Brake fluid pressure control device for vehicle
A brake fluid pressure control device for a includes a wheel speed acquisition device that acquires a wheel speed, a slippage amount calculation device that calculates a wheel slippage amount, and a bad road determination device that determines whether a road surface of travel is a bad road. The bad road determination device determines whether the road surface of travel is a bad road using a bad road determination threshold value, and a value that relates to wheel behavior that is calculated based at least upon the wheel speed. The bad road determination threshold value is modified according to the wheel slippage amount. The present invention can appropriately set a bad road determination threshold value that is in accordance with a slippage amount, which corresponds to braking power, and can improve bad road determination precision without depending on variation in change of wheel speed.
1. A brake fluid pressure control device for a vehicle capable of performing fluid pressure control of a brake fluid pressure applied to a wheel brake, the brake fluid pressure control device comprising:
wheel speed acquisition means that acquires a wheel speed;
slippage amount calculation means that calculates a slippage amount of a wheel; and
bad road determination means that determines whether a state of a traveling road surface is bad,
wherein the bad road determination means determines whether the state of the traveling road surface is bad based upon a value related to wheel behavior, said value related to wheel behavior being calculated based on at least the wheel speed and a bad road determination threshold value, and
wherein the bad road determination means:
changes the bad road determination threshold value according to the slippage amount of the wheel, and
changes the bad road determination threshold value when the slippage amount of the wheel exceeds a predetermined value to a value larger than the bad road determination threshold value when the slippage amount is equal to or less than the predetermined value, and
changes the bad road determination threshold value when the state in which the slip amount is equal to or less than the predetermined value continues for a predetermined time or more to a value smaller than the bad road determination threshold exceeding the predetermined value.
2. The brake fluid pressure control device for a vehicle according to claim 1 ,
wherein the value related to wheel behavior is a deviation between an estimated vehicle body speed and the wheel speed.