Vehicle brake control device and vehicle brake control method
A brake controller includes: a necessary braking force calculator to calculate a necessary braking force that is a braking force generated by a mechanical brake apparatus in order to obtain a deceleration indicated by a brake command; an initial speed acquirer to acquires an initial speed; a target pressing force calculator to calculate a target pressing force that is a force for pressing a brake shoe against a wheel in order to obtain the necessary braking force; and a target pressure calculator to calculate a target pressure indicating a pressure of a fluid inside the brake cylinder that is necessary for obtaining the target pressing force and perform feedback control to adjust the target pressure based on a feedback signal acquired from a pressure sensor.
1. A vehicle brake control device to control a mechanical brake apparatus that comprises a brake cylinder and a friction member operating in accordance with a pressure of a fluid inside the brake cylinder and generates a braking force by pressing the friction member against a rotatable body that rotates when a vehicle travels, the vehicle brake control device comprising:
necessary braking force calculation processing circuitry to acquire a brake command indicating a target deceleration of the vehicle and calculate, based on the target deceleration indicated by the brake command, a necessary braking force that is the braking force necessary for obtaining the target deceleration;
initial speed acquisition processing circuitry to acquire a speed of the vehicle in response to the acquisition of the brake command by the necessary braking force calculation processing circuitry;
target pressing force calculation processing circuitry to calculate, using an average friction coefficient as a friction coefficient of a contact surface between the friction member and the rotatable body and from the average friction coefficient and the necessary braking force, a target pressing force that is a force for pressing the friction member against the rotatable body in order to obtain the necessary braking force, the average friction coefficient varying depending on (i) an initial speed that is the speed of the vehicle acquired by the initial speed acquisition processing circuitry and (ii) a pressing force that is a force for pressing the friction member against the rotatable body;
target pressure calculation processing circuitry to calculate a target pressure indicating a pressure of the fluid inside the brake cylinder that is necessary for obtaining the target pressing force; and
output processing circuitry to compress, in accordance with the target pressure, fluid supplied from a fluid source to supply the compressed fluid to the mechanical brake apparatus, wherein
the target pressing force calculation processing circuitry comprises:
an average friction coefficient calculation processing circuitry to calculate, from the average friction coefficient predetermined for each pressing force at each of predetermined speeds of the vehicle that are different from one another, the average friction coefficient for each pressing force at the initial speed; and
operation processing circuitry to calculate the target pressing force by (i) obtaining, from the average friction coefficient for each pressing force at the initial speed, a relational expression for calculating, using the average friction coefficient as a variable, the pressing force at the initial speed, (ii) obtaining, by regarding the necessary braking force as corresponding to a product of the average friction coefficient and the pressing force, an equation regarding the pressing force from the relational expression, and (iii) obtaining a solution of the equation.
2. The vehicle brake control device according to claim 1 , wherein
the average friction coefficient calculation processing circuitry
stores an average friction coefficient table for identifying one average friction coefficient from the speed of the vehicle and the pressing force, and
calculates, from a value of the average friction coefficient table, the average friction coefficient for each pressing force at the initial speed.
3. The vehicle brake control device according to claim 1 , wherein
the operation processing circuitry calculates the target pressing force by (i) obtaining, from the average friction coefficient for each pressing force at the initial speed, the relational expression that is a linear function, (ii) obtaining, by regarding the necessary braking force as corresponding to the product of the average friction coefficient and the pressing force, a quadratic equation regarding the pressing force from the relational expression, and (iii) obtaining a solution of the quadratic equation.
4. The vehicle brake control device according to claim 2 , wherein
the operation processing circuitry calculates the target pressing force by (i) obtaining, from the average friction coefficient for each pressing force at the initial speed, the relational expression that is a linear function, (ii) obtaining, by regarding the necessary braking force as corresponding to the product of the average friction coefficient and the pressing force, a quadratic equation regarding the pressing force from the relational expression, and (iii) obtaining a solution of the quadratic equation.
