Control device, control method, and storage medium storing control program
AssigneeHonda Motor Co., Ltd.
InventorsFumiaki Yoshikawa, Makoto Bessho, Takeshi Iijima
Life of this patent
Estimating the term…
Abstract
A control device includes a calculation unit that performs movement control of a moving object, an ESB that adjusts a moving speed of the moving object, and an EPB that adjusts the moving speed of the moving object and is different from the ESB. The calculation unit adjusts, when the moving object is moved by the movement control, the moving speed of the moving object by a braking force of the ESB while applying a braking force of at least one of the ESB and EPB that fixes the moving object, and performs, when the moving object is no longer moved by the movement control, braking control to release the braking force of the EPB and stop the moving object by the ESB and the EPB.
Claims18
A control device of a moving object comprising:
- a control unit configured to perform movement control of the moving object;
- a first braking unit configured to adjust moving speed of the moving object;
- and
- a second braking unit configured to adjust the moving speed of the moving object and different from the first braking unit, the second braking unit being an electric parking brake, wherein
- the control unit
- gradually reduces, when the moving object stopped with a braking force of the second braking unit is moved by the movement control, the braking force of the second braking unit,
- adjusts, while the moving object moves by the movement control, the moving speed of the moving object with a braking force of the first braking unit while maintaining the braking force of the second braking unit at a value when the moving object starts moving, and
- performs, when the moving object is no longer moved by the movement control, braking control to release the braking force of the second braking unit from being maintained and stop the moving object by at least the second braking unit.
A control method for a control device that includes a control unit that performs movement control of a moving object, a first braking unit that adjusts moving speed of the moving object, and a second braking unit that adjusts the moving speed of the moving object and is different from the first braking unit, the second braking unit being an electric parking brake, the control method comprising executing on a processor of the control device steps of:
- gradually reducing, when the moving object stopped with a braking force of the second braking unit is moved by the movement control, a braking force of the second braking unit,
- adjusting, while the moving object moves by the movement control, the moving speed of the moving object with a braking force of the first braking unit while maintaining the braking force of the second braking unit at a value when the moving object starts moving, and
- performing, when the moving object is no longer moved by the movement control, braking control to release the braking force of the second braking unit from being maintained and stop the moving object by at least the second braking unit.
A non-transitory computer readable storage medium that stores a control program for a control device that includes a control unit that performs movement control of a moving object, a first braking unit that adjusts moving speed of the moving object, and a second braking unit that adjusts the moving speed of the moving object and is different from the first braking unit, the second braking unit being an electric parking brake, the control program comprising instructions for causing a processor of the control device to execute steps of:
- gradually reducing, when the moving object stopped with a braking force of the second braking unit is moved by the movement control, a braking force of the second braking unit,
- adjusting, while the moving object moves by the movement control, the moving speed of the moving object with a braking force of the first braking unit while maintaining the braking force of the second braking unit at a value when the moving object starts moving, and
- performing, when the moving object is no longer moved by the movement control, braking control to release the braking force of the second braking unit from being maintained and stop the moving object by at least the second braking unit.
Dependencies are inferred from the claim text.