Abstract:
Disclosed is a brake control apparatus which includes a brake booster for augmenting deceleration, and which addresses the problem in conventional brake control apparatuses that deceleration and pedal reaction force depend on driver brake pedal input, and thus the pedal response and the ride comfort from the feeling of deceleration are affected by the manner in which the brake pedal is actuated by the driver. The brake control apparatus comprises a pedal reaction force generation unit for generating a pedal reaction force on the brake pedal, and a brake control unit for controlling the brake force in such a way as to suppress driver brake input fluctuations, wherein the pedal reaction force generation unit suppresses pedal reaction force fluctuations in accordance with specific deceleration and pedal reaction force characteristics. The brake control apparatus further comprises a calculation unit for calculating a target deceleration on the basis of lateral acceleration information in the left-to-right direction of the vehicle, wherein the brake control unit suppresses the brake force in such a way that the target deceleration is produced and, when the amount by which the brake pedal is depressed reaches a specific amount in respect of the target deceleration, the pedal reaction force generated by the pedal reaction force generation unit may be increased.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    (1) Field of the Invention 
         [0002]    The present invention relates to a brake control apparatus provided with an assisting apparatus assisting a stepping force of a brake pedal. 
         [0003]    (2) Description of Related Art 
         [0004]    At a time of decelerating a vehicle, a driver obtains a desired deceleration by stepping on a brake pedal. At this time, the driver is exposed to a pedal reaction force in correspondence to a stroke amount. In order to smoothly decelerate the vehicle, it is necessary to fine adjust the pedal reaction force and the deceleration, a vehicle ride quality caused by a deceleration feeding depends on a skill of the driver. In recent years, there attract attention a brake by wire (hereinafter, refer to as BBW) which interrupts a vibration transmission system by mechanically giving the pedal independence, thereby varying a brake force and the pedal reaction force (refer to patent document 1). 
         [0005]    Prior Art Document 
         [0006]    Patent Document 
         [0007]    Patent Document 1: JP-A-2005-112034 
       BRIEF SUMMARY OF THE INVENTION 
     Problem to be Solved by the Invention 
       [0008]    In accordance with the patent document 1, a spring reaction force of a stroke simulator can be varied, however, since the structure is made such that the deceleration and the pedal reaction force still depend on a pedal input of the driver, there is a problem that a ride quality of a vehicle and a pedal feeling which are caused by a deceleration feeling are affected by an operation of the driver. In the case that a brake operation and a steering operation are simultaneously carried out, particularly such as a curve deceleration, a control object is increased, and there is such a problem that a burden of the driver is enlarged. In other words, in the BBW, a pedal reaction force creating mechanism transmitting a brake state to the driver is not considered. 
         [0009]    Accordingly, an object of the present invention is to provide a brake control apparatus which creates a brake force well keeping a deceleration feeling and controls a pedal reaction force so as to improve a pedal feeling. 
       Means for Solving the Problem 
       [0010]    In order to achieve the object mentioned above, one of desired aspects of the present invention is as follows. 
         [0011]    A brake control apparatus provided with a brake assisting apparatus accelerating and decelerating a vehicle is provided a pedal reaction force creating portion generating a pedal reaction force in a brake pedal, and a brake control portion controlling a brake force in such a manner as to hold down a brake input fluctuation of a driver, wherein the pedal reaction force creating portion holds down a fluctuation of the pedal reaction force in correspondence to a predetermined deceleration and a pedal reaction force characteristic. 
       Effect of the Invention 
       [0012]    In accordance with the present invention, it is possible to provide the brake control apparatus which creates the brake force well keeping the deceleration feeling, and controls the pedal reaction force so as to improve the pedal feeling. 
         [0013]    Other objects, features and advantages of the invention will become apparent from the following description of the embodiments of the invention taken in conjunction with the accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING 
         [0014]      FIG. 1  is a plan view of a brake control apparatus of a brake by wire; 
           [0015]      FIG. 2  is a cross sectional view of the brake control apparatus of the brake by wire; 
           [0016]      FIG. 3  is a view showing a control flow; 
           [0017]      FIG. 4  is a view showing a relationship between a brake force and a pedal stroke; 
           [0018]      FIG. 5  is a view showing output values of the brake force and a pedal reaction force at a time when a pedal stepping amount comes short; 
           [0019]      FIG. 6  is a view showing output values of the brake force and the pedal reaction force at a time when the pedal stepping amount is excess; and 
           [0020]      FIG. 7  is a cross sectional view of a brake control apparatus to which a pedal is mechanically connected. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0021]    A description will be given below of an embodiment with reference to the accompanying drawings. 
