JP2004189116A - Vehicular brake control device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform brake control with good responsivity by enabling pre-load control, over a wide range of wherein quick braking is required. <P>SOLUTION: When it is determined that a preceding vehicle and an own vehicle enter the same lane (YES of S3) on the basis of the detected result of a laser radar(S1, S2) and a distance between the vehicles at that time is not longer than a reference distance between vehicles D1 stored in a memory (YES of S4), or when it is determined that a steering wheel is abruptly operated (YES of S5), or when it is determined that one of safety traveling assisting means is under operation (YES of S6), or when it is determined that a horn is actuated for not less than a reference time T2 (YES of S7), a braking means is controlled to generate a minute pre-load (S8). <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention includes a brake means for generating a brake fluid pressure using the stored brake fluid, and a braking means for generating a braking force of the vehicle by the brake fluid pressure. The present invention relates to an apparatus and a method for controlling vehicle braking to be generated.
[0002]
[Prior art]
Conventionally, a distance to an obstacle existing in front of the own vehicle, for example, a preceding vehicle, a pedestrian, a sign, or the like is detected, and when the distance becomes equal to or less than a predetermined value, for example, an alarm is issued to prompt the driver to perform a brake operation. Such a vehicle braking control device is known.
[0003]
On the other hand, as a braking means for braking the vehicle, conventionally, an actuator having a pressurizing source for generating brake fluid pressure from stored brake fluid is provided, and the generated brake fluid pressure is transmitted from the actuator to a wheel cylinder, and the brake fluid is 2. Description of the Related Art There is known an apparatus in which a wheel cylinder generates a braking force of a vehicle by applying a braking pressure to wheels by pressure.
[0004]
In the braking means having such a configuration, the play of the brake pedal causes a predetermined time delay from the braking operation by the driver to the generation of the braking force. Therefore, when the braking operation is performed by the driver, from the braking operation to the generation of the braking force. There is proposed a preview brake control device that improves the responsiveness of the vehicle.
[0005]
And in this kind of preview brake control device, mainly
(1) Distance and relative speed with the preceding vehicle,
(2) accelerator pedal return speed,
Are set as preview brake intervention conditions, and only when one of these two conditions is satisfied, a minute preload corresponding to the play of the brake pedal is generated (see Patent Document 1). .
[0006]
[Patent Document 1]
JP-A-2000-309257 (paragraphs [0006] to [0020])
[0007]
[Problems to be solved by the invention]
However, in the conventional preview brake control device, the intervention condition of the preload control is limited, and it cannot be said that the situation in which the effect of the preload control can be enjoyed is sufficiently covered. Nevertheless, there is a problem that the preload control is not performed.
[0008]
Therefore, an object of the present invention is to provide a vehicle braking control device and method capable of performing preload control over a wide range in which a sudden braking is required and realizing braking control with good responsiveness.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, a vehicle braking control device according to the present invention includes a braking unit that generates a brake fluid pressure by using a stored brake fluid, and generates a braking force of the vehicle by the brake fluid pressure. In the vehicle braking control device that generates a small preload equivalent to the play of the brake pedal by the braking means, the control means causes (i) the inter-vehicle distance to the preceding vehicle entering the same lane to be a predetermined distance or less, (ii) There is an operation of the steering wheel for a predetermined amount or more within a predetermined time, (iii) There is an operation of safe driving support means that prompts the driver to perform a braking operation by an alarm, (iv) horn is activated for a predetermined time or more The present invention is characterized in that when either of the above is satisfied, the braking means is controlled to generate the minute preload (claim 1).
[0010]
According to such a configuration, (i) the inter-vehicle distance to a preceding vehicle that has entered the same lane is equal to or less than a predetermined distance, (ii) a steering operation of a predetermined amount or more within a predetermined time, (iii) The control means controls the braking means when one of the following is established: that there is an operation of the safe driving support means that prompts the driver to perform a braking operation by an alarm, and (iv) that the horn is operated for a predetermined time or more. A small preload is generated.
[0011]
For this reason, the preload control can be performed over a wide range in which a sudden braking is required, and the braking control with good responsiveness can be realized.
