Advics Co., Ltd.

Yamaha Hatsudoki Kabushiki Kaisha

Masato Terasaka

Yusuke Takeya

Chisa Kitahara

Yoshinori Tsuji

Yutaka Hamamoto

Hiroaki Seto

Takeshi Yamamura

Ken Kudo

Takaaki Mizutani

Hideki Takada

Kunio Kajihara

Kunihide Ohashi

Toru Nakaura

Shinji Tsukamoto

Takuya Inoue

Katsuo Obai

Yoshimichi Seki

Yoshiaki Kito

Masayoshi Oishi

Takuo Kitano

Koji Tsuji

Yohei Mizuguchi

Shinji Ushirozako

Satoshi Kasai

Tadashi Fukuda

Shoma Higuchi

A braking control device includes: a wheel deceleration deriving section that derives decrease rates of wheel speed detection values as wheel deceleration calculation values; an average value deriving section that derives an average value of the wheel deceleration calculation values of wheels FL, FR, RL, and RR as a wheel deceleration average value; a determination section that determines, based on the wheel deceleration average value and an anteroposterior deceleration detection value, whether or not a slip increase state has been occurring for a determination time or longer; and a detection section that detects occurrence of cascade lock when it is determined that the slip increase state has been occurring for the determination time or longer during vehicle braking.

Braking control device for vehicle

A step determination device includes an operation amount sensor that detects an operation amount of a braking operation member, and a controller that determines a step by using the wheel speed and the operation amount. In the step determination device, the controller calculates an actual variable amount by using the wheel speed, calculates an estimated variable amount corresponding to the actual variable amount by using the operation amount, and executes the determination of the step by using the actual variable amount and the estimated variable amount. For example, the controller determines the presence of the step when the deviation between the actual variable amount and the estimated variable amount is not less than a predetermined value, and determines the absence of the step when the deviation is less than the predetermined value.

Road surface step determination device for vehicles

In the case that the road surface is determined to have different friction coefficients on the left and right wheels, this braking control device performs antiskid control for adjusting the increase slope of front wheel braking torque on the side with the higher friction coefficient. A steering angle sensor detects the steering angle, and a yaw rate sensor detects the yaw rate. The device calculates a reference turning amount on the basis of the steering angle, calculates an actual turning amount on the basis of the yaw rate, and sets the increase slope on the basis of the deviation between the reference turning amount and the actual turning amount. Also, if this deviation becomes larger, a correction is made such that the set increase slope becomes smaller. Further, if the deviation becomes smaller, a correction is made such that the set increase slope becomes larger.

Braking control device of vehicle

This vehicle braking control device executes automatic braking control to adjust a braking torque on the basis of a vehicle target deceleration value corresponding to a distance between the vehicle and an object in front of the vehicle, and executes anti-skid control to suppress excessive wheel slip by adjusting the braking torque on the basis of a wheel speed. The braking control device calculates an actual deceleration value corresponding to the target deceleration value, and executes feedback control on the basis of the target deceleration value and the actual deceleration value such that the actual deceleration value approaches the target deceleration value. The configuration is such that a control gain of the feedback control is reduced when anti-skid control is executed. Further, the configuration may be such that execution of feedback control is prohibited when anti-skid control is executed.

Vehicle braking control device

In a braking control device, a controller is configured to determine an inside and an outside of a turn by using the yaw rate, to calculate a deflection index based on a standard turning amount corresponding to a steering angle and an actual turning amount corresponding to a yaw rate, to reduce the braking torque of the rear wheel on the outside of the vehicle turn based on the deflection index when an excessive deceleration slip of the rear wheel on the inside of the vehicle turn is inhibited during an execution of anti-skid control.

A braking control device includes an actuator, a controller, a steering angle sensor, and a yaw rate sensor. The controller calculates a reference turning amount, an actual turning amount, an understeer index, sets to a non-adjustment region in which the increase slope is not decreased when the understeer index is smaller than or equal to a first threshold value, sets to an adjustment region in which the increase slope is decreased when the understeer index is greater than or equal to a second threshold value greater than the first threshold value, and sets to a transition region in which the increase slope is decreased when the understeer index is transitioned from the non-adjustment region and the increase slope is not decreased when the understeer index is transitioned from the adjustment region when the understeer index is greater than the first threshold value and smaller than the second threshold value.

Anti-skid control is performed by switching between a reduction mode for reducing braking torque and an increase mode for increasing braking torque based on a comparison between four wheel speeds and vehicle body speed. A controller calculates wheel accelerations based on wheel speeds and includes a control mode condition where the reduction mode is selected at each wheel and a wheel acceleration condition where each wheel acceleration is within a predetermined value range. If a state in which the control mode condition and the wheel acceleration condition are simultaneously satisfied is maintained over a predetermined time period, the controller determines that a residual state is satisfied. When the residual state is not satisfied, the controller calculates vehicle body speed based on the maximum value of the wheel speeds, whereas when the residual state is satisfied, the controller calculates vehicle body speed based on the minimum value of the wheel speeds.

