Braking control device for vehicle
A vehicle braking control device includes: an indicated-value-setting unit for setting an indicated current value, which relates to a differential pressure valve provided to a channel between a master cylinder and a wheel cylinder, to a value corresponding to a required differential pressure; and a depressurization-starting differential pressure acquisition unit for acquiring, as a depressurization-starting differential pressure, the differential pressure at the point in time when a pressurizing state for increasing the differential pressure caused by the differential pressure valve transitions to a depressurizing state for reducing the differential pressure caused by the differential pressure valve. The area between the depressurization-starting differential pressure and a boundary differential pressure is set as a depressurization-starting differential pressure area. When the depressurizing state is in effect and the required differential pressure is included in the depressurization-starting differential pressure area, the indicated-value-setting unit sets the slope of decrease of the indicated current value.
1. A braking control device for vehicle comprising:
an electronic control unit configured to set an indicated current value to a differential pressure valve provided at a channel between a master cylinder and a wheel cylinder corresponding to a wheel, to a value according to a required differential pressure having a requirement value of a differential pressure by the differential pressure valve, and to acquire, as a depressurization-starting differential pressure, a differential pressure at transition from a pressurizing state of increasing the differential pressure by the differential pressure valve to a depressurizing state of decreasing the differential pressure by the differential pressure valve;
wherein when a depressurizing differential pressure area is set as an area between the depressurization-starting differential pressure acquired by the electronic control unit and a boundary differential pressure having a value obtained by subtracting a predetermined differential pressure according to the depressurization-starting differential pressure from the depressurization-starting differential pressure,
the electronic control unit sets a slope of decrease of the indicated current value, as an amount of decrease of the indicated current value relative to an amount of decrease of the required differential pressure, such that the smaller the depressurization-starting differential pressure is, the smaller the slope of decrease of the indicated current value is, when the required differential pressure is included in the depressurizing differential pressure area in the depressurizing state.
2. The braking control device for vehicle according to claim 1 , wherein:
when the indicated current value according to the required differential pressure is set as a reference indicated current value, the electronic control unit sets a correction amount referred to for correction of the indicated current value in the depressurizing state, and
the electronic control unit sets the indicated current value in accordance with a value obtained by subtracting the correction amount from the reference indicated current value in the depressurizing state, and sets a slope of increase of the correction amount, as an amount of increase of the correction amount relative to the amount of decrease of the required differential pressure, such that the smaller the depressurization-starting differential pressure is, the smaller the slope of increase of the correction amount is, and increases the correction amount with the slope of increase, when the required differential pressure is included in the depressurizing differential pressure area in the depressurizing state, and
in a case where the required differential pressure is smaller than a lower limit value in the depressurizing differential pressure area in the depressurizing state, sets the slope of increase of the correction amount such that the smaller the depressurization-starting differential pressure is, the smaller the slope of increase of the correction amount is, and increases the correction amount with the slope of increase when the differential pressure by the differential pressure valve decreases in the depressurizing differential pressure area, and sets the correction amount to be equal to a limiting value when the differential pressure by the differential pressure valve decreases beyond the depressurizing differential pressure area.
3. The braking control device for vehicle according to claim 2 , further comprising:
a storage unit configured to store a property indicating relation between a driving current value and the differential pressure of a case of increasing the value of driving current flowing to the differential pressure valve;
wherein the electronic control unit sets the reference indicated current value to be larger as the required differential pressure is larger in accordance with the property stored in the storage unit.
4. The braking control device for vehicle according to claim 3 , wherein
the limiting value is set as an upper limit value when the differential pressure by the differential pressure valve is not less than a specified differential pressure, and
the limiting value is made smaller as the differential pressure by the differential pressure valve is smaller when the differential pressure is less than the specified differential pressure.
5. The braking control device for vehicle according to claim 2 , wherein
the limiting value is set as an upper limit value when the differential pressure by the differential pressure valve is not less than a specified differential pressure, and
the limiting value is made smaller as the differential pressure by the differential pressure valve is smaller when the differential pressure is less than the specified differential pressure.
6. The braking control device for vehicle according to claim 2 , wherein
the electronic control unit corrects the slope of decrease of the indicated current value in accordance with a flow rate of brake fluid in the channel provided with the differential pressure valve.
7. The braking control device for vehicle according to claim 2 , wherein
the electronic control unit corrects the slope of decrease of the indicated current value in accordance with a brake fluid temperature in the channel provided with the differential pressure valve.
