Method of controlling a vehicle brake with torque correction
View Patent ↗The invention relates to a method of controlling a vehicle brake that is adapted to exert a braking force in response to an actuation setpoint, the method comprising the following steps: from a braking setpoint, determining a nominal actuation setpoint for the brake actuator, taking account of all of the components of the braking setpoint; from the same braking setpoint, and from a measurement of the torque developed by the brake, determining a correction for the nominal actuation setpoint, this correction taking account only of low-frequency variations in the braking setpoint; and adding the correction to the nominal setpoint.
1. An apparatus for controlling a vehicle brake that is adapted to exert a braking force in response to an actuation setpoint, the vehicle brake including a brake actuator, the apparatus comprising:
an input for receiving a braking setpoint;
an input for receiving a measured torque representing a measurement of the torque generated by the brake;
a setpoint calculation device operative to calculate a nominal actuation setpoint for the brake actuator on the basis of the braking setpoint, taking account of all components of the breaking setpoint;
a correction calculation device operative to calculate a correction for the nominal actuation setpoint on the basis of the braking setpoint and of the measured torque, and taking account only of variations at low frequency in the braking setpoint;
an output delivering the sum of the nominal actuation setpoint plus the correction as a corrected actuation setpoint for the brake actuator; and wherein said brake actuator is actuated in accordance with the corrected actuation setpoint.
2. An apparatus as recited in claim 1 , wherein the correction calculation device uses an estimation of a mean torque applied by the brake that is constructed from the braking setpoint, and performs a comparison of the mean torque with the measured torque.
3. An apparatus as recited in claim 2 , wherein, prior to performing the comparison, the estimation of the mean torque and the measured torque are both filtered in order to eliminate high-frequency components.
4. An apparatus method according to claim 3 , wherein the comparison delivers an error equal to a difference between the mean torque and the measured torque, said error is subjected to treatment, followed by saturation in order to restrict the correction to values lying within a predetermined range.
5. An apparatus according to claim 4 , wherein correction is neutralized if the vehicle is stationary or if a failure of the torque measurement means is detected.
6. An apparatus according to claim 5 , wherein neutralization of the correction includes the step of freezing the correction value to a given value.
7. An apparatus according to claim 1 , wherein the braking setpoint includes high frequency components generated by implementing anti-locking protection, said high frequency components being filtered out in order to determine a correction for the nominal actuation setpoint.
8. An apparatus according to claim 1 , wherein the corrected actuation setpoint is saturated.