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Brake control method and brake control device

  • US 7,937,204 B2
  • Filed: 11/26/2007
  • Issued: 05/03/2011
  • Est. Priority Date: 11/24/2006
  • Status: Expired due to Fees
First Claim
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1. A brake control method for a braking device having a function of applying a brake force to a wheel equipped with a tire to put a brake on the wheel while adjusting the brake force, the brake control method comprising the steps of:

  • acquiring, in time series, acceleration data of acceleration acting on the tire in a radial direction of the tire, due to rotation of the tire;

    calculating a contact lengths of the tire based on the acceleration data for every round of rotation of the tire; and

    controlling the brake force, according to comparative judgment information obtained by comparing a plurality of contact lengths of the tire thus calculated, with one another,wherein, the brake force is controlled when one of conditions 1 to 3 is met, in whichthe condition 1 is that assuming that a contact length in a state where the brake force is not applied or in a state immediately after an application of the brake force is set as a reference contact length, a contact length calculated after an application of the brake force is longer than a length determined by multiplying the reference contact length by a predetermined value,the condition 2 is that, assuming that a contact length at a preceding time is set to Li−

    1
    and a following contact length calculated first after the preceding time is set to Li among the contact length calculated after an application of the brake force, the following contact length Li satisfies 1.02×

    Li−

    1
    >

    Li>

    0.97×

    Li−

    1
    , andthe condition 3 is that assuming that a contact length calculated for every round of rotation of the tire after an application of the brake force is set to Li and a maximum length of contact lengths calculated before a slip ratio of the tire reaches a maximum value thereof is set to Lmax, the contact length Li does not satisfy 1.1×

    Lmax>

    Li>

    0.9×

    Lmax.

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