Braking force control system, device, and method
A vehicular breaking force control system includes: a plurality of actuators capable of generating a braking force for a vehicle; a coasting state detection unit configured to detect that a coasting state has been established; a target braking force calculation unit configured to calculate a target braking force on the basis of a state of the vehicle when the coasting state detection unit detects that the coasting state has been established; and a braking force distribution control unit configured to determine a distribution braking force that is a braking force to be caused to be generated by each actuator, such that the distribution braking force is equal to or less than a braking force generable by the actuator and a sum of the distribution braking forces is equal to the target braking force, and to perform control of causing each actuator to generate the distribution braking force.
1. A vehicular braking force control system comprising:
a plurality of actuators capable of generating a braking force for a vehicle;
a coasting state detection unit configured to detect that a coasting state, which is a state where an accelerator operation is not performed and a brake operation is not performed during running of the vehicle, has been established;
a target braking force calculation unit configured to calculate a target braking force on the basis of a state of the vehicle when the coasting state detection unit detects that the coasting state has been established; and
a braking force distribution control unit configured to determine a distribution braking force that is a braking force to be caused to be generated by each actuator, such that the distribution braking force is equal to or less than a braking force generable by the actuator and a sum of the distribution braking forces is equal to the target braking force, and to perform control of causing each actuator to generate the distribution braking force.
2. The braking force control system according to claim 1 , wherein the state of the vehicle includes a speed of the vehicle.
3. The braking force control system according to claim 2 , wherein, when the speed of the vehicle is high, the target braking force calculation unit calculates the target braking force as a higher value than when the speed of the vehicle is low.
4. The braking force control system according to claim 3 , wherein
the state of the vehicle further includes a drive mode representing a running characteristic designated by a user, and
when the drive mode is a fuel-efficient mode, the target braking force calculation unit further calculates the target braking force as a lower value than when the drive mode is another mode.
5. The braking force control system according to claim 3 , wherein
the state of the vehicle further includes a road surface gradient, and
when a road surface is downhill, the target braking force calculation unit further calculates the target braking force as a higher value than when the road surface is flat.
6. The braking force control system according to claim 1 , wherein
each actuator includes a calculation unit configured to calculate a braking force generable by the actuator, and
the braking force distribution control unit acquires the braking force generable by each actuator, from the calculation unit of each actuator.
7. The braking force control system according to claim 6 , wherein the plurality of actuators includes at least one of:
a brake including the calculation unit configured to calculate the generable braking force on the basis of at least one of a rating, an estimated friction material temperature based on use history, and a braking torque request value;
an alternator including the calculation unit configured to calculate the generable braking force on the basis of at least one of a rating, a battery temperature, a battery charge amount, and a charge/discharge request value;
an engine including the calculation unit configured to calculate the generable braking force on the basis of at least one of a catalyst warm-up state and a fuel cut request; and
a transmission including the calculation unit configured to calculate the generable braking force on the basis of at least one of noise after downshifting and a gear shift request.
8. The braking force control system according to claim 1 , wherein the braking force distribution control unit determines the actuators that are caused to generate a braking force, in order of a predetermined priority.
9. The braking force control system according to claim 8 , wherein the braking force distribution control unit determines the predetermined priority on the basis of at least one of certainty of operation, the generable braking force, control accuracy, stability to disturbance, influence on fuel economy, and durability, of each actuator.
10. The braking force control system according to claim 8 , wherein the braking force distribution control unit sets the order of the predetermined priority as a descending order of a transmission, an engine, an alternator, and the brake.
11. A vehicular braking force control device comprising:
a coasting state detection unit configured to detect that a coasting state, which is a state where an accelerator operation is not performed and a brake operation is not performed during running of a vehicle, has been established;
a target braking force calculation unit configured to calculate a target braking force on the basis of a state of the vehicle when the coasting state detection unit detects that the coasting state has been established, and
a braking force distribution control unit configured to determine a distribution braking force that is a braking force to be caused to be generated by each of a plurality of actuators capable of generating a braking force for the vehicle, such that the distribution braking force is equal to or less than a braking force generable by the actuator and a sum of the distribution braking forces is equal to the target braking force, and to perform control of causing each actuator to generate the distribution braking force.
12. A braking force control method to be executed by a computer of a vehicular braking force control device, the braking force control method comprising:
a coasting state detection step of detecting that a coasting state, which is a state where an accelerator operation is not performed and a brake operation is not performed during running of a vehicle, has been established;
a target braking force calculation step of calculating a target braking force on the basis of a state of the vehicle when it is detected in the coasting state detection step that the coasting state has been established, and
a braking force distribution control step of determining a distribution braking force that is a braking force to be caused to be generated by each of a plurality of actuators capable of generating a braking force for the vehicle, such that the distribution braking force is equal to or less than a braking force generable by the actuator and a sum of the distribution braking forces is equal to the target braking force, and performing control of causing each actuator to generate the distribution braking force.