8. The braking control device for vehicle according to claim 2 , wherein:
the electronic control unit is configured to acquire, as a pressurization-starting differential pressure, a differential pressure at transition from the depressurizing state to the pressurizing state; wherein
when a pressurizing differential pressure area is set as an area between the pressurization-starting differential pressure and a boundary differential pressure having a value obtained by adding a predetermined differential pressure according to the pressurization-starting differential pressure to the pressurization-starting differential pressure,
the electronic control unit sets a slope of increase of the indicated current value, as an amount of increase of the indicated current value relative to an amount of increase of the required differential pressure, such that the smaller the pressurization-starting differential pressure is, the smaller the slope of increase of the indicated current value is, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state.
9. The braking control device for vehicle according to claim 8 , wherein:
when the indicated current value according to the required differential pressure is set as a reference indicated current value, the electronic control unit sets a correction amount referred to for correction of the indicated current value in the pressurizing state, and
the electronic control unit sets the indicated current value in accordance with a value obtained by subtracting the correction amount from the reference indicated current value in the pressurizing state, and sets a slope of decrease of the correction amount, as an amount of decrease of the correction amount relative to an amount of increase of the required differential pressure, such that the smaller the pressurization-starting differential pressure is, the smaller the slope of decrease of the correction amount is, and decreases the correction amount with the slope of decrease, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state, and
in a case where the required differential pressure is larger than an upper limit value in the pressurizing differential pressure area in the pressurizing state, sets the slope of decrease of the correction amount such that the smaller the pressurization-starting differential pressure is, the smaller the slope of decrease of the correction amount is, and decreases the correction amount with the slope of decrease when the differential pressure by the differential pressure valve increases in the pressurizing differential pressure area, and sets the correction amount to be equal to “0 (zero)” when the differential pressure by the differential pressure valve exceeds the upper limit value in the pressurizing differential pressure area.
10. The braking control device for vehicle according to claim 2 , wherein:
the electronic control unit is configured to acquire, as a pressurization-starting differential pressure, a differential pressure at transition from the depressurizing state to the pressurizing state, and to acquire, as a pressurization-starting hysteresis amount, a hysteresis amount at transition from the depressurizing state to the pressurizing state; and wherein
when a pressurizing differential pressure area is set as an area between the pressurization-starting differential pressure and a boundary differential pressure as a sum of a predetermined differential pressure according to the pressurization-starting hysteresis amount and the pressurization-starting differential pressure,
the electronic control unit sets a slope of increase of the indicated current value, as an amount of increase of the indicated current value relative to an amount of increase of the required differential pressure, such that the larger the pressurization-starting hysteresis amount is, the smaller the slope of increase of the indicated current value is, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state.
11. The braking control device for vehicle according to claim 10 , wherein:
when the indicated current value according to the required differential pressure is set as a reference indicated current value, the electronic control unit sets a correction amount referred to for correction of the indicated current value in the pressurizing state, and
the electronic control unit sets the indicated current value in accordance with a value obtained by subtracting the correction amount from the reference indicated current value in the pressurizing state, and sets a slope of decrease of the correction amount, as an amount of decrease of the correction amount relative to an amount of increase of the required differential pressure, such that the larger the pressurization-starting hysteresis amount is, the smaller the slope of decrease of the correction amount is, and decreases the correction amount with the slope of decrease, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state, and
in a case where the required differential pressure is larger than an upper limit value in the pressurizing differential pressure area in the pressurizing state, sets the slope of decrease of the correction amount such that the larger the pressurization-starting hysteresis amount is, the smaller the slope of decrease the correction amount is, and decreases the correction amount with the slope of decrease when the differential pressure by the differential pressure valve increases in the pressurizing differential pressure area, and sets the correction amount to be equal to “0 (zero)” when the differential pressure by the differential pressure valve exceeds the upper limit value in the pressurizing differential pressure area.
12. The braking control device for vehicle according to claim 1 , wherein
the electronic control unit is configured to set the slope of decrease of the indicated current value in accordance with a differential pressure area, and
a slope of decrease of the indicated current value of a case where the depressurization-starting differential pressure is included in a first differential pressure area is smaller than a slope of decrease of the indicated current value of a case where the depressurization-starting differential pressure is included in a second differential pressure area as a higher pressure area than the first differential pressure area.
