Vehicle braking force controller
Provided is a vehicle braking force controller that can realize both improvement of passengers' riding comfort and feeling, and quick responsiveness, and that is excellent in stability against noise. The vehicle braking force controller provides a braking force command value in response to a stroke amount of a brake pedal operated by a driver, to a braking device which provides braking force to wheels. A stroke amount detection unit which detects a stroke amount inputted to the brake pedal is provided. A path-corresponding braking force command value changing unit is provided which changes the relationship between the stroke amount and the braking force command value determined based on the stroke amount, in response to an increase-decrease path that the stroke amount inputted from the brake pedal is following.
1. A vehicle braking force controller for providing a braking force command value in response to a stroke amount of a braking force input unit operated by a driver, to a braking device for providing braking force to wheels, the vehicle braking force controller comprising:
a stroke amount detection unit configured to detect a stroke amount inputted to the braking force input unit; and
a path-corresponding braking force command value changing unit configured to change a relationship between the stroke amount and the braking force command value determined based on the stroke amount, in response to an increase-decrease path that the stroke amount detected by the stroke amount detection unit is following,
wherein the path-corresponding braking force command value changing unit includes a hysteresis generation section configured to generate hysteresis such that the braking force command value corresponding to the stroke amount becomes smaller when the stroke amount increases, compared to when the stroke amount decreases, and
the hysteresis generation section includes
a braking force command storage section configured to store a history of the braking force command value;
a plurality of pressing-side maps that uniquely determine a braking force command value based on a current stroke amount when the stroke amount is increasing;
a plurality of releasing-side maps that uniquely determine a braking force command value based on a current stroke amount when the stroke amount is decreasing;
a map selection unit configured to select, based on switching operation performed by a driver or based on a vehicle operation history, a defined pressing-side map and a defined releasing-side map from among a plurality of combinations of the pressing-side maps and the releasing-side maps; and
a braking force command selection section configured to select, based on a predetermined condition, any one of an immediately preceding braking force command value relative to a braking force command value currently outputted from the braking force command storage section, a pressing-side map output outputted from the defined pressing-side map, and a releasing-side map output outputted from the defined releasing-side map.
2. The vehicle braking force controller as claimed in claim 1 , wherein the map selection unit selects the defined pressing-side map and the defined releasing-side map, when, as the vehicle operation history, a speed of operating the braking force input unit is greater than a predetermined threshold value, or when, as the vehicle operation history, releasing operation that decreases the stroke amount has been repeated a specified number of times or more.
3. A vehicle braking force controller for providing a braking force command value in response to a stroke amount of a braking force input unit operated by a driver, to a braking device for providing braking force to wheels, the vehicle braking force controller comprising:
a stroke amount detection unit configured to detect a stroke amount inputted to the braking force input unit; and
a path-corresponding braking force command value changing unit configured to change a relationship between the stroke amount and the braking force command value determined based on the stroke amount, in response to an increase-decrease path that the stroke amount detected by the stroke amount detection unit is following,
wherein the path-corresponding braking force command value changing unit includes a hysteresis generation section configured to generate hysteresis such that the braking force command value corresponding to the stroke amount becomes smaller when the stroke amount increases, compared to when the stroke amount decreases, and
the path-corresponding braking force command value changing unit cancels generation of the hysteresis in the hysteresis generation section, in response to an operation performed by the driver or in response to determination by a hysteresis cancelation unit provided in a control unit mounted in the vehicle.
4. The vehicle braking force controller as claimed in claim 3 , wherein the path-corresponding braking force command value changing unit cancels generation of the hysteresis in the hysteresis generation section, when, as the operation performed by the driver, a speed of operating the braking force input unit is greater than a predetermined threshold value, or when, as the operation performed by the driver, releasing operation that decreases the stroke amount has been repeated a specified number of times or more.