Vehicle braking control apparatus
First Claim
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1. A vehicle braking control system comprising:
- a pair of laterally spaced first wheels configured and arranged to be steered;
a pair of laterally spaced second wheels that are longitudinally separated from the first wheels in a front to aft vehicle direction;
an independent braking component configured to independently control braking torques applied to the first and second wheels; and
a steering detection component configured to detect a steering degree of the first wheels; and
an excess distribution component configured to vary a front and rear braking torque distribution between the first and second wheels while keeping a total required braking torque imparted to all of the wheels substantially constant,the excess distribution component including a left and right wheel distribution adjusting component configured to adjust a left and right braking torque distribution of at least one of the pairs of the first and second wheels so that a left and right braking torque difference is applied to suppress a vehicle behavior that accompanies varying of the front and rear braking torque distribution between the first wheels and the second wheels based on the steering degree in the first wheels upon determining that steering in the first wheels is present.
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Abstract
A vehicle braking control apparatus is configured to suppress the effect on the vehicle behavior when braking torque is reassigned between the wheels. The distribution of braking torques is reassigned between the front and rear wheels so as to increase the amount of braking carried out by regenerative braking while maintaining a constant total braking torque. When the frictional braking of the one pair of wheels is reassigned to the regenerative braking of the other pair of wheels, the amount reassigned to left and right of the wheels is adjusted in accordance with the steering angle.
25 Citations
25 Claims
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1. A vehicle braking control system comprising:
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a pair of laterally spaced first wheels configured and arranged to be steered; a pair of laterally spaced second wheels that are longitudinally separated from the first wheels in a front to aft vehicle direction; an independent braking component configured to independently control braking torques applied to the first and second wheels; and a steering detection component configured to detect a steering degree of the first wheels; and an excess distribution component configured to vary a front and rear braking torque distribution between the first and second wheels while keeping a total required braking torque imparted to all of the wheels substantially constant, the excess distribution component including a left and right wheel distribution adjusting component configured to adjust a left and right braking torque distribution of at least one of the pairs of the first and second wheels so that a left and right braking torque difference is applied to suppress a vehicle behavior that accompanies varying of the front and rear braking torque distribution between the first wheels and the second wheels based on the steering degree in the first wheels upon determining that steering in the first wheels is present. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A vehicle braking control system comprising:
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means for detecting a steering degree of a pair of laterally spaced first wheels that are configured and arranged to be steered; means for detecting a total braking command value to be applied to the first wheels and a pair of laterally spaced second wheels that are longitudinally separated from the first wheels in a front to aft vehicle direction; means for varying a front and rear braking torque distribution between the first and second wheels while keeping a total required braking torque imparted to all of the wheels substantially constant; and means for adjusting a left and right braking torque distribution of at least one of the pairs of the first and second wheels so that a left and right braking torque difference is applied to suppress a vehicle behavior that accompanies varying of the front and rear braking torque distribution based on the steering degree in the first wheels upon determining that steering in the first wheels is present.
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25. A method of controlling a vehicle braking control system comprising:
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detecting a steering degree of a pair of laterally spaced first wheels that are configured and arranged to be steered; detecting a total braking command value to be applied to the first wheels and a pair of laterally spaced second wheels that are longitudinally separated from the first wheels in a front to aft vehicle direction; varying a front and rear braking torque distribution between the first and second wheels while keeping a total required braking torque imparted to all of the wheels substantially constant; and adjusting a left and right braking torque distribution of at least one of the pairs of the first and second wheels so that a left and right braking torque difference is applied to suppress a vehicle behavior that accompanies varying of the front and rear braking torque distribution based on the steering degree in the first wheels upon determining that steering in the first wheels is present.
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Specification