Brake system control apparatus

• US 7,513,578 B2
• Filed: 10/18/2005
• Issued: 04/07/2009
• Est. Priority Date: 10/22/2004
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nakaoka, Hiroshi, Tanaka, Yoshito, Ohkubo, Masayasu, Komazawa, Masaaki
• Primary Examiner(s): NGUYEN, XUAN LAN T
• Application Number:
  US11/251,989
• Publication Number:
  US 20060087175A1
• Time in Patent Office: 1,267 Days
• Field of Search: 303/11, 303/155, 303/159, 303/119.1, 303/169, 303/189, 303185-190, 303/DIG.1, 303/DIG.2
• US Class Current: 303/169
• CPC Class Codes: B60T 13/686 in hydraulic systems or parts thereof
• CPC Class Codes: B60T 8/4081 Systems with stroke simulating devices for driver input B60T8/4077 takes precedence

Abstract

A non-consideration creating portion creates a non-consideration control command value based on a target value and an actual value of hydraulic pressure of a brake cylinder in a control-target brake system i. A consideration creating portion creates a consideration control command value based on the target value and the actual value of the hydraulic pressure in the control-target brake system i and a target value and an actual value of hydraulic pressure in a comparison-target brake system j. Then, one of the consideration control command value and the non-consideration command value is selected based on an absolute value of a difference in the target value between the control-target brake system i and the comparison-target brake system j, and a combination of a control mode in the control-target brake system i and a control mode in the comparison-target brake system j.

Claims

1. A brake system control apparatus comprising:

plural brake systems, each brake system including at least one brake and a control actuator that can control braking torque generated by the at least one brake, and

a braking torque control device that creates a control command value for the control actuator of each of the brake systems, and that outputs the created control command value to the control actuator, wherein

the braking torque control device comprises;

a consideration command creating portion that creates a first control command value for the control actuator of a control-target brake system, which is one of the plural brake systems, based on information concerning an operation of at least one brake in the control-target brake system, and information concerning an operation of at least one brake in at least one of the other brake systems;

a non-consideration command creating portion that creates a second control command value for the control actuator of the control-target brake system based on the information concerning the control-target brake system, the second control command being not based on the information concerning the at least one of the other brake systems; and

a control command value selecting portion that selects one of the first control command value created by the consideration command creating portion and the second control command value created by the non-consideration command creating portion, based on at least one of (a) an absolute value of a difference between a target value of braking torque in the control-target brake system and a target value of braking torque in the at least one of the other brake systems; and

(b) a combination of a control mode in the control-target brake system and a control mode in the at least one of the other brake systems, wherein

the selecting portion selects the second control command value created by the non-consideration command creating portion when the absolute value of the difference in the target value of the braking torque between the control-target brake system and the at least one of the other brake systems is larger than a set value; and

the selecting portion selects the first control command value created by the consideration command creating portion when the absolute value of the difference in the target value of the braking torque between the control-target brake system and the at least one of the other brake systems is equal to or smaller than the set value.

2. The brake system control apparatus according to claim 1, wherein

the braking torque control device performs feedback control based on a deviation of an actual value from the target value of the braking torque in each of the brake systems.

3. The brake system control apparatus according to claim 1, wherein

the consideration command creating portion creates the first control command value based on the target value and an actual value of the braking torque in the control-target brake system, and the target value and an actual value of the braking torque in the at least one of the other brake systems.

4. The brake system control apparatus according to claim 3, wherein

the consideration command creating portion creates the first control command value based on a deviation of the actual value from the target value of the braking torque in the control-target brake system, and the deviation of the actual value from the target value of the braking torque in the at least one of the other brake systems.

5. The brake system control apparatus according to claim 1, wherein

the consideration command creating portion corrects the second control command value created by the non-consideration command creating portion, based on the target value and an actual value in the at least one of the other brake systems and the target value and an actual value in the control-target brake system.

6. The brake system control apparatus according to claim 5, wherein

the consideration command creating portion creates the first control command value for the control-target brake system based on the information concerning the control-target brake system and information concerning a brake system whose level of response is required to be the same as a level of response of the control-target brake system.

7. The brake system control apparatus according to claim 5, wherein

the consideration command creating portion creates the first control command value by correcting the second control command value created by the non-consideration command creating portion, based on a deviation of the actual value from the target value of the braking torque in the control-target brake system and a deviation of the actual value from the target value of the braking torque in the at least one of the other brake systems.