5. A vehicle brake control method performed by a vehicle brake control device, the vehicle brake control method comprising:
calculating, based on a target deceleration indicated by a brake command, a necessary braking force that is a braking force that a mechanical brake apparatus needs to generate in order to obtain the target deceleration indicated by the brake command, the mechanical brake apparatus (i) comprising a brake cylinder and a friction member operating in accordance with a pressure of a fluid inside the brake cylinder and (ii) generating the braking force by pressing the friction member against a rotatable body that rotates when a vehicle travels;
calculating, using an average friction coefficient as a friction coefficient of a contact surface between the friction member and the rotatable body and from the average friction coefficient and the necessary braking force, a target pressing force that is a force for pressing the friction member against the rotatable body in order to obtain the necessary braking force, the average friction coefficient varying depending on (i) an initial speed that is the speed of the vehicle acquired in response to a start of the brake command and (ii) a pressing force that is a force of pressing the friction member against the rotatable body;
calculating, from the average friction coefficient predetermined for each pressing force at each of predetermined speeds of the vehicle that are different from one another, the average friction coefficient for each pressing force at the initial speed;
calculating the target pressing force by (i) obtaining, from the average friction coefficient for each pressing force at the initial speed, a relational expression for calculating, using the average friction coefficient as a variable, the pressing force at the initial speed, (ii) obtaining, by regarding the necessary braking force as corresponding to a product of the average friction coefficient and the pressing force, an equation regarding the pressing force from the relational expression, and (iii) obtaining a solution of the equation; and
compressing the fluid supplied from a fluid source to supply the compressed fluid to the mechanical brake apparatus in accordance with a pressure of the fluid inside the brake cylinder, the pressure of the fluid inside the brake cylinder being a pressure necessary for obtaining the target pressing force.
6. A vehicle brake control device to control a mechanical brake apparatus that comprises a brake cylinder and a friction member operating in accordance with a pressure of a fluid inside the brake cylinder and generates a braking force by pressing the friction member against a rotatable body that rotates when a vehicle travels, the vehicle brake control device comprising:
a necessary braking force calculator to acquire a brake command indicating a target deceleration of the vehicle and calculate, based on the target deceleration indicated by the brake command, a necessary braking force that is the braking force necessary for obtaining the target deceleration;
an initial speed acquirer to acquire a speed of the vehicle in response to the acquisition of the brake command by the necessary braking force calculator;
a target pressing force calculator to calculate, using an average friction coefficient as a friction coefficient of a contact surface between the friction member and the rotatable body and from the average friction coefficient and the necessary braking force, a target pressing force that is a force for pressing the friction member against the rotatable body in order to obtain the necessary braking force, the average friction coefficient varying depending on (i) an initial speed that is the speed of the vehicle acquired by the initial speed acquirer and (ii) a pressing force that is a force for pressing the friction member against the rotatable body;
a target pressure calculator to calculate a target pressure indicating a pressure of the fluid inside the brake cylinder that is necessary for obtaining the target pressing force; and
an outputter to compress, in accordance with the target pressure, fluid supplied from a fluid source to supply the compressed fluid to the mechanical brake apparatus, wherein
the target pressing force calculator comprises:
an average friction coefficient calculator to calculate, from the average friction coefficient predetermined for each pressing force at each of predetermined speeds of the vehicle that are different from one another, the average friction coefficient for each pressing force at the initial speed; and
an operator to calculate the target pressing force by (i) obtaining, from the average friction coefficient for each pressing force at the initial speed, a relational expression for calculating, using the average friction coefficient as a variable, the pressing force at the initial speed, (ii) obtaining, by regarding the necessary braking force as corresponding to a product of the average friction coefficient and the pressing force, an equation regarding the pressing force from the relational expression, and (iii) obtaining a solution of the equation.
7. The vehicle brake control device according to claim 6 , wherein
the average friction coefficient calculator
stores an average friction coefficient table for identifying one average friction coefficient from the speed of the vehicle and the pressing force, and
calculates, from a value of the average friction coefficient table, the average friction coefficient for each pressing force at the initial speed.
8. The vehicle brake control device according to claim 6 , wherein
the operator calculates the target pressing force by (i) obtaining, from the average friction coefficient for each pressing force at the initial speed, the relational expression that is a linear function, (ii) obtaining, by regarding the necessary braking force as corresponding to the product of the average friction coefficient and the pressing force, a quadratic equation regarding the pressing force from the relational expression, and (iii) obtaining a solution of the quadratic equation.
9. The vehicle brake control device according to claim 7 , wherein
the operator calculates the target pressing force by (i) obtaining, from the average friction coefficient for each pressing force at the initial speed, the relational expression that is a linear function, (ii) obtaining, by regarding the necessary braking force as corresponding to the product of the average friction coefficient and the pressing force, a quadratic equation regarding the pressing force from the relational expression, and (iii) obtaining a solution of the quadratic equation.