Braking force control system in vehicle
First Claim
1. A braking force control system in a vehicle including wheel brakes mounted on left and right wheels, respectively, an actuator capable of individually operating the wheel brake for the left wheel and the wheel brake for the right wheel, and an actuator control means capable of controlling the actuator independently from a braking operation conducted by a driver of the vehicle, wherein said braking force control system includes an urgent avoidance steering-operation detecting means for detecting an urgent avoidance steering-operation by the driver, and when the urgent avoidance steering-operation is detected, said actuator control means controls said actuator to generate a change in a direction of advancement of the vehicle to a direction of the steering operation by using braking forces of the wheels,wherein said urgent avoidance steering-operation detecting means detects the urgent avoidance steering-operation when at least one of the following conditions is satisfied:
- a steering speed is equal to or greater than a threshold value;
a steering torque is equal to or greater than a threshold value; and
an amount of variation in steering torque is equal to or greater than a threshold value.
1 Assignment
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Accused Products
Abstract
If a driver'"'"'s sudden operation of a steering handle to avoid an obstacle is detected based on outputs from a steering speed sensor (S1), a steering torque sensor (S2) and/or a steering torque variation amount sensor (S7), a master cylinder produces a braking hydraulic pressure by a command from an electronic control unit without depression of brake pedal by a driver. A hydraulic pressure control device (4) transmits the braking hydraulic pressure to brake calipers of inner wheels during turning of the vehicle to brake the inner wheels. This causes a yaw moment to be generated so as to turn the direction of advancement of the vehicle to an inward in a turning direction. Thus, the steering operation can be assisted by such yaw moment to avoid the obstacle.
52 Citations
20 Claims
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1. A braking force control system in a vehicle including wheel brakes mounted on left and right wheels, respectively, an actuator capable of individually operating the wheel brake for the left wheel and the wheel brake for the right wheel, and an actuator control means capable of controlling the actuator independently from a braking operation conducted by a driver of the vehicle, wherein said braking force control system includes an urgent avoidance steering-operation detecting means for detecting an urgent avoidance steering-operation by the driver, and when the urgent avoidance steering-operation is detected, said actuator control means controls said actuator to generate a change in a direction of advancement of the vehicle to a direction of the steering operation by using braking forces of the wheels,
wherein said urgent avoidance steering-operation detecting means detects the urgent avoidance steering-operation when at least one of the following conditions is satisfied: -
a steering speed is equal to or greater than a threshold value; a steering torque is equal to or greater than a threshold value; and an amount of variation in steering torque is equal to or greater than a threshold value. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A braking force control system in a vehicle including wheel brakes mounted on left and right wheels, respectively, an actuator capable of individually operating the wheel brake for the left wheel and the wheel brake for the right wheel, and an actuator control means capable of controlling the actuator independently from a braking operation conducted by a driver of the vehicle, wherein said braking force control system includes an urgent avoidance steering-operation detecting means for detecting an urgent avoidance steering-operation by the driver, and when the urgent avoidance steering-operation is detected, said actuator control means controls said actuator to generate a change in a direction of advancement of the vehicle to a direction of the steering operation by using braking forces of the wheels,
said system further including an obstacle information detecting means for detecting an obstacle present ahead of the vehicle in a direction of advancement thereof, and an obstacle avoidance determining means for determining whether the obstacle can be avoided by the change in the direction of advancement of the vehicle by the braking forces of said wheel brakes based on a result of said detection by said obstacle information detecting means, whereby when said obstacle avoidance determining means determines that the obstacle can not be avoided, said actuator control means controls said actuator to generate a braking force for reducing the vehicle speed.
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8. A braking force control system in a vehicle comprising:
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an urgent avoidance steering-operation detecting means for detecting an urgent avoidance steering-operation by a driver of the vehicle; a plurality of wheels, each said wheel having a wheel brake operatively connected thereto; a brake actuator for individually operating each of said wheel brakes; an actuator control means coupled to said brake actuator, for controlling said actuator independently from a braking operation of the driver, wherein when said urgent avoidance steering-operation is detected, said actuator control means controls said brake actuator to generate a change in direction of advancement of the vehicle to the direction of the urgent avoidance steering-operation by applying braking forces to said wheels, and wherein at least one of the detection of said urgent avoidance steering-operation and the determination of amount of said braking forces is carried out based on a steering torque. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A braking force control system in a vehicle including wheel brakes mounted on left and right wheels, respectively, an actuator capable of individually operating the wheel brake for the left wheel and the wheel brake for the right wheel, and an actuator control means capable of controlling the actuator independently from a braking operation conducted by a driver of the vehicle, wherein said braking force control system includes an urgent avoidance steering-operation detecting means for detecting an urgent avoidance steering-operation by the driver, and when the urgent avoidance steering-operation is detected, said actuator control means controls said actuator to generate a change in a direction of advancement of the vehicle to a direction of the steering operation by using braking forces of the wheels, said system further comprising
an obstacle information detecting means for detecting an obstacle present ahead of the vehicle in a direction of advancement thereof, and an obstacle avoidance determining means for determining whether the obstacle can be avoided by the change in the direction of advancement of the vehicle by the braking forces of said wheel brakes based on a result of said detection by said obstacle information detecting means, whereby when said obstacle avoidance determining means determines that the obstacle can not be avoided, said actuator control means controls said actuator to generate a braking force for reducing the vehicle speed in addition to said braking forces for said change in the direction of advancement of the vehicle.
Specification