Vehicle brake control device

1. A vehicle brake control device comprising:

a front wheel speed acquisition section configured to acquire a wheel speed of a front wheel that is a driven wheel;

a rear wheel speed acquisition section configured to acquire a wheel speed of a rear wheel that is a drive wheel;

a front wheel acceleration calculation section configured to calculate a front wheel acceleration based on the front wheel speed;

a rear wheel acceleration calculation section configured to calculate a rear wheel acceleration based on the rear wheel speed;

a front wheel anti-lock brake control section capable of executing an anti-lock brake control for the front wheel;

a vehicle acceleration acquisition section configured to acquire a vehicle acceleration; and

a bad road determination section configured to determine whether or not a running road surface is a bad road based on the front wheel acceleration or the rear wheel acceleration,

wherein the bad road determination section executes a bad road determination by selectively using one of the front wheel acceleration and the rear wheel acceleration at least based on information on whether or not the anti-lock brake control for the front wheel is executed and the vehicle acceleration, the bad road determination is executed by selectively using either the front wheel acceleration or the rear wheel acceleration based on information on whether or not the anti-lock brake control for the front wheel is executed,

wherein the bad road determination section executes the bad road determination by using the front wheel acceleration when the anti-lock brake control for the front wheel is not executed and the vehicle acceleration is larger than a predetermined value,

further comprising a rear wheel anti-lock brake control section capable of executing an anti-lock brake control for the rear wheel,

wherein the front wheel acceleration calculation section calculates, as the front wheel acceleration, a first wheel acceleration and a second wheel acceleration in which a high-frequency component is attenuated more than the first wheel acceleration,

wherein the bad road determination section determines that the running road surface is a bad road when the anti-lock brake control for the rear wheel is executed, and when the first wheel acceleration is larger than a first threshold value and the second wheel acceleration is smaller than a second threshold value, and

wherein the bad road determination section determines that the running road surface is a bad road when the anti-lock brake control for the rear wheel is not executed, and when the first wheel acceleration is smaller than a third threshold value smaller than the first threshold value and the second wheel acceleration is larger than a fourth threshold value.

2. The vehicle brake control device according to claim 1 ,

wherein the fourth threshold value is smaller than the second threshold value.

3. The vehicle brake control device according to claim 1 , comprising a rear wheel anti-lock brake control section capable of executing an anti-lock brake control for the rear wheel,

wherein the bad road determination section executes the bad road determination by using the rear wheel acceleration when the vehicle acceleration is equal to or less than a predetermined value and the anti-lock brake control for the rear wheel is not executed.

4. The vehicle brake control device according to claim 1 , comprising a rear wheel anti-lock brake control section capable of executing an anti-lock brake control for the rear wheel,

wherein the bad road determination section executes the bad road determination by using the rear wheel acceleration when the anti-lock brake control for the front wheel is executed and the anti-lock brake control for the rear wheel is not executed.

5. The vehicle brake control device according to claim 3 ,

wherein the rear wheel acceleration calculation section calculates, as the rear wheel acceleration, a third wheel acceleration and a fourth wheel acceleration in which a high-frequency component is attenuated more than the third wheel acceleration, and

wherein the bad road determination section determines that the running road surface is a bad road when the third wheel acceleration is larger than a fifth threshold value and the fourth wheel acceleration is smaller than a sixth threshold value.

6. The vehicle brake control device according to claim 4 ,

wherein the rear wheel acceleration calculation section calculates, as the rear wheel acceleration, a third wheel acceleration and a fourth wheel acceleration in which a high-frequency component is attenuated more than the third wheel acceleration, and

wherein the bad road determination section determines that the running road surface is a bad road when the third wheel acceleration is larger than a fifth threshold value and the fourth wheel acceleration is smaller than a sixth threshold value.

7. The vehicle brake control device according to claim 1 ,

wherein the bad road determination section executes the bad road determination using the front wheel acceleration when the anti-lock brake control for the front wheel is not executed and the vehicle acceleration is larger than a predetermined value.

8. The vehicle brake control device according to claim 7 ,

wherein when executing the bad road determination by using the front wheel acceleration, the bad road determination section determines that the running road surface is a bad road when the anti-lock brake control for the rear wheel is executed, a first wheel acceleration is larger than a first threshold value, and a second wheel acceleration is smaller than a second threshold value.

9. The vehicle brake control device according to claim 8 ,

wherein when executing the bad road determination by using the front wheel acceleration, the bad road determination section determines that the running road surface is a bad road when the anti-lock brake control for the rear wheel is not executed, the first wheel acceleration is smaller than a third threshold value, and the second wheel acceleration is larger than a fourth threshold value.

10. The vehicle brake control device according to claim 9 ,

wherein the third threshold value is a value smaller than the first threshold value, and the fourth threshold value is a value smaller than the second threshold value.

11. The vehicle brake control device according to claim 1 ,

wherein the bad road determination section executes the bad road determination using the rear wheel acceleration when the anti-lock brake control for the front wheel is executed, and an anti-lock brake control for the rear wheel is not executed.

12. The vehicle brake control device according to claim 11 ,

wherein when executing the bad road determination using the rear wheel acceleration, the bad road determination section determines that the running road surface is a bad road when a third wheel acceleration is larger than a fifth threshold value and a fourth wheel acceleration is smaller than a sixth threshold value.

13. The vehicle brake control device according to claim 1 ,

wherein the bad road determination section executes the bad road determination by using the rear wheel acceleration when the anti-lock brake control for the front wheel is not executed and the vehicle acceleration is equal to or less than a predetermined value, and the anti-lock brake control for the rear wheel is not executed.

14. The vehicle brake control device according to claim 1 ,

wherein when the front wheel acceleration is not stable during a high deceleration at which the vehicle acceleration is equal to or less than a predetermined value, the anti-lock brake control is not executed, and the bad road determination is executed by using the rear wheel acceleration that is more stable than the front wheel acceleration.

15. The vehicle brake control device according to claim 1 ,

wherein when the front wheel acceleration is not stable while the anti-lock brake control is executed, the anti-lock brake control is not executed, and the bad road determination is executed by using the rear wheel acceleration that is more stable than the front wheel acceleration.

16. The vehicle brake control device according to claim 1 ,

wherein when executing the bad road determination by using the rear wheel acceleration, the bad road determination is executed in a state where threshold values are set for two types of wheel accelerations with different responsiveness.