         [0022]      FIG. 1  is a plan view of a brake control apparatus of a BBW, and  FIG. 2  is a cross sectional view of the brake control apparatus of the BBW. 
         [0023]    The brake control apparatus of the BBW is constructed by a motor-driven actuator  1  generating a fluid pressure for assisting a brake, a brake pedal  2 , a brake pressure distributing apparatus  3 , brake pipings  4  and  5 , a piston (a primary piston and secondary piston)  7 , a tire (including a caliper, a rotor and a tire wheel)  8 , a reservoir tank  9 , a pedal reaction force creating mechanism  12 , a stroke sensor  20 , a rod  21 , a spring  23 , and a vehicle state information acquiring portion  30 . In this case, the vehicle state information is information which is necessary for controlling, such as a vehicle speed, ON/OFF of an accelerator and the like. Further, the motor-driven actuator  1  is constructed by a master cylinder  10 , a motor-driven type assisting cylinder  11  which is installed in an upstream side of the master cylinder  10  and generates a brake assisting force, a stator  11 A, a rotor  11 B, a ball screw nut  11 C which is engaged with the rotor  11 B, a ball screw shaft  11 D, an ECU  16 , and various signal lines  17 . 
         [0024]    The stator  11 A and the rotor  11 B apply a rotating torque to the ball screw nut  11 C, drives the ball screw shaft  11 D in a direct acting direction, and boosts the master cylinder  10 . The boosted working fluid flows into the brake pressure distributing apparatus  3  via the brake pipings  4 A and  4 B. The brake pressure distributing apparatus  3  distributes a brake pressure to right and left tire wheels in front and rear sides, as occasion demands. Taking the front right tire wheel for example, the caliper  8 CFR is boosted via the brake piping  5 FR from the brake pressure distributing apparatus  3 , the rotor  8 BFR is pressed, and the tire wheel  8 AFR is braked. 
         [0025]    Next, a description will be given of a mechanism of a brake assisting force generation. The rotor  11 B and the ball screw nut  11 C are engaged within the assisting cylinder  11  which is extended to a longitudinal direction of a vehicle body, and are rotatably installed by a bearing (not shown) with respect to a casing  11 E. The rotor  11 B and the ball screw shaft  11 C are exposed to the rotating torque by an electromagnetic force from the stator  11 A, on the basis of an assisting command of the ECU  16 , and the ball screw shaft  11  C drives in a direct acting direction. 
         [0026]    The ECU  16  is connected to a steering wheel  6  via a steering speed signal line  17 A, to the assisting cylinder  11  via an assisting force command signal line  17 B, to the pedal reaction force creating mechanism  12  via a pedal reaction force command signal line  17 C, to a stroke sensor  20  via a pedal stroke signal line  17 D, and to the vehicle state information acquiring portion  30  via a vehicle state signal line  17 E, respectively. 
         [0027]    In the case that an acceleration is not generated in a lateral direction of the vehicle, such as a straight going deceleration time or the like, the ECU  16  calculates a command value to the assisting cylinder  11  on the basis of a pedal stroke information which is received via the pedal stroke signal line  17 D. 
         [0028]    In the case that the steering wheel  6  is steered, such as a curve deceleration time or the like, the ECU  16  calculates a laterally applied acceleration of the vehicle on the basis of the steering speed information received via the steering speed signal line  17 A, and the vehicle speed information received via the vehicle state signal line  17 E. 
         [0029]    The calculation of the laterally applied acceleration may employ a method described in “INTERPRETATION AND EVALUATION OF CONTROL ACTION OF DRIVER AND VEHICLE MOTION USING APPLIED ACCELERATION INFORMATION”, Makoto Yamakado, Collected Papers of Society of Automotive Engineers of Japan, Vol. 39, No. 3, May 2008. 
         [0030]    In this case, in “STUDY ABOUT MOTION CHARACTERISTIC OF VEHICLE CONTROLLING ACCELERATION AND DECELERATION IN CONNECTION WITH LATERAL MOTION”, Makoto Yamakado, Spring Academic Lecture Meeting Preliminary Reports of Society of Automotive Engineers of Japan, 36-20085351, there has been known that an appropriate deceleration is definitely determined in accordance with a laterally applied acceleration. 