[0012]
In addition, the vehicle braking control device according to the present invention includes a lane detecting unit that detects whether the preceding vehicle has entered the same lane as the own vehicle, and the lane detecting unit detects that the preceding vehicle has entered the same lane. A distance detecting means for detecting an inter-vehicle distance from the preceding vehicle when the distance has elapsed, and a control means for controlling the braking means to generate the minute preload when the inter-vehicle distance detected by the distance detecting means is equal to or less than a predetermined distance. (Claim 2).
[0013]
According to such a configuration, when the inter-vehicle distance from a preceding vehicle that has entered the same lane becomes equal to or less than a predetermined distance, it is predicted that rapid braking is required, and a small preload is generated and preload control is performed. Good braking control can be realized.
[0014]
At this time, for example, if a scanning laser radar is used, it is possible to detect whether the preceding vehicle has entered the same lane as the own vehicle from the scanning angle of the emitted laser light and the time until the reception of the reflected light, Since the inter-vehicle distance to the vehicle can be detected at the same time, the scan laser radar functions as lane detecting means and distance detecting means.
[0015]
In addition, the vehicle braking control device according to the present invention includes an operation amount detection unit that detects an operation amount of the steering wheel, and determines that a predetermined amount or more of the steering wheel is operated within a predetermined time based on a detection result of the operation amount detection unit. If this is the case, control means for controlling the braking means to generate the minute preload is provided (claim 3).
[0016]
According to such a configuration, if the steering wheel is operated by a predetermined amount or more within a predetermined time, it is predicted that sudden braking is required, and a small preload is generated to perform the preload control. Can be realized.
[0017]
In addition, the vehicle braking control device according to the present invention includes a safe driving support unit that prompts a driver to perform a braking operation by an alarm, and generates the minute preload by controlling the braking unit in conjunction with the operation of the safe driving support unit. And control means for causing the control means to perform the control (claim 4).
[0018]
According to such a configuration, when there is an operation of the safe driving support means that prompts the driver to perform a braking operation by an alarm, it is predicted that a sudden braking is required, and a small preload is generated and preload control is performed. Brake control with good responsiveness can be realized.
[0019]
Further, the vehicle braking control device according to the present invention includes a detecting means for detecting the operation of the horn, and a control means for controlling the braking means by detecting the operation of the horn for a predetermined time or more by the detecting means to generate the minute preload. (Claim 5).
[0020]
According to such a configuration, when the horn is operated for a predetermined time or more, it is predicted that sudden braking is required, and a small preload is generated and the preload control is performed. Can be.
[0021]
Further, the vehicle braking control method according to the present invention includes: (i) an inter-vehicle distance to a preceding vehicle entering the same lane is equal to or less than a predetermined distance; and (ii) a steering operation of a predetermined amount or more within a predetermined time. (Iii) that there is an operation of the safe driving support means that prompts the driver to perform a braking operation by an alarm, and (iv) that horn is operated for a predetermined time or more, The micro preload is generated (claim 6).
[0022]
According to such a configuration, (i) the inter-vehicle distance to a preceding vehicle that has entered the same lane is equal to or less than a predetermined distance, (ii) a steering operation of a predetermined amount or more within a predetermined time, (iii) The control means controls the braking means when one of the following is established: that there is an operation of the safe driving support means that prompts the driver to perform a braking operation by an alarm, and (iv) that the horn is operated for a predetermined time or more. A small preload is generated.
[0023]
For this reason, the preload control can be performed over a wide range in which a sudden braking is required, and the braking control with good responsiveness can be realized.
[0024]
Further, in the vehicle braking control method according to the present invention, the lane detecting step for detecting whether the preceding vehicle has entered the same lane as the own vehicle, and the approach of the preceding vehicle to the same lane is detected in the lane detecting step. A distance detecting step of detecting an inter-vehicle distance from the preceding vehicle when the vehicle is running, and a control step of controlling the braking means to generate the small preload when the inter-vehicle distance detected by the distance detecting step is equal to or less than a predetermined distance. (Claim 7).
[0025]
According to such a configuration, when the inter-vehicle distance from a preceding vehicle that has entered the same lane becomes equal to or less than a predetermined distance, it is predicted that rapid braking is required, and a small preload is generated and preload control is performed. Good braking control can be realized.
[0026]
Further, the vehicle braking control method according to the present invention includes an operation amount detecting step of detecting an operation amount of the steering wheel, and determining that a predetermined amount or more of the steering wheel has been operated within a predetermined time based on a detection result of the operation amount detecting step. In this case, a control step of controlling the braking means to generate the small preload is provided (claim 8).