13. The braking control device for vehicle according to claim 1 , wherein
the electronic control unit corrects the slope of decrease of the indicated current value in accordance with a flow rate of brake fluid in the channel provided with the differential pressure valve.
14. The braking control device for vehicle according to claim 1 , wherein
the electronic control unit corrects the slope of decrease of the indicated current value in accordance with a brake fluid temperature in the channel provided with the differential pressure valve.
15. The braking control device for vehicle according to claim 1 , wherein:
the electronic control unit is configured to acquire, as a pressurization-starting differential pressure, a differential pressure at transition from the depressurizing state to the pressurizing state; wherein
when a pressurizing differential pressure area is set as an area between the pressurization-starting differential pressure and a boundary differential pressure having a value obtained by adding a predetermined differential pressure according to the pressurization-starting differential pressure to the pressurization-starting differential pressure,
the electronic control unit sets a slope of increase of the indicated current value, as an amount of increase of the indicated current value relative to an amount of increase of the required differential pressure, such that the smaller the pressurization-starting differential pressure is, the smaller the slope of increase of the indicated current value is, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state.
16. The braking control device for vehicle according to claim 15 , wherein:
when the indicated current value according to the required differential pressure is set as a reference indicated current value, the electronic control unit sets a correction amount referred to for correction of the indicated current value in the pressurizing state, and
the electronic control unit sets the indicated current value in accordance with a value obtained by subtracting the correction amount from the reference indicated current value in the pressurizing state, and sets a slope of decrease of the correction amount, as an amount of decrease of the correction amount relative to an amount of increase of the required differential pressure, such that the smaller the pressurization-starting differential pressure is, the smaller the slope of decrease of the correction amount is, and decreases the correction amount with the slope of decrease, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state, and
in a case where the required differential pressure is larger than an upper limit value in the pressurizing differential pressure area in the pressurizing state, sets the slope of decrease of the correction amount such that the smaller the pressurization-starting differential pressure is, the smaller the slope of decrease of the correction amount is, and decreases the correction amount with the slope of decrease when the differential pressure by the differential pressure valve increases in the pressurizing differential pressure area, and sets the correction amount to be equal to “0 (zero)” when the differential pressure by the differential pressure valve exceeds the upper limit value in the pressurizing differential pressure area.
17. The braking control device for vehicle according to claim 1 , wherein:
the electronic control unit is configured to acquire, as a pressurization-starting differential pressure, a differential pressure at transition from the depressurizing state to the pressurizing state, and to acquire, as a pressurization-starting hysteresis amount, a hysteresis amount at transition from the depressurizing state to the pressurizing state; and wherein
when a pressurizing differential pressure area is set as an area between the pressurization-starting differential pressure and a boundary differential pressure as a sum of a predetermined differential pressure according to the pressurization-starting hysteresis amount and the pressurization-starting differential pressure,
the electronic control unit sets a slope of increase of the indicated current value, as an amount of increase of the indicated current value relative to an amount of increase of the required differential pressure, such that the larger the pressurization-starting hysteresis amount is, the smaller the slope of increase of the indicated current value is, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state.
18. The braking control device for vehicle according to claim 17 , wherein:
when the indicated current value according to the required differential pressure is set as a reference indicated current value, the electronic control unit sets a correction amount referred to for correction of the indicated current value in the pressurizing state, and
the electronic control unit sets the indicated current value in accordance with a value obtained by subtracting the correction amount from the reference indicated current value in the pressurizing state, and sets a slope of decrease of the correction amount, as an amount of decrease of the correction amount relative to an amount of increase of the required differential pressure, such that the larger the pressurization-starting hysteresis amount is, the smaller the slope of decrease of the correction amount is, and decreases the correction amount with the slope of decrease, when the required differential pressure is included in the pressurizing differential pressure area in the pressurizing state, and
in a case where the required differential pressure is larger than an upper limit value in the pressurizing differential pressure area in the pressurizing state, sets the slope of decrease of the correction amount such that the larger the pressurization-starting hysteresis amount is, the smaller the slope of decrease the correction amount is, and decreases the correction amount with the slope of decrease when the differential pressure by the differential pressure valve increases in the pressurizing differential pressure area, and sets the correction amount to be equal to “0 (zero)” when the differential pressure by the differential pressure valve exceeds the upper limit value in the pressurizing differential pressure area.