Braking force control apparatus and method of motor vehicle

• US 6,454,364 B1
• Filed: 08/14/2001
• Issued: 09/24/2002
• Est. Priority Date: 09/14/2000
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Shimada, Michihito, Sakamoto, Junichi, Niwa, Satoru
• Primary Examiner(s): Butler, Douglas C.
• Application Number:
  US09/928,379
• Publication Number:
  US 20020030408A1
• Time in Patent Office: 406 Days
• Field of Search: 303/152, 303/186, 303/187, 303/188, 303/189, 303/20, 303/3, 188/156, 188/158, 188/159, 188/181.T, 188/349, 701/70, 701/22, 701/108, 180/165, 180/65-- 6, 318/371
• US Class Current: 303/152
• CPC Class Codes: B60K 17/354 having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 6/44 Series-parallel type
• CPC Class Codes: B60K 6/52 Driving a plurality of drive axles, e.g. four-wheel drive
• CPC Class Codes: B60K 6/543 the transmission being a continuously variable transmission
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B60T 2270/608 Electronic brake distribution (EBV/EBD) features related thereto
• CPC Class Codes: B60T 8/00 Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force by changing number of effective brake cylinders in power brake systems B60T17/10
• CPC Class Codes: B60T 8/267 for hybrid systems with different kind of brakes on different axles
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/13 in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
• CPC Class Codes: B60W 2050/0002 Automatic control, details of type of controller or control system architecture
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/18127 Regenerative braking
• CPC Class Codes: Y02T 10/62 Hybrid vehicles
• CPC Class Codes: Y10S 903/916 with plurality of drive axles
• CPC Class Codes: Y10S 903/918 Continuously variable
• CPC Class Codes: Y10S 903/947 Characterized by control of braking, e.g. blending of regeneration, friction braking

Abstract

A braking force control apparatus and method control a braking force of a motor vehicle that has (a) regenerative braking devices for front wheels and rear wheels, respectively, and (b) a friction braking device for each of the front wheels and the rear wheels. A target braking force of the front wheels and a target braking force of the rear wheels are calculated, based on a braking requirement made by a driver of the vehicle and a ratio of braking forces of the front wheels and the rear wheels. Initially, the regenerative braking devices are controlled to generate regenerative braking forces at the front wheels and the rear wheels, and then, if necessary, the friction braking device is controlled to generate a friction braking force at each of the front wheels and rear wheels, so that a total braking force applied to the front wheels and a total braking force applied to the rear wheels are controlled to the front-wheel target braking force and the rear-wheel target braking force, respectively.

Claims

1. A braking force control apparatus of a motor vehicle including (a) first and second regenerative braking devices that are operable to effect regenerative braking with respect to front wheels and rear wheels, respectively, and (b) a friction braking device that is operable to effect friction braking with respect to each of the front wheels and the rear wheels, comprising:

a controller that;

calculates a first target braking force of the front wheels and a second target braking force of the rear wheels, based on a braking requirement made by a driver of the vehicle and a ratio of braking forces of the front wheels and the rear wheels; and

initially causes the first and second regenerative braking devices to generate regenerative braking forces at the front wheels and the rear wheels, and then, if necessary, causes the friction braking device to generate a friction braking force at each of the front wheels and rear wheels, so that a total braking force applied to the front wheels and a total braking force applied to the rear wheels are controlled to the first target braking force and the second target braking force, respectively.

2. A braking force control apparatus according to claim 1, wherein the controller:

determines a first maximum regenerative braking force that can be generated by the first regenerative braking device, and a second maximum regenerative braking force that can be generated by the second regenerative braking device;

sets a first target regenerative braking force to a smaller one of the first target braking force and the first maximum regenerative braking force, and sets a second target regenerative braking force to a smaller one of the second target braking force and the second maximum regenerative braking force; and

controls the first regenerative braking device for the front wheels so as to provide the first target regenerative braking force, and controls the second regenerative braking device for the rear wheels so as to provide the second target regenerative braking force.

3. A braking force control apparatus according to claim 2, wherein the controller:

determines a first actual regenerative braking force actually generated by the first regenerative braking device, and a second actual regenerative braking force actually generated by the second regenerative braking device;

sets a first target friction braking force of the front wheels to a value obtained by subtracting the first actual regenerative braking force from the first target braking force, and sets a second target friction braking force of the rear wheels to a value obtained by subtracting the second actual regenerative braking force from the second target braking force; and

controls the friction braking device for each of the front and rear wheels so as to provide the first target friction braking force and the second target friction braking force.