[0027]
According to such a configuration, if the steering wheel is operated by a predetermined amount or more within a predetermined time, it is predicted that sudden braking is required, and a small preload is generated to perform the preload control. Can be realized.
[0028]
Further, the vehicle braking control method according to the present invention includes a safe driving support unit that prompts a driver to perform a braking operation by an alarm, and controls the braking unit in conjunction with the operation of the safe driving support unit to reduce the minute preload. It is characterized by having a control step of generating it.
[0029]
According to such a configuration, when there is an operation of the safe driving support means that prompts the driver to perform a braking operation by an alarm, it is predicted that a sudden braking is required, and a small preload is generated and preload control is performed. Brake control with good responsiveness can be realized.
[0030]
Further, the vehicle braking control method according to the present invention includes a detecting step of detecting an operation of a horn, and a controlling step of controlling the braking means by detecting the operation of the horn for a predetermined time or more in the detecting step to generate the minute preload. (Claim 10).
[0031]
According to such a configuration, when the horn is operated for a predetermined time or more, it is predicted that sudden braking is required, and a small preload is generated and the preload control is performed. Can be.
[0032]
BEST MODE FOR CARRYING OUT THE INVENTION
One embodiment of the present invention will be described with reference to FIGS. 1 is a block diagram showing the overall control configuration, FIG. 2 is a hydraulic circuit diagram showing the configuration of the actuator unit, FIG. 3 is a flowchart showing the procedure of the preload control, and FIG. 4 is an operation explanatory diagram. In FIG. 1, each of the pressure sensors 22F, 22R, 23F, and 23R is shown at two locations in order to show its detection position and electrical connection.
[0033]
The vehicle braking control device according to the present embodiment can cope with automation of vehicle traveling such as follow-up traveling in accordance with the movement of a preceding vehicle traveling ahead of the traveling lane of the own vehicle. A braking command signal is output to generate a brake fluid pressure to apply braking pressure to the wheels to brake the vehicle, thereby maintaining a predetermined inter-vehicle distance with a preceding vehicle.
[0034]
As shown in FIG. 1, a master cylinder 2 is connected to a brake pedal 1. This master cylinder 2 is connected to a reservoir tank 3 in which brake fluid (for example, oil in this embodiment) is stored. It is connected to the actuator unit 5 via the pressure path 4 and supplies a brake fluid pressure to the actuator unit 5 according to the amount of depression of the brake pedal 1 by the driver. The reservoir tank 3 is connected to the actuator section 5 via a hydraulic path 6.
[0035]
The actuator unit 5
Connected to the front wheel wheel cylinder 14F of the right front wheel brake 13F mounted on the right front wheel 12F via the hydraulic pressure path 11F,
-Connected to the rear wheel wheel cylinder 14R for the right rear wheel brake 13R mounted on the right rear wheel 12R via the hydraulic pressure path 11R,
Connected to the front wheel wheel cylinder 18F of the left front wheel brake 17F mounted on the left front wheel 16F via the hydraulic path 15F,
-It is connected to the rear wheel wheel cylinder 18R for the left rear wheel brake 17R mounted on the left rear wheel 16R via the hydraulic path 15R.
[0036]
Then, when the driver depresses the brake pedal 1, a brake fluid pressure corresponding to the amount of depression is generated in the master cylinder 2, and this brake fluid pressure is transmitted to each wheel via the fluid pressure paths 11F, 11R, 15F, 15R. The brakes 13F, 13R, 17F, and 17R are transmitted to the cylinders 14F, 14R, 18F, and 18R, and each of the wheels 12F, 12R, 16F, and 16R has a braking force corresponding to the brake fluid pressure transmitted to the corresponding wheel cylinder. Braking on.
[0037]
As shown in FIG. 1, the pressure sensors 21 to 24, the steering wheel sensor 30a, the horn sensor 30b, the safe driving support means 30c, the laser radar 31, the wheel speed sensor 32, the storage unit 33, the interface (I / F) unit 34, display unit 35, buzzer 36, and each of sensors 21 to 24, 31, 32, storage unit 33, I / F unit 34, display unit 35, and buzzer 36 are electrically connected. And an electronic control unit (Electronic Control Unit) 37.