         [0031]    The ECU  16  calculates a target deceleration on the basis of the laterally applied acceleration information (Expression 1). 
         [0000]        Gxc=−sgn ( Gy·Gy ′) Cxy /(1+Ts)| Gy′|+G   x     —     DC  
 
         [0032]    In this case, Gxc is a target deceleration, Gy is a laterally applied acceleration of a vehicle, Gy′ is a laterally applied acceleration of a vehicle, and Cxy/(1+Ts) is a first-order lag gain. A signum term is a term corresponding to right and left of steering, and G x     —     DC  is a deceleration component which does not link to a lateral motion, for example, a necessary term for a forecasting deceleration in the case that a corner exists forward. 
         [0033]    Further, the ECU  16  commands the pedal reaction force to the pedal reaction force creating mechanism  12  via the pedal reaction force command signal line  17 C, on the basis of the pedal stroke information received via the pedal stroke signal line  17 D, and the calculated target deceleration. 
         [0034]    As mentioned above, if the driver steps on the brake pedal  2 , the stroke sensor  20  detects the stroke, whereby the ball screw nut  11 C drives, and the ball screw shaft  11 D is actuated. Accordingly, the primary piston  7 A connected to the ball screw shaft  11 D displaces, and the pressure chamber  10 A is boosted. The secondary piston  7 B displaces on the basis of a balance between the springs  23 A and  23 B, and internal pressures of the pressure chambers  10 A and  10 B, and the pressure chamber  10 B is boosted in the same manner. As a result of being boosted, the brake pressure is transmitted to a downstream side. 
         [0035]      FIG. 3  is a view showing a control flow of  FIG. 1 ,  FIG. 4  is a view showing a relationship between a brake force and a pedal stroke,  FIG. 5  is a view showing output values of the brake force and a pedal reaction force at a time when a pedal stepping amount comes short, and  FIG. 6  is a view showing output values of the brake force and the pedal reaction force at a time when the pedal stepping amount is excess. In this case, in  FIG. 4 , a line ii indicates a brake force caused by the stepping of the driver, and a line i indicates a brake force (an assisting brake pressure request characteristic) at a time of being assisted by the assisting cylinder  11 . The characteristic may be previously stored in the ECU  16 . 
         [0036]    First of all, the ECU  16  determines whether or not the steering wheel  6  is steered (S 1 ), determines whether or not the accelerator is in an OFF state (S 2 ) in the case of determining the steering, and calculates the target deceleration on the basis of Expression 1 fro the vehicle speed and the steering speed (S 3 ), in the case of determining the OFF state. In the case that it is determined in S 1  that the steering is not carried out, or in the case that the ON state is determined in S 2 , a normal brake control is carried out (S 13 ). The control acts on the assisting brake pressure request characteristic in  FIG. 4 . 
         [0037]    After S 3 , it is determined on the basis of the information of the stroke sensor  20  whether or not the pedal stepping amount of the driver is excess or short with respect to the target deceleration calculated by S 3  (S 4 ). In this case, a description will be given of S 5  to S 8  with reference to  FIG. 5 . 
         [0038]    In the case that the stepping amount is less than a first predetermined value (comes short), it is assumed that a position of the pedal stroke is at a point St 1 . On a basis characteristic, if the stepping force is set to Bp 1 , the assisting force can be expressed by Bal. On the contrary, the ECU  16  calculates the target brake pressure as Bas 1 , and controls the brake force so as to increase at a difference G 1  (S 5 ). The pedal reaction force gives indication of the basic characteristic such as a dotted line iii. After S 5 , the pedal reaction force is increased at a point A (St 0 ), and the pedal reaction force is controlled in accordance with a stage stop like characteristic as shown by a line iv (S 6 ). 
         [0039]    Next, in the case that the stepping amount is in a range from the first predetermined value to a second predetermined value which is larger than the first predetermined value (appropriate), the value in accordance with the basic characteristic is output (S 7 ). The pedal reaction force is controlled in the same manner as S 6 . 
         [0040]    Next, a description will be given of S 9  and S 10  with reference to  FIG. 6 . 