4. A braking force control apparatus according to claim 1, wherein:

the controller comprises a braking control unit and a regenerative braking control unit that transmit and receive information to and from each other; and

the braking control unit controls the friction braking device so as to control braking pressures applied to the front and rear wheels, and controls the regenerative braking control unit so as to control the first and second regenerative braking devices.

5. A braking force control apparatus according to claim 4, wherein the braking control unit:

determines a first maximum regenerative braking force that can be generated by the first regenerative braking device, and a second maximum regenerative braking force that can be generated by the second regenerative braking device;

sets a first target regenerative braking force to a smaller one of the first target braking force and the first maximum regenerative braking force, and sets a second target regenerative braking force to a smaller one of the second target braking force and the second maximum regenerative braking force; and

transmits signals indicative of the first target regenerative braking force and the second target regenerative braking force to the regenerative braking control unit, and the regenerative braking control unit controls the first regenerative braking device for the front wheels and the second regenerative braking device for the rear wheels so as to provide the first target regenerative braking force and the second target regenerative braking force.

6. A braking force control apparatus according to claim 5, wherein:

the regenerative braking control unit determines a first actual regenerative braking force actually generated by the first regenerative braking device, and a second actual regenerative braking force actually generated by the second regenerative braking device, and transmits signals indicative of the first and second actual regenerative braking forces to the braking control unit;

the braking control unit sets a first target friction braking force of the front wheels to a value obtained by subtracting the first actual regenerative braking force from the first target braking force, and sets a second target friction braking force of the second wheels to a value obtained by subtracting the second actual regenerative braking force from the second target braking force; and

the braking control unit controls the friction braking device for each of the front and rear wheels so as to provide the first target friction braking force and the second target friction braking force.

7. A braking force control apparatus according to claim 4, wherein:

the vehicle is a hybrid vehicle including an internal combustion engine and a motor/generator that are operable to drive the vehicle, and a hybrid drive-train control unit that controls the internal combustion engine and the motor/generator;

at least one of the first and second regenerative braking devices comprises the motor/generator; and

the regenerative braking control unit comprises the hybrid drive-train control unit.

8. A braking force control apparatus according to claim 1, wherein the vehicle is a hybrid vehicle including an internal combustion engine and a motor/generator that are operable to drive the vehicle, and wherein at least one of the first and second regenerative braking devices comprises the motor/generator.

9. A braking force control apparatus according to claim 1, wherein the vehicle is a front-wheel-drive vehicle, and wherein the first regenerative braking device for the front wheels comprises a motor/generator that is operable to drive the vehicle.

10. A braking force control apparatus according to claim 1, wherein the controller calculates a target deceleration of the motor vehicle based on the braking requirement made by the driver, so as to calculate the first target braking force of the front wheels and the second target braking force of the rear wheels.

11. A braking force control apparatus according to claim 10, wherein the friction braking device comprises a brake pedal, a master cylinder operatively connected to the brake pedal, and a hydraulic circuit that controls braking pressures applied to the front and rear wheels, and wherein the braking requirement is calculated based on at least one of an amount of depression of the brake pedal by the driver and a pressure of the master cylinder.

12. A braking force control apparatus according to claim 1, wherein the ratio of braking forces of the front wheels and the rear wheels is constant.

13. A method of controlling a braking force of a motor vehicle including (a) first and second regenerative braking devices that are operable to effect regenerative braking with respect to front wheels and rear wheels, respectively, and (b) a friction braking device that is operable to effect friction braking with respect to each of the front wheels and the rear wheels, the method comprising the steps of:

calculating a first target braking force of the front wheels and a second target braking force of the rear wheels, based on a braking requirement made by a driver of the vehicle and a ratio of braking forces of the front wheels and the rear wheels; and

initially causing the first and second regenerative braking devices to generate regenerative braking forces at the front wheels and the rear wheels, and then, if necessary, causing the friction braking device to generate a friction braking force at each of the front wheels and the rear wheels, so that a total braking force applied to the front wheels and a total braking force applied to the rear wheels are controlled to the first target braking force and the second target braking force, respectively.