[0038]
The pressure sensor 21 is connected to the hydraulic path 4, the pressure sensor 22F is connected to the hydraulic path 11F, the pressure sensor 22R is connected to the hydraulic path 11R, the pressure sensor 23F is connected to the hydraulic path 15F, 23R is connected to the hydraulic path 15R, and detects the hydraulic pressure of each hydraulic path. The arrangement position of the pressure sensor 24 will be described later with reference to FIG.
[0039]
The handle sensor 30a in FIG. 1 detects an operation amount of a handle (not shown), and an output of the handle sensor 30a is taken into an ECU 37 described later. The ECU 37 determines whether or not the detected steering operation amount has been operated by a predetermined amount or more within a predetermined time period. Is determined to be dozing. The handle sensor 30a can be constituted by, for example, a potentiometer.
[0040]
The horn sensor 30b in FIG. 1 detects the operation of the horn, and the output of the horn sensor 30b is taken into the ECU 37 described later. By the way, as the safe driving support means 30c that prompts the driver to perform a braking operation by an alarm, specifically,
(1) A system for preventing a dangerous approach to a curve, which issues an alarm when the speed at which the vehicle enters a curved road is equal to or higher than a predetermined dangerous speed;
(2) a lane departure prevention support system that issues an alarm when the vehicle deviates from the lane on which it is traveling;
{Circle around (3)} a drowsiness alarm system that determines that the driver is dozing off and issues an alarm when it is determined from the detection result of the steering wheel sensor 30a that the driver's steering operation amount is irregular;
Is provided.
[0041]
Further, the scan laser radar 31 of FIG. 1 operates as lane detecting means and distance detecting means, and detects whether a preceding vehicle ahead of the own vehicle has entered the same lane as the own vehicle by the scan laser radar 31. At the same time, the inter-vehicle distance D between the preceding vehicle and the own vehicle is detected.
[0042]
The scan laser radar 31 includes a semiconductor laser as a light emitting device, a light receiving device, and a driving device. The laser beam is emitted from the semiconductor laser to the front of the vehicle, and a predetermined angle (for example, 0.1 °) is set by the driving device. Each is scanned horizontally. Then, the width is known from the scanning angle of the emitted laser light, that is, the range of the scanning angle with respect to the reference direction based on the traveling direction of the own vehicle, and it is possible to detect whether the preceding vehicle has entered the same lane as the own vehicle. At the same time, the inter-vehicle distance D from the preceding vehicle can be detected from the time from when the laser beam is emitted to when the reflected light is received. Such detection is periodically repeated at short intervals of about 100 ms.
[0043]
Further, the wheel speed sensor 32 shown in FIG. 1 is constituted by, for example, a pulse encoder and detects the rotation speed of the wheel. The storage unit 33 shown in FIG. 1 stores a control program of the ECU 37 including a preset value, and also temporarily stores various calculation data and the like. In order to determine whether or not the condition has been established, a reference inter-vehicle distance D1, a reference time T1 for determining whether or not a sharp steering operation has been performed, a reference operating amount S of the steering wheel, and a reference time T2 for determining the horn operation time have been stored. For this purpose, a target inter-vehicle distance D2 corresponding to the relative speed between the own vehicle and the preceding vehicle at that time is stored.
[0044]
The I / F unit 34 in FIG. 1 includes a D / A conversion circuit and a driver circuit, and drives each unit of the actuator unit 5 based on a control signal from the ECU 37.
[0045]
Further, as shown in FIG. 1, a display unit 35 composed of, for example, a liquid crystal display is provided on an instrument panel (not shown) of the vehicle, and a buzzer 36 is provided inside the instrument panel. I have. The display unit 35 displays information necessary for traveling such as the vehicle speed to the driver. The buzzer 36 is used when the inter-vehicle distance D between the own vehicle and the preceding vehicle approaches a predetermined target inter-vehicle distance D2 or less. A warning sound is emitted and the driver is notified of that.
[0046]
The ECU 37 shown in FIG. 1 is constituted by a CPU or the like. The ECU 37 controls the control stored in the storage unit 33 based on the detection results detected by the pressure sensors 21 to 24, the distance sensor 31, and the wheel speed sensor 32. According to the program, the operation of each section of the actuator section 5 is controlled via the I / F section 34, and details of the functions will be described later.
