阅读说明：本技术 车辆用制动系统 (vehicle brake system ) 是由 佐藤宽将 小比贺俊博 古贺裕辅 丰田博充 小寺晴大 山崎达也 增田唯 于 2018-03-29 设计创作，主要内容包括：本发明提供一种具有电动制动器的、能够以低成本实现冗余化的可靠性高的车辆用制动系统。车辆用制动系统(1)具备：具备至少一个电动机(80、81)的电动制动器(16a～16d)；以及具备相互连接的主控制器(30)、第一副控制器(40)的第一、第二控制装置(10、11)。主控制器(30)包括：能够控制驱动器(61、63)的驱动器控制部(301)、以及对电动制动器(16a～16d)的制动力进行运算的制动力运算部。第一副控制器(40)包括：控制驱动器(60)的驱动器控制部、以及对电动制动器(16a～16d)的制动力进行运算的制动力运算部。主控制器(30)和第一副控制器(40)包括比较其他控制器的制动力运算结果来决定制动力的判定部。(The invention provides a highly reliable vehicle brake system having an electric brake and capable of realizing redundancy at low cost. A vehicle brake system (1) is provided with: electric brakes (16 a-16 d) provided with at least one electric motor (80, 81); and first and second control devices (10, 11) each including a main controller (30) and a first sub-controller (40) connected to each other. The main controller (30) includes: an actuator control unit (301) capable of controlling the actuators (61, 63), and a braking force calculation unit for calculating the braking force of the electric brakes (16 a-16 d). The first sub-controller (40) includes: an actuator control unit for controlling the actuator (60), and a braking force calculation unit for calculating the braking force of the electric brakes (16 a-16 d). The main controller (30) and the first sub-controller (40) include a determination unit that determines the braking force by comparing the braking force calculation results of the other controllers.)

1. A vehicle brake system includes: an electric brake including at least one electric actuator for pressing a friction pad toward a rotor; a driver that drives the electric actuator; and a control device including a plurality of controllers connected to each other, characterized in that the vehicle brake system,

The plurality of controllers includes a primary controller and a secondary controller, wherein,

The main controller includes: an actuator control unit that controls the actuator, a braking force calculation unit that calculates a braking force of the electric brake, and a behavior control unit that controls a behavior of the vehicle,

The sub controller includes: an actuator control unit for controlling the actuator, and a braking force calculation unit for calculating the braking force of the electric brake,

The main controller and the sub-controller include a determination unit that determines the braking force by comparing the braking force calculation results of the other controllers.

2. The vehicular brake system according to claim 1,

The vehicle brake system further includes a slave controller including an actuator control unit that controls the actuator based on a braking force calculation result of at least one of the master controller and the slave controller.

3. The vehicular brake system according to claim 2,

The control device comprises a first control device and a second control device,

The first control device is provided with the main controller,

the second control device is provided with the sub-controller and the slave controller.

4. The vehicular brake system according to claim 1,

the control device comprises a first control device and a second control device,

the first control device is provided with at least one of the master controllers,

The second control device is provided with at least one sub-controller.

5. The vehicular brake system according to claim 1,

The control device comprises a first control device and a second control device,

the first control device is provided with at least one main controller and at least one sub controller,

The second control device is provided with at least one sub-controller.

6. The vehicular brake system according to claim 1,

The control device comprises a first control device and a second control device,

The first control device is provided with the main controller and at least two sub-controllers,

the second control device is provided with at least one sub-controller.

7. The vehicular brake system according to claim 2,

the control device comprises a first control device and a second control device,

The first control device is provided with the master controller, the slave controller, and the slave controller,

The second control device is provided with at least one sub-controller.

8. The vehicular brake system according to claim 1,

The vehicle is a four-wheel vehicle,

The electric brake is provided to each wheel,

the control device comprises a first control device and a second control device,

The first control device is provided with at least one of the master controllers,

the second control device is provided with at least two sub-controllers,

the sub-controller controls the drivers of the electric actuators provided to the two wheels arranged diagonally.

9. the vehicular brake system according to claim 8,

The sub-controller also controls the driver of the electric actuator provided to the front wheel other than the two wheels.

Technical Field

The present invention relates to a highly reliable vehicle brake system having an electric brake.

Background

As an electric control system of a brake system for a vehicle, a system including two center units (center control devices), four wheel units (wheel control devices), and an input device has been proposed (patent document 1). The two central assemblies respectively control the two wheel assemblies. Therefore, since a plurality of expensive control devices having the same function are mounted, the size of the devices tends to be large, which leads to low mountability on the vehicle and high cost.

in addition, an electric brake system equipped with a plurality of control devices and a plurality of microcomputers (hereinafter, referred to as "microcomputers") has been proposed (patent document 2). Each control device is provided with two microcomputers for main control and monitoring, which are respectively communicated with each other. This system ensures high redundancy and high reliability, but because a plurality of microcomputers are used, the size of the device tends to be large, so that the mountability to the vehicle tends to be low, and the cost tends to be high.

Disclosure of Invention

Problems to be solved by the invention

the invention aims to provide a vehicle brake system which is provided with an electric brake and has low cost and high reliability.

means for solving the problems

The present invention has been made to solve at least part of the above problems, and can be realized as the following aspects or application examples.

[1]

One aspect of a vehicle brake system according to the present invention is,

A vehicle brake system includes: an electric brake including at least one electric actuator for pressing a friction pad toward a rotor; a driver that drives the electric actuator; and a control device including a plurality of controllers connected to each other, characterized in that the vehicle brake system,

The plurality of controllers includes a primary controller and a secondary controller, wherein,

The main controller includes: an actuator control unit that controls the actuator, a braking force calculation unit that calculates a braking force of the electric brake, and a behavior control unit that controls a behavior of the vehicle,

the sub controller includes: an actuator control unit for controlling the actuator, and a braking force calculation unit for calculating the braking force of the electric brake,

The main controller and the sub-controller include a determination unit that determines the braking force by comparing the braking force calculation results of the other controllers.

According to one aspect of the vehicle brake system, although redundancy is achieved by using a plurality of controllers, cost reduction can be achieved because a plurality of expensive main controllers are not mounted.

In addition, according to one aspect of the vehicle brake system, the main controller and the sub-controller have the determination unit, and the controllers are used separately according to the braking force calculation result, thereby achieving redundancy of the system.

[2]

In one aspect of the vehicular brake system described above, it may be that,

the master controller and the slave controller are configured to control the actuators based on a braking force calculation result of at least one of the master controller and the slave controller