Vehicle braking control device
This vehicle braking control device executes automatic braking control to adjust a braking torque on the basis of a vehicle target deceleration value corresponding to a distance between the vehicle and an object in front of the vehicle, and executes anti-skid control to suppress excessive wheel slip by adjusting the braking torque on the basis of a wheel speed. The braking control device calculates an actual deceleration value corresponding to the target deceleration value, and executes feedback control on the basis of the target deceleration value and the actual deceleration value such that the actual deceleration value approaches the target deceleration value. The configuration is such that a control gain of the feedback control is reduced when anti-skid control is executed. Further, the configuration may be such that execution of feedback control is prohibited when anti-skid control is executed.
1. A vehicle braking control device that applies a braking torque to wheels of the vehicle, the braking control device comprising:
a controller that executes
an automatic braking control for executing a feedforward control and a feedback control to adjust the braking torque based on a target deceleration value of the vehicle corresponding to a distance between an object in front of the vehicle and the vehicle, and
an anti-skid control for adjusting the braking torque based on a speed of the wheels to suppress excessive slip of the wheels, wherein
the controller is configured to
calculate an actual deceleration value corresponding to the target deceleration value,
execute the feedforward control based on the target deceleration value and the feedback control based on the target deceleration value and the actual deceleration value to bring the actual deceleration value closer to the target deceleration value, and
prohibit the execution of the feedback control when the anti-skid control is executed.
2. The vehicle braking control device according to claim 1 , wherein
the controller is configured to determine either one of a decrease mode for decreasing the braking torque and an increasing mode for increasing the braking torque based on the speed in the anti-skid control, and to, in a state in which the feedback control has been prohibited, resume the execution of the feedback control at a time point in which the increasing mode has been continuously determined for all the wheels for a predetermined time.