[0047]
Next, the configuration of the actuator section 5 will be described with reference to FIG. In FIG. 2, for convenience of explanation, only a portion related to the right front wheel 12F and the right rear wheel 12R is shown, and a portion related to the left front wheel 16F and the left rear wheel 16R has the same configuration, and is not illustrated. ing.
[0048]
The hydraulic path 4 connected to the master cylinder 2 is branched at a branch portion 51 into a front wheel inflow hydraulic path 41F and a rear wheel inflow hydraulic path 41R. The inflow hydraulic pressure path 41F for the front wheel branches at the branching section 52 into the hydraulic pressure path 11F and the outflow hydraulic pressure path 42F for the front wheel. It branches into a pressure path 11R and a rear wheel outflow hydraulic pressure path 42R. The front wheel outflow hydraulic pressure path 42F and the rear wheel outflow hydraulic pressure path 42R merge at a branch portion 54 as an outflow hydraulic pressure path 43. The outflow hydraulic pressure path 43 is branched at a branch portion 55 into a hydraulic pressure path 6 connected to the reservoir tank 3 and a pressurizing hydraulic pressure path 44. The pressurizing hydraulic path 44 connects the branch part 55 and the branch part 51.
[0049]
In the hydraulic path 4 connected to the master cylinder 2, a linear solenoid valve 61 is provided as an upstream valve. The linear solenoid valve 61 controls the brake fluid pressure transmitted from the master cylinder 2 to the downstream side based on the degree of opening, and is normally opened.
[0050]
The inflow-side front-wheel on-off valve 62F and the outflow-side front-wheel on-off valve 63F are provided as downstream valves in the front-wheel inflow hydraulic pressure path 41F and the front-wheel outflow hydraulic pressure path 42F, respectively. The inflow-side front wheel opening / closing valve 62F and the outflow-side front wheel opening / closing valve 63F control the brake fluid pressure transmitted to the front wheel wheel cylinder 14F, and are normally closed.
[0051]
Further, an inflow-side rear wheel on-off valve 62R and an outflow-side rear wheel on-off valve 63R are provided as downstream valves in the rear wheel inflow hydraulic pressure path 41R and the rear wheel outflow hydraulic pressure path 42R, respectively. . The inflow-side rear wheel on-off valve 62R and the outflow-side rear wheel on-off valve 63R control the brake fluid pressure transmitted to the rear wheel wheel cylinder 14R, and are normally closed.
[0052]
The hydraulic path 6 connected to the reservoir tank 3 is provided with an upstream-side on-off valve 64 that is normally closed and a check valve 65 that prevents a backflow from the branch portion 55 to the reservoir tank 3. . A hydraulic pump 66 driven by a motor 38, a check valve 67, an accumulator 68, and a pressure switch 69 are provided in the pressurizing hydraulic path 44 in this order from the branch portion 55 side. The pressure sensor 24 is connected to a portion of the hydraulic pressure path 44 between the pressure switch 69 and the branch portion 51.
[0053]
The check valve 67 prevents backflow from the accumulator 68 to the hydraulic pump 66. The pressure switch 69 drives the motor 38 at a preset lower limit pressure to operate the hydraulic pump 66, and stops the motor 38 at a preset upper limit pressure to stop the operation of the hydraulic pump 66. As a result, a high accumulator pressure is always accumulated in the accumulator 68, and this accumulator pressure is detected by the pressure sensor 24.
[0054]
The brake fluid pressure transmitted to the front wheel wheel cylinder 14F when the inlet-side front wheel on-off valve 62F is open, and the rear wheel wheel cylinder when the inlet-side rear wheel on-off valve 62R is open. The brake fluid pressure transmitted to 14R is configured to be distributed at a predetermined ratio determined by the action of a flow rate limiting valve (not shown) provided on the fluid pressure path 11R on the rear wheel side. When the linear solenoid valve 61 is fully opened, the brake fluid pressure is set to a predetermined value.
[0055]
The reservoir tank 3, the motor 38, the hydraulic pump 66, the upstream opening / closing valve 64, and the like constitute a brake hydraulic pressure generating means. The brake hydraulic pressure generating means, the front wheel wheel cylinder 14F, and the inflow-side front wheel opening / closing valve. The 62F and the outflow-side front-wheel on-off valve 63F constitute braking means for braking the front wheels. The brake fluid pressure generating means, the rear wheel wheel cylinder 14R, the inflow-side rear wheel opening / closing valve 62R, and the outflow-side rear wheel opening / closing valve 63R constitute braking means for braking the rear wheels. .
