Automatic braking force control apparatus

An automatic braking force control apparatus for an automotive vehicle comprising:

• a deceleration detector that detects an actual deceleration of the vehicle;
• a braking force adjustment device that adjusts an actual braking force of a road wheel to a desired braking force;
• and
• a brake control unit configured to be electronically connected to the deceleration detector and the braking force adjustment device, for executing deceleration feedback control and anti-skid control, which are mutually exclusive;
• the brake control unit comprising:
• (a) a desired deceleration calculation section configured to calculate a desired deceleration based on a driver's braking action;
• (b) a desired braking force calculation section configured to calculate the desired braking force for the deceleration feedback control, based on a proportional-control signal component proportional to an error signal corresponding to a deviation between the desired deceleration and the actual deceleration, and an integral-control signal component corresponding to an integral of the error signal indicative of the deviation;
• (c) an anti-skid control section configured to execute, irrespective of the desired braking force for the deceleration feedback control, an anti-skid cycle including at least a braking-force decrease mode at which the actual braking force of the road wheel reduces when a wheel lock-up condition of the road wheel, whose braking force is adjusted by the braking force adjustment device, occurs, and a braking-force increase mode at which the actual braking force increases when the wheel lock-up condition has been avoided by reducing the actual braking force applied to the road wheel;
• (d) a desired braking force memorizing section configured to memorize the desired braking force, calculated just before a start time of the anti-skid cycle, as a desired braking force memorized value;
• and
• (e) a desired braking force initialization section configured to initialize the desired braking force needed when restarting the deceleration feedback control from a termination time of the anti-skid cycle to a predetermined value calculated based on the desired braking force memorized value, for preventing a change in the proportional-control signal component occurring owing to a change in the desired deceleration from being reflected in an output signal substantially corresponding to the desired braking force to be generated to the braking force adjustment device when restarting the deceleration feedback control from the anti-skid cycle termination time, even in presence of the change in the desired deceleration during the anti-skid cycle.

An automatic braking force control apparatus for an automotive vehicle comprising:

• a deceleration detector that detects an actual deceleration of the vehicle;
• a wheel-speed sensor that detects a wheel speed of a road wheel;
• a pressure sensor that detects a manipulated variable of a brake pedal;
• a braking force adjustment device that adjusts an actual braking force of the road wheel to a desired braking force;
• and
• a brake control unit configured to be electronically connected to the deceleration detector, the wheel-speed sensor, the pressure sensor and the braking force adjustment device, for executing deceleration feedback control and anti-skid control which are mutually exclusive;
• the brake control unit comprising:
• (i) an anti-skid control system having a data processing section programmed to perform the following:
• a) detecting a wheel lock-up condition of the road wheel based on the wheel speed detected;
• and
• b) executing, irrespective of the desired braking force for the deceleration feedback control, an anti-skid cycle including at least a braking-force decrease mode and a braking-force increase mode, for preventing the wheel lock-up condition of the road wheel;
• and
• (ii) a deceleration feedback control system having a data processing section programmed to perform the following:
• (a) calculating a desired deceleration based on the brake-pedal manipulated variable;
• (b) calculating the desired braking force for the deceleration feedback control, as a summed value of a proportional-control signal component proportional to an error signal corresponding to a deviation between the desired deceleration and the actual deceleration, and an integral-control signal component corresponding to an integral of the error signal indicative of the deviation;
• (c) memorizing the desired braking force, calculated just before a start time of the anti-skid cycle, as a desired braking force memorized value;
• and
• (d) initializing the desired braking force needed when restarting the deceleration feedback control from a termination time of the anti-skid cycle to a predetermined value substantially corresponding to the desired braking force memorized value in presence of an increase in the desired deceleration during the anti-skid cycle.

An automatic braking force control apparatus for an automotive vehicle comprising:

• deceleration detection means for detecting an actual deceleration of the vehicle;
• braking force adjustment means for adjusting an actual braking force of a road wheel to a desired braking force;
• and
• a brake control unit configured to be electronically connected to the deceleration detection means and the braking force adjustment means, for executing deceleration feedback control and anti-skid control, which are mutually exclusive;
• the brake control unit comprising:
• (a) desired deceleration calculation means for calculating a desired deceleration based on a driver's braking action;
• (b) desired braking force calculation means for calculating the desired braking force for the deceleration feedback control, based on a proportional-control signal component proportional to an error signal corresponding to a deviation between the desired deceleration and the actual deceleration, and an integral-control signal component corresponding to an integral of the error signal indicative of the deviation;
• (c) anti-skid control means for executing, irrespective of the desired braking force for the deceleration feedback control, an anti-skid cycle including at least a braking-force decrease mode and a braking-force increase mode, for preventing a wheel lock-up condition of the road wheel;
• (d) desired braking force memorizing means for memorizing the desired braking force, calculated just before a start time of the anti-skid cycle, as a desired braking force memorized value;
• and
• (e) desired braking force initialization means for initializing the desired braking force needed when restarting the deceleration feedback control from a termination time of the anti-skid cycle to a predetermined value calculated based on the desired braking force memorized value.