8. The brake system control apparatus according to claim 7, wherein

the consideration command creating portion sets a correction value based on a difference between an absolute value of the deviation of the actual value from the target value of the braking torque in the control-target brake system, and an absolute value of the deviation of the actual value from the target value of the braking torque in the at least one of the other brake systems.

9. The brake system control apparatus according to claim 1, wherein

the consideration command creating portion creates the first control command value based on the information concerning the control-target brake system and information concerning a brake system including the brake that suppresses rotation of a wheel which is on an opposite side, in a right-and-left direction, of a wheel whose rotation is suppressed by the control-target brake system.

10. The brake system control apparatus according to claim 1, wherein

each brake system includes a brake that is a hydraulic brake that applies hydraulic braking torque to a brake rotational body that can rotate together with a wheel by pressing a friction member to the brake rotational body due to hydraulic pressure of a brake cylinder, thereby suppressing rotation of the wheel;

the control actuator includes at least one electromagnetic control valve that can control the hydraulic pressure of at least one brake cylinder; and

the braking torque control device controls the hydraulic pressure of the at least one brake cylinder by creating the control command value corresponding to an electric current supplied to the electromagnetic control valve, and outputting the control command value to the electromagnetic control valve.

11. The brake system control apparatus according to claim 10, wherein

the electromagnetic control valve permits hydraulic fluid to flow through the electromagnetic control valve at an opening amount that is decided based on at least the electric current supplied to the electromagnetic control valve;

and

the consideration command creating portion creates the first control command value indicating the electric current supplied to the electromagnetic control valve such that a difference in response between the control-target brake system and the at least one of the other brake systems is reduced.

12. The brake system control apparatus according to claim 11, wherein

the electromagnetic control valve includes a seating valve including a valve element, a valve seat, and a spring;

and a solenoid.

13. A brake system control apparatus comprising:

plural brake systems, each brake system including at least one brake and a control actuator that can control braking torque generated by the at least one brake, and

a braking torque control device that creates a control command value for the control actuator of each of the brake systems, and that outputs the created control command value to the control actuator, wherein

the braking torque control device comprises;

a consideration command creating portion that creates a first control command value for the control actuator of a control-target brake system, which is one of the plural brake systems, based on information concerning an operation of at least one brake in the control-target brake system, and information concerning an operation of at least one brake in at least one of the other brake systems;

a non-consideration command creating portion that creates a second control command value for the control actuator of the control-target brake system based on the information concerning the control-target brake system, the second control command being not based on the information concerning the at least one of the other brake systems; and

a control command value selecting portion that selects one of the first control command value created by the consideration command creating portion and the second control command value created by the non-consideration command creating portion, based on at least one of (a) an absolute value of a difference between a target value of braking torque in the control-target brake system and a target value of braking torque in the at least one of the other brake systems; and

(b) a combination of a control mode in the control-target brake system and a control mode in the at least one of the other brake systems, wherein

the selecting portion selects the second control command value created by the non-consideration command creating portion if the absolute value of the difference in the target value of the braking torque between the control-target brake system and the at least one of the other brake systems is larger than a set value, even when the combination of the control mode in the control-target brake system and the control mode in the at least one of the other brake systems is a predetermined combination.

14. The brake system control apparatus according to claim 13, wherein

the consideration command creating portion creates the first control command value based on the information concerning the control-target brake system and information concerning a brake system including the brake that suppresses rotation of a wheel which is on an opposite side, in a right-and-left direction, of a wheel whose rotation is suppressed by the control-target brake system.

15. The brake system control apparatus according to claim 13, wherein

each brake system includes a brake that is a hydraulic brake that applies hydraulic braking torque to a brake rotational body that can rotate together with a wheel by pressing a friction member to the brake rotational body due to hydraulic pressure of a brake cylinder, thereby suppressing rotation of the wheel;

the control actuator includes at least one electromagnetic control valve that can control the hydraulic pressure of at least one brake cylinder; and

the braking torque control device controls the hydraulic pressure of the at least one brake cylinder by creating the control command value corresponding to an electric current supplied to the electromagnetic control valve, and outputting the control command value to the electromagnetic control valve.