Anti-skid control device for vehicle

A brake system includes a brake activator which controls, when a slipping condition is detected at a central rear wheel based on a signal detected by a central rear detector, the operating condition of a central rear brake based on the signal detected by the central rear detector so as to reduce a braking force on the central rear wheel lower than a braking force which is obtained as a result of operation of an input member. In this state, when an operation quantity of the input member increases as a result of operation of the input member, changing the operating conditions of both a right front brake and a left front brake, the brake activator increases the braking forces in both a right front wheel and a left front wheel according to an operation quantity of the input member.

Brake system and vehicle

A brake system does not change immediately an operating condition of a left front brake although a slipping condition is detected at the left front wheel based on a signal detected by a left detector in such a state that a slipping condition is not detected at a right front wheel based on a signal detected by a right detector, and does not change immediately an operating condition of a right front brake although a slipping condition is detected at the right front wheel based on a signal detected by the right detector in such a state a slipping condition is not detected at the left front wheel based on a signal detected by the left detector.

A vehicle brake control device performs select-low anti-lock brake control. In the select-low anti-lock brake control, in a decrease period, in which braking force on a first wheel that is one of left and right wheels that has a lower wheel speed is decreased, braking force on a second wheel that is one of the left and right wheels that has a higher wheel speed is also decreased. In an increase period, in which the braking force on the first wheel is increased, the braking force on the second wheel is also increased. The vehicle brake control device is configured such that, when performing the anti-lock brake control, the vehicle brake device sets the braking force on the second wheel to be greater when the tendency for instability in the vehicle behavior is small than when such tendency is large.

Vehicle brake control device

A brake system includes a brake activator which reduces, when a slipping condition of a right front wheel is detected based on a signal which is detected by a right detector, both braking forces on the right front wheel and a left front wheel to a lower level than a level of a braking force which is obtained as a result of operation of an input member and which reduces, when a slipping condition of the left front wheel is detected based on a signal which is detected by a left detector, both braking forces on the left front wheel and the right front wheel to a lower level than a level of a braking force which is obtained as a result of operation of the input member.

A brake ECU determines whether or not interference-based vibration components are included in a vehicle body deceleration (DV) (steps S, S). Then, in the case of a positive determination (YES in step Sor step S), the brake ECU makes a comparison with when the determination is not positive, and revises a first deceleration determination value (DV_st) to be a larger value (step S). If the vehicle body deceleration value (DV) exceeds the first deceleration determination value (DV_st) and a G sensor value (G) exceeds a second deceleration determination value (G_st) (YES in steps Sand S), the brake ECU initiates auxiliary control.

Braking control device for vehicle and braking control method for vehicle

A vehicle brake controller is capable of executing limit control when a driver is performing a brake pedal operation during turning of a vehicle, to limit an increase in a braking force applied to an inner wheel that is a wheel positioned on the inner side of the turn. The vehicle brake controller is configured to start the limit control when a wheel state value that becomes greater as deceleration of the inner wheel becomes greater exceeds a start determination value that is set to a value greater than zero.

Vehicle brake controller and vehicle brake control method

A vehicle braking control device includes first and second deceleration calculation units, an assist control unit, and a termination determination unit. The first deceleration calculation unit calculates a first estimated vehicle body deceleration using a wheel speed sensor detection signal. The second deceleration calculation unit calculates a second estimated vehicle body deceleration using a vehicle body acceleration sensor detection signal. The assist control unit initiates assist control, which assists increasing a braking force when the first estimated vehicle body deceleration exceeds a first deceleration determination value and the second estimated vehicle body deceleration exceeds a second deceleration determination value. The termination determination unit determines whether or not a termination condition of the assist control is satisfied based on at least one of the first and the second estimated vehicle body decelerations. The assist control unit terminates the assist control when it is determined that the termination condition is satisfied.

A vehicle brake controller is capable of executing limit control for limiting increase in braking force applied to front wheels by using a deceleration of a vehicle. The vehicle brake controller is configured to start the limit control when the deceleration of the vehicle becomes greater than or equal to a start determination value before a start determination time period elapses after a deceleration starting point in time, at which the deceleration of the vehicle is started by application of braking force at least to the front wheels. The vehicle brake controller is configured to end the limit control if the deceleration of the vehicle is less than an end determination value, which is greater than the start determination value, at a point in time when an end determination time period, which is longer than the start determination time period, has elapsed from the deceleration starting point in time.

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Ichinomiya, Japan

Masato Terasaka