         [0041]    In the case that the stepping amount is equal to or more than the second predetermined value (excess), it is assumed that the position of the pedal stroke is at a point St 2 . On the basic characteristic, if the stepping force is assumed to be Bp 1 , the assisting force can be expressed as Ba 2 . On the contrary, the ECU  16  calculates the target brake pressure as Bas 2 , and controls the brake force so as to decrease at a difference G 2  (S 9 ). After S 9 , the pedal reaction force is increased at a point B (St 2 ), and the pedal reaction force is controlled in accordance with a stage step like characteristic as shown by a line v (S 10 ). 
         [0042]    In this case, the point A and the point B are points (threshold values) for starting the control of increasing the pedal reaction force, and are changed in accordance with the deceleration of the vehicle. Accordingly, it is possible to appropriately carry out the control of the pedal reaction force in correspondence to the deceleration. 
         [0043]    In this case, in the present embodiment, in the case that the driver steps the pedal repeatedly at two times or more, it is possible to control by giving priority to the brake input of the driver. Accordingly, the brake action at an emergency time becomes on the initiative of the driver, and it is possible to secure a sense of security for driving. Further, in the present embodiment, the assisting cylinder  11  and the ECU  16  are separated, however, they may be integrated. In this case, since it is possible to achieve a downsizing of the system, a mounting property to the vehicle is improved. 
         [0044]    As mentioned above, an appropriate brake force can be obtained on the basis of the laterally applied acceleration information of the vehicle, the driver can feel an appropriate pedal control amount, and can control the brake pedal with a safe conscience. Further, the brake pedal control amount of the driver, the brake force and the deceleration (the deceleration feeling) have affected conventionally with each other, however, in the present embodiment, it is possible to carry out a comfortable deceleration control without a skill of the driver. In this case, at the point A, the pedal may be oscillated for the purpose of informing the driver of the control state. In this case, the driver can know an appropriate pedal stroke position. 
         [0045]    In S 6 , S 8  and S 10 , if the pedal reaction force is controlled in proportion to the pedal stroke, the same feeling as the conventional brake can be obtained. 
         [0046]    In this case, in S 6 , S 8  and S 10 , the pedal reaction force may be controlled in proportion to the brake pressure. In this case, it is possible to achieve a so-called light pedal or heavy pedal, by varying a proportionality factor. Further, in S 6 , S 8  and S 10 , it is possible to control in such a manner as to automatically stroke the pedal to an optimum position. In this case, since the necessary pedal stroke can be maintained without intension of the driver, there is an effect for lightening the burden of the driver. 
         [0047]    A confirmation of the execution of the present embodiment can be visually confirming that the assisting apparatus which can create the brake force is provided independently from the pedal input of the driver, and measuring and confirming a history of the laterally applied acceleration at a time of the curve acceleration, the laterally applied acceleration, the longitudinal acceleration and the pedal reaction force. 
         [0048]      FIG. 7  is a cross sectional view of a brake control apparatus to which a pedal is mechanically connected. 
         [0049]    In the present embodiment, an input rod  21 A transmitting a stepping force of the driver is connected to an input rod  22 , and the structure is made such that the stepping force directly pressurizes the liquid chamber  10 A. The other structures are the same as the first embodiment. In this case, since the pedal reaction force creating mechanism is not provided, the structure can be simplified, and it is effective for a low cost, a downsizing and a simplification of a control property. 
         [0050]    It should be further understood by those skilled in the art that the foregoing description has been made on embodiments of the invention and that various changes and modifications may be made in the invention without departing from the spirit of the invention and the scope of the appended claims, without being limited to them. 
       INDUSTRIAL APPLICABILITY 
       [0051]    The present invention provides the brake control apparatus provided with the assisting apparatus which creates the brake force well keeping the deceleration feeling, controls the pedal reaction force so as to improve the pedal feeling, and assists the stepping force of the brake pedal. 
       DESCRIPTION OF REFERENCE NUMERALS 
       [0052]      1  motor-driven actuator 
         [0053]      2  brake pedal 
         [0054]      3  brake pressure distributing apparatus 
         [0055]      4 ,  5  brake piping 
         [0056]      6  steering wheel 
         [0057]      7  piston 
         [0058]      8  tire wheel 
         [0059]      9  reservoir tank 
         [0060]      10  master cylinder 
         [0061]      11  assisting cylinder 
         [0062]      12  pedal reaction force creating mechanism 
         [0063]      16  ECU 
         [0064]      17  communication line 
         [0065]      20  stroke sensor 
         [0066]      21  rod 
         [0067]      23  spring 
         [0068]      30  vehicle state information acquiring portion