14. A method according to claim 13, further comprising:

determining a first maximum regenerative braking force that can be generated by the first regenerative braking device, and a second maximum regenerative braking force that can be generated by the second regenerative braking device;

setting a first target regenerative braking force to a smaller one of the first target braking force and the first maximum regenerative braking force, and setting a second target regenerative braking force to a smaller one of the second target braking force and the second maximum regenerative braking force; and

controlling the first regenerative braking device for the front wheels so as to provide the first target regenerative braking force, and controlling the second regenerative braking device for the rear wheels so as to provide the second target regenerative braking force.

15. A method according to claim 14, further comprising:

determining a first actual regenerative braking force actually generated by the first regenerative braking device, and a second actual regenerative braking force actually generated by the second regenerative braking device;

setting a first target friction braking force of the front wheels to a value obtained by subtracting the first actual regenerative braking force from the first target braking force, and setting a second target friction braking force of the rear wheels to a value obtained by subtracting the second actual regenerative braking force from the second target braking force; and

controlling the friction braking device for each of the front and rear wheels so as to provide the first target friction braking force and the second target friction braking force.

16. A method according to claim 13, wherein:

the vehicle includes a braking control unit and a regenerative braking control unit that transmit and receive information to and from each other; and

the braking control unit controls the friction braking device so as to control braking pressures applied to the front and rear wheels, and controls the regenerative braking control unit so as to control the first and second regenerative braking devices.

17. A method according to claim 16, further comprising:

in the braking control unit, determining a first maximum regenerative braking force that can be generated by the first regenerative braking device, and a second maximum regenerative braking force that can be generated by the second regenerative braking device;

in the braking control unit, setting a first target regenerative braking force to a smaller one of the first target braking force and the first maximum regenerative braking force, and setting a second target regenerative braking force to a smaller one of the second target braking force and the second maximum regenerative braking force; and

the braking control unit transmits signals indicative of the first target regenerative braking force and the second target regenerative braking force to the regenerative braking control unit, and the regenerative braking control unit controls the first regenerative braking device for the front wheels and the second regenerative braking device for the rear wheels so as to provide the first target regenerative braking force and the second target regenerative braking force.

18. A method according to claim 17, wherein:

in the regenerative braking control unit, determining a first actual regenerative braking force actually generated by the first regenerative braking device, and a second actual regenerative braking force actually generated by the second regenerative braking device, and transmitting signals indicative of the first and second actual regenerative braking forces to the braking control unit;

in the braking control unit, setting a first target friction braking force of the front wheels to a value obtained by subtracting the first actual regenerative braking force from the first target braking force, and setting a second target friction braking force of the second wheels to a value obtained by subtracting the second actual regenerative braking force from the second target braking force; and

the braking control unit controls the friction braking device for each of the front and rear wheels so as to provide the first target friction braking force and the second target friction braking force.

19. A method according to claim 16, wherein:

the vehicle is a hybrid vehicle including an internal combustion engine and a motor/generator that are operable to drive the vehicle, and a hybrid drive-train control unit that controls the internal combustion engine and the motor/generator;

at least one of the first and second regenerative braking devices comprises the motor/generator; and

the regenerative braking control unit comprises the hybrid drive-train control unit.

20. A method according to claim 13, wherein the vehicle is a hybrid vehicle including an internal combustion engine and a motor/generator that are operable to drive the vehicle, and wherein at least one of the first and second regenerative braking devices comprises the motor/generator.

21. A method according to claim 13, wherein the vehicle is a front-wheel-drive vehicle, and wherein the first regenerative braking device for the front wheels comprises a motor/generator that is operable to drive the vehicle.

22. A method according to claim 13, further comprising calculating a target deceleration of the motor vehicle based on the braking requirement made by the driver, so as to calculate the first target braking force of the front wheels and the second target braking force of the rear wheels.

23. A method according to claim 22, wherein the friction braking device comprises a brake pedal, a master cylinder operatively connected to the brake pedal, and a hydraulic circuit that controls braking pressures applied to the front and rear wheels, and wherein the braking requirement is calculated based on at least one of an amount of depression of the brake pedal by the driver and a pressure of the master cylinder.

24. A method according to claim 13, wherein the ratio of braking forces of the front wheels and the rear wheels is constant.