Brake control device
To enable achievement of stable braking regardless of influences by aging or the like of a brake device. There is provided a brake ECU 30 for a vehicle 1 with a brake device 11 that can adjust a break force depending on fed hydraulic pressure, the vehicle 1 including: a master pressure sensor 17 configured to measure hydraulic pressure fed to the brake device 11 ; and a G sensor 44 and a wheel speed sensor 12 configured to be capable of detecting acceleration of the vehicle 1 and measure acceleration information, the brake ECU 30 being configured to include: a pressure command value computation portion 36 configured to determine a hydraulic pressure fed to the brake device 11 at a time of deceleration of the vehicle 1 on a basis of a preset coefficient and cause the determined hydraulic pressure to be fed to the brake device 11 ; and a brake torque coefficient computation portion 31 configured to learn a coefficient candidate, which is a candidate to change the coefficient, and change the coefficient to the coefficient candidate on a basis of a relationship between the hydraulic pressure and the acceleration.
1. A brake control device for a vehicle with a brake device that can adjust a brake force depending on fed hydraulic pressure,
the vehicle comprising:
a hydraulic pressure sensor configured to measure hydraulic pressure fed to the brake device, the brake device comprising a friction member; and
an acceleration information sensor configured to be capable of detecting acceleration of the vehicle and measure acceleration information,
the brake control device comprising:
a hydraulic pressure processor configured to determine a hydraulic pressure fed to the brake device at a time of deceleration of the vehicle on a basis of a preset coefficient and cause the hydraulic pressure to be fed to the brake device to perform braking; and
a coefficient processor configured to learn a coefficient candidate, which is a candidate to change the preset coefficient, and change the preset coefficient to the coefficient candidate on a basis of a relationship between the hydraulic pressure and the acceleration based on the acceleration information in response to the vehicle satisfying a predetermined running condition, the coefficient candidate associated with a coefficient of friction of the friction member of the brake device; and
a memory configured to store an initial coefficient corresponding to the coefficient of friction of the friction member in a substantially unworn initial state,
wherein the predetermined running condition is a case in which the vehicle is continuously driven at a traveling speed equal to or lower than a predetermined speed range, and
wherein the coefficient processor changes the preset coefficient to the initial coefficient stored in the memory when the friction member of the brake device is replaced,
wherein the coefficient processor calculates a plurality of coefficient candidates on a basis of a relationship between the hydraulic pressure and the acceleration at a time of a plurality of number of times of braking that satisfies the predetermined running condition, and determines the coefficient candidate that should change the preset coefficient on a basis of the plurality of coefficient candidates,
wherein the coefficient processor determines whether to change the preset coefficient on a basis of the plurality of coefficient candidates, and
wherein the coefficient processor determines to change the preset coefficient when a probability that a value of the plurality of coefficient candidates falls within a predetermined range is equal to or more than a predetermined value, wherein the predetermined value is seven out of ten.
2. The brake control device according to claim 1 , wherein the predetermined running condition includes at least one or more of the vehicle being a predetermined speed or less, the vehicle being a predetermined acceleration or less, the vehicle not running on an inclined surface, or the vehicle not running on a low friction road surface.
3. The brake control device according to claim 2 , wherein the vehicle includes, as the acceleration information sensor, an acceleration sensor configured to detect acceleration of the vehicle and a wheel speed sensor configured to detect a wheel speed of the vehicle, the predetermined running condition includes the vehicle not running on the inclined surface or the vehicle not running on the low friction road surface, and the coefficient processor determines that the vehicle is not running on the inclined surface or the vehicle is not running on the low friction road surface on a basis of that a difference between a first acceleration detected by the acceleration sensor and a second acceleration detected based on the wheel speed of the wheel speed sensor is a predetermined value or less.
4. The brake control device according to claim 1 , wherein the hydraulic pressure processor determines the hydraulic pressure in a case of automatic parking of the vehicle, and the predetermined running condition includes a predetermined speed or less assumed in a case of automatic parking of the vehicle.