Braking force control system
A braking force control system includes: a brake device and at least one electronic control unit. The brake device is configured to generate a braking force commensurate with a brake operation amount of a driver. At least one electronic control unit is configured to execute vehicle speed control for controlling a speed of a vehicle to a target speed by controlling a driving force and a braking force. The electronic control unit is configured to cause the brake device to generate an actual braking force corresponding to a total value of an additional braking force and an operational braking force when brake operation is performed during execution of the vehicle speed control. The additional braking force corresponds to a controlled braking force required by the vehicle speed control. The operational braking force is required through the brake operation.
1. A braking force control system comprising:
a brake device configured to generate a braking force commensurate with a brake operation amount of a driver; and
at least one electronic control unit configured to
execute vehicle speed control for controlling a speed of a vehicle to a target speed by controlling a driving force and a braking force, and
when brake operation is performed during execution of the vehicle speed control, cause the brake device to generate an actual braking force corresponding to a total value of an additional braking force and an operational braking force, the additional braking force corresponding to a controlled braking force, the controlled braking force being required by the vehicle speed control, the operational braking force being required through the brake operation.
2. The braking force control system according to claim 1 , wherein the at least one electronic control unit is configured to
when the brake operation is performed during execution of the vehicle speed control, cancel a command to execute the vehicle speed control,
when the brake operation is performed during execution of the vehicle speed control, store a controlled braking force at a point in time at which the brake operation is performed, as a braking force stored value, and
compute the additional braking force based on the braking force stored value.
3. The braking force control system according to claim 2 , wherein the at least one electronic control unit is configured to
when the brake operation is performed during execution of the vehicle speed control, store a brake operation amount at the point in time at which the brake operation is performed, as an operation amount stored value, and
compute the additional braking force based on the braking force stored value and a ratio of a current brake operation amount to the operation amount stored value.
4. The braking force control system according to claim 3 , wherein
the at least one electronic control unit is configured to limit an upper limit value of the additional braking force to the braking force stored value.
5. The braking force control system according to claim 1 , wherein
the at least one electronic control unit is configured to, when the brake operation started during execution of the vehicle speed control is cancelled, eliminate the additional braking force.
6. The braking force control system according to claim 1 , wherein
the at least one electronic control unit is configured to, when the vehicle stops after a start of the brake operation during execution of the vehicle speed control, eliminate the additional braking force.
7. The braking force control system according to claim 1 , wherein
the brake device is configured to generate a braking force commensurate with a command value from the at least one electronic control unit,
the at least one electronic control unit is configured to, during execution of the vehicle speed control, provide the brake device with a command commensurate with the controlled braking force,
the at least one electronic control unit is configured to, when the brake operation is started during execution of the vehicle speed control, provide the brake device with a command commensurate with the actual braking force, and
the at least one electronic control unit is configured to, when the brake operation is started not during execution of the vehicle speed control, provide the brake device with a command commensurate with the operational braking force.
8. The braking force control system according to claim 1 , further comprising:
a hydraulic pressure circuit configured to provide the brake device with a hydraulic pressure commensurate with the brake operation amount of the driver, wherein
the brake device is configured to generate a braking force commensurate with the hydraulic pressure and a braking force commensurate with a command value from the at least one electronic control unit, and
the at least one electronic control unit is configured to
during execution of the vehicle speed control, provide the brake device with a command commensurate with the controlled braking force, and
when the brake operation is started during execution of the vehicle speed control, provide the brake device with a command commensurate with the additional braking force.