 (en) | Regenerative cooperative brake control device for vehicle | |
JP6911735B2 (en) | Vehicle brake control system | |
JP5683305B2 (en) | Brake control device | |
CN117580739A (en) | Control device | |
KR101417856B1 (en) | Pressure control method of wheel using the variable threshold | |
KR101519224B1 (en) | Esc-control-system using regenerative brake and control-method thereof | |
CN114789721A (en) | Control system for vehicle | |
JP2017108551A (en) | Vehicular brake control apparatus | |
JP2015120375A (en) | Braking control device of vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201180026736.0 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11733907 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2011733907 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: MX/A/2012/013174 Country of ref document: MX |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13701165 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1201006322 Country of ref document: TH |
|
ENP | Entry into the national phase |
Ref document number: 2012155598 Country of ref document: RU Kind code of ref document: A |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112012031055 Country of ref document: BR |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01E Ref document number: 112012031055 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112012031055 Country of ref document: BR Kind code of ref document: A2 Effective date: 20121205 |