[0056]
Next, the function of the ECU 37 will be described with reference to FIGS. The ECU 37 has the following functions. That is, the ECU 37
(1) a function of calculating the vehicle speed of the own vehicle based on the rotation speed of the wheel detected by the wheel speed sensor 32;
(2) a function of controlling the opening of the linear solenoid valve 61 based on the brake fluid pressure generated in the master cylinder 2 detected by the pressure sensor 21;
Having.
[0057]
Further, the ECU 37
(3) Controlling the brake pressure applied to the front wheels 12F by controlling the opening and closing of the inflow-side front wheel on-off valve 62F and the outflow-side front wheel on-off valve 63F to control the brake fluid pressure transmitted to the front wheel wheel cylinder 14F. A function of controlling the braking pressure applied to the front wheels 16F by controlling the opening / closing of an opening / closing valve (not shown) to control the brake fluid pressure transmitted to the front wheel wheel cylinder 18F.
(4) Braking applied to the rear wheel 12R by controlling the opening and closing of the inflow-side rear wheel on-off valve 62R and the outflow-side rear wheel on-off valve 63R to control the brake fluid pressure transmitted to the rear wheel wheel cylinder 14R. A function of controlling the pressure, a function of controlling the brake fluid pressure transmitted to the rear wheel wheel cylinder 18R by similarly controlling the opening / closing of an opening / closing valve (not shown), and a function of controlling the braking pressure applied to the front wheel 16R.
Having.
[0058]
Further, the ECU 37 has a function of determining whether the following preload control intervention condition is satisfied in order to generate a small preload by the preload control. That is,
(5) From the detection result by the laser radar 31, when the preceding vehicle enters the same lane as the own vehicle, the inter-vehicle distance D between the own vehicle and the preceding vehicle is equal to or less than the reference inter-vehicle distance D1 stored in the storage unit 33. The ability to detect when
(6) A function of detecting that the steering wheel has been operated suddenly, that is, the steering operation amount detected by the steering wheel sensor 30a has been operated by the reference operation amount S or more within the reference time T1 stored in the storage unit 33. ,
(7) a function of detecting that the various systems (1) to (3) constituting the above-mentioned safe driving support means have been operated, and driving the buzzer 36 to issue an alarm;
(8) a function of detecting that the horn is operated for the reference time T2 or more stored in the storage unit 33;
(9) When any one of the above (5) to (8) is detected, it is determined that any one of the preload control intervention conditions is satisfied, and the braking means is controlled to correspond to the play of the brake pedal 1. A function to generate a small preload that does not cause deceleration,
Having.
[0059]
On the other hand, the ECU 37 performs a stable following
(10) When it is determined that the inter-vehicle distance D by the laser radar 31 has reached the target inter-vehicle distance D2 corresponding to the relative speed at that time held in the storage unit 33, each of the wheel cylinders 14F, 14R, 18F, 18R. The brake fluid pressure transmitted to the vehicle is increased, for example, a brake fluid pressure at which a preset deceleration is generated is generated, and then the brake fluid pressure is reduced to maintain the brake fluid pressure at which the deceleration becomes zero, and the buzzer A function of driving the driver 36 and displaying an effect on the display unit 35 to alert the driver;
Having.
[0060]
Next, the procedure of the preload control by the ECU 37 will be described in detail with reference to the flowchart shown in FIG. As shown in FIG. 3, the ECU 37 detects the traveling lane of the preceding vehicle from the detection result by the laser radar 31 (S1), and detects the inter-vehicle distance D between the own vehicle and the preceding vehicle (S2). It is determined whether the vehicle has entered the same lane as the own vehicle (S3). If the determination result is NO, the process returns to the start. If the determination result is YES, the inter-vehicle distance D at that time is determined by the ECU 37. Is determined not more than the reference inter-vehicle distance D1 stored in the storage unit 33, that is, D ≦ D1 (S4).
[0061]
Then, if the decision result in the step S4 is YES, the process shifts to a preload control process in a step S8 described later, and if the decision result is NO, the ECU 37 determines whether or not the steering wheel is rapidly operated, that is, the steering wheel sensor. It is determined whether the steering operation amount detected by 30a is operated by the reference operation amount S or more within the reference time T1 stored in the storage unit 33 (S5).