16. The brake system control apparatus according to claim 15, wherein

the electromagnetic control valve permits hydraulic fluid to flow through the electromagnetic control valve at an opening amount that is decided based on at least the electric current supplied to the electromagnetic control valve;

and

the consideration command creating portion creates the first control command value indicating the electric current supplied to the electromagnetic control valve such that a difference in response between the control-target brake system and the at least one of the other brake systems is reduced.

17. A brake system control apparatus comprising:

plural brake systems, each brake system including at least one brake and a control actuator that can control braking torque generated by the at least one brake, and

a braking torque control device that creates a control command value for the control actuator of each of the brake systems, and that outputs the created control command value to the control actuator, wherein

the braking torque control device comprises;

a consideration command creating portion that creates a first control command value for the control actuator of a control-target brake system, which is one of the plural brake systems, based on information concerning an operation of at least one brake in the control-target brake system, and information concerning an operation of at least one brake in at least one of the other brake systems;

a non-consideration command creating portion that creates a second control command value for the control actuator of the control-target brake system based on the information concerning the control-target brake system, the second control command being not based on the information concerning the at least one of the other brake systems; and

a control command value selecting portion that selects one of the first control command value created by the consideration command creating portion and the second control command value created by the non-consideration command creating portion, based on at least one of (a) an absolute value of a difference between a target value of braking torque in the control-target brake system and a target value of braking torque in the at least one of the other brake systems; and

(b) a combination of a control mode in the control-target brake system and a control mode in the at least one of the other brake systems, wherein

the selecting portion selects the second control command value created by the non-consideration command creating portion if the combination of the control mode in the control-target brake system and the control mode in the at least one of the other brake systems is not a predetermined combination, even when the absolute value of the difference in the target value of the braking torque between the control-target brake system and the at least one of the other brake systems is equal to or smaller than a set value.

18. The brake system control apparatus according to claim 17, wherein

the consideration command creating portion creates the first control command value based on the information concerning the control-target brake system and information concerning a brake system including the brake that suppresses rotation of a wheel which is on an opposite side, in a right-and-left direction, of a wheel whose rotation is suppressed by the control-target brake system.

19. The brake system control apparatus according to claim 17, wherein

each brake system includes a brake that is a hydraulic brake that applies hydraulic braking torque to a brake rotational body that can rotate together with a wheel by pressing a friction member to the brake rotational body due to hydraulic pressure of a brake cylinder, thereby suppressing rotation of the wheel;

the control actuator includes at least one electromagnetic control valve that can control the hydraulic pressure of at least one brake cylinder; and

the braking torque control device controls the hydraulic pressure of the at least one brake cylinder by creating the control command value corresponding to an electric current supplied to the electromagnetic control valve, and outputting the control command value to the electromagnetic control valve.

20. The brake system control apparatus according to claim 19, wherein

the electromagnetic control valve permits hydraulic fluid to flow through the electromagnetic control valve at an opening amount that is decided based on at least the electric current supplied to the electromagnetic control valve;

and

the consideration command creating portion creates the first control command value indicating the electric current supplied to the electromagnetic control valve such that a difference in response between the control-target brake system and the at least one of the other brake systems is reduced.

21. The brake system control apparatus according to claim 20, wherein

the electromagnetic control valve includes a seating valve including a valve element, a valve seat, and a spring;

and a solenoid.

22. A brake system control apparatus, comprising:

plural brake systems, each brake system including at least one brake and a control actuator that can control braking torque generated by the at least one brake; and

a braking torque control device that creates a control command value for the control actuator of each of the brake systems, and that outputs the created control command value to the control actuator, wherein

the braking torque control device comprises a consideration command creating portion that creates the control command value for the control actuator of a control-target brake system that is one of the plural brake systems, based on an absolute value of a difference between an actual value and a target value of braking torque in the control-target brake system and an absolute value of a difference between an actual value and a target value of braking torque in at least one of the other brake systems.

23. A brake system control apparatus, comprising:

plural brake systems, each brake system including at least one brake and a control actuator that can control braking torque generated by the at least one brake; and

a braking torque control device that creates a control command value for the control actuator of each of the brake systems, and that outputs the created control command value to the control actuator, wherein

the braking torque control device comprises a consideration command creating portion that creates a control command value for the control actuator of a control-target brake system which is one of the plural brake systems based on at least a target value of braking torque in the control-target brake system, an absolute value of a deviation of an actual value from the target value of the braking torque in the control-target brake system; and

an absolute value of a deviation of an actual value from a target value of the braking torque in at least one of the other brake systems.