[0062]
If the decision result in the step S5 is YES, the process shifts to a preload control process in a step S8. If the decision result is NO, the ECU 37 controls the various systems (1) to (3) constituting the safe driving support means 30c. It is determined whether or not the buzzer 36 has been driven by any of the operations (S6). If the result of the determination is YES, the process proceeds to the preload control process in step S8. Then, based on the detection result of the horn sensor 30b, it is determined whether or not the horn has been operated for the reference time T2 stored in the storage unit 33 or longer (S7).
[0063]
Then, if the decision result in the step S7 is NO, the process returns to the start, and if the decision result is YES, the process shifts to a step S8, where the braking means is controlled by the ECU 37, which corresponds to the play of the brake pedal 1, and A small preload is generated to the extent that deceleration does not occur (S8), and then the process returns to the start.
[0064]
in this way,
(i) the inter-vehicle distance D with the preceding vehicle that has entered the same lane is equal to or less than the reference inter-vehicle distance D1;
(ii) There is a sudden steering operation exceeding the reference operation amount S within the reference time T1,
(iii) that there is an operation of any of the safe driving support means 30c;
(iv) the horn is operated for a reference time T2 or more;
When either of the preload control intervention conditions is satisfied, the braking means is controlled by the ECU 37 to generate a small preload.
[0065]
As a result, as shown in FIG. 4, by generating the small preload Ppr by the preload control, it becomes clear even in comparison with the case of the normal brake without the preload control as shown by the one-dot chain line in the figure. In addition, the braking control can be performed with good responsiveness, and through the determination processing in steps S3 to S7 in the flowchart of FIG. Can be.
[0066]
Therefore, according to the above-described embodiment, it is possible to perform the preload control over a wide range in which it is predicted that a sudden braking is required, and it is possible to realize the braking control with good responsiveness.
[0067]
The present invention is not limited to the above-described embodiment, and various changes other than those described above can be made without departing from the gist of the present invention.
[0068]
For example, in the above embodiment,
(i) the inter-vehicle distance D with the preceding vehicle that has entered the same lane is equal to or less than the reference inter-vehicle distance D1;
(ii) There is a steering operation with a reference operation amount S or more within the reference time T1,
(iii) the operation of the safe driving support means for prompting the driver to perform a braking operation by an alarm,
(iv) the horn is operated for a reference time T2 or more;
A case has been described in which a small preload is generated when any one of the four preload control intervention conditions is satisfied. However, among the two combinations of any of these conditions (i) to (iv), When one or one of the three combinations of the conditions (i) to (iv) is satisfied, the braking means may be controlled to generate a small preload. Of course.
[0069]
In the above-described embodiment, the case where the scan laser radar 31 is provided as the lane detecting means and the distance detecting means has been described. However, the present invention is not limited to the scan laser radar 31, and the lane detecting means and the distance detecting means are separately provided. Is also good.
[0070]
【The invention's effect】
As described above, according to the first and sixth aspects of the present invention, (i) the inter-vehicle distance to a preceding vehicle that has entered the same lane is equal to or less than a predetermined distance, and (ii) is equal to or more than a predetermined amount within a predetermined time. (Iii) that there is operation of safe driving support means that prompts the driver to perform a braking operation by an alarm, and (iv) that horn is operated for a predetermined time or more. In addition, since the control means controls the braking means to generate a small preload, the preload control can be performed over a wide range where a sudden braking is required and a braking control with good responsiveness can be realized. Will be possible.
[0071]
According to the second and seventh aspects of the present invention, when the inter-vehicle distance from a preceding vehicle entering the same lane becomes equal to or less than a predetermined distance, it is predicted that rapid braking is required, and a small preload is generated to control the preload. Is performed, it is possible to realize braking control with good responsiveness.
[0072]
According to the third and eighth aspects of the present invention, when the steering wheel is operated by a predetermined amount or more within a predetermined time, it is predicted that sudden braking is required, and a small preload is generated to perform the preload control. Thus, it is possible to realize braking control with good responsiveness.
[0073]
According to the fourth and ninth aspects of the invention, when there is an operation of the safe driving support means for prompting the driver to perform a braking operation by an alarm, it is predicted that a sudden braking is required, and a small preload is generated. Since the preload control is performed, it is possible to realize braking control with good responsiveness.
[0074]
According to the fifth and tenth aspects of the present invention, when the horn is operated for a predetermined time or more, it is predicted that rapid braking is required, and a small preload is generated to perform the preload control. Good braking control can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration of an embodiment of the present invention.
FIG. 2 is a hydraulic circuit diagram showing a configuration of an actuator unit according to one embodiment of the present invention.
FIG. 3 is a flowchart showing a procedure of preload control according to the embodiment of the present invention.
FIG. 4 is an operation explanatory diagram of one embodiment of the present invention.
[Explanation of symbols]
1 brake pedal
14F, 14R Wheel cylinders for front and rear wheels (braking means)
30a Handle sensor (operation amount detection means)
30b horn sensor (detection means)
31 laser radar (lane detecting means, distance detecting means)
37 ECU (control means)
62F, 62R Opening / closing valves for front and rear wheels on the inflow side (braking means)
63F, 63R Opening / closing valve for front and rear wheels on outflow side (braking means)

Claims (10)

A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control device,
By the control means,
(i) the inter-vehicle distance with a preceding vehicle on the same lane is equal to or less than a predetermined distance;
(ii) there is a predetermined amount of steering operation within a predetermined time;
(iii) the operation of the safe driving support means for prompting the driver to perform a braking operation by an alarm,
(iv) horn is operated for a predetermined time or more,
The vehicle braking control device according to claim 1, wherein when any one of the above conditions is satisfied, the braking means is controlled to generate the small preload. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control device,
Lane detecting means for detecting whether the preceding vehicle has entered the same lane as the own vehicle,
Distance detection means for detecting an inter-vehicle distance to the preceding vehicle when the lane detection means detects the approach of the preceding vehicle to the same lane;
A vehicle braking control device comprising: a control unit that controls the braking unit to generate the minute preload when the inter-vehicle distance detected by the distance detecting unit is equal to or less than a predetermined distance. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control device,
Operation amount detection means for detecting an operation amount of the steering wheel;
Control means for controlling the braking means to generate the minute preload when it is determined that a predetermined amount or more of the steering wheel has been operated within a predetermined time based on the detection result of the operation amount detection means. Vehicle braking control device. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control device,
Safe driving support means for prompting the driver to perform a braking operation by an alarm;
A control unit for controlling the braking unit in conjunction with the operation of the safe driving support unit to generate the small preload. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control device,
Detecting means for detecting horn operation;
A control unit for controlling the braking unit based on the detection of the horn operation for a predetermined time or longer by the detection unit to generate the minute preload. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control method,
(i) the inter-vehicle distance with a preceding vehicle on the same lane is equal to or less than a predetermined distance;
(ii) there is a predetermined amount of steering operation within a predetermined time;
(iii) the operation of the safe driving support means for prompting the driver to perform a braking operation by an alarm,
(iv) horn is operated for a predetermined time or more,
The vehicle braking control method according to any one of the preceding claims, wherein the micro preload is generated by the braking means when either of the above is satisfied. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control method,
A lane detecting step of detecting whether the preceding vehicle has entered the same lane as the own vehicle,
A distance detecting step of detecting an inter-vehicle distance with the preceding vehicle when the preceding vehicle is detected to enter the same lane in the lane detecting step;
A control step of controlling the braking means to generate the minute preload when the inter-vehicle distance detected by the distance detecting step is equal to or less than a predetermined distance. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control method,
An operation amount detection step of detecting an operation amount of the steering wheel,
A control step of controlling the braking means to generate the minute preload when it is determined that a predetermined amount or more of the handle has been operated within a predetermined time based on a detection result of the operation amount detection step. Vehicle braking control method. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control method,
Equipped with safe driving support means that prompts the driver to perform a braking operation by alarm
A vehicle braking control method, comprising a control step of controlling the braking means in conjunction with the operation of the safe driving support means to generate the small preload. A vehicle that includes a brake unit that generates a brake fluid pressure by using the stored brake fluid, and that generates a braking force of the vehicle by the brake fluid pressure, and that generates a minute preload corresponding to a play of a brake pedal by the brake unit; In the braking control method,
A detection process for detecting horn operation;
A control step of controlling the braking means by detecting the horn operation for a predetermined time or more in the detection step to generate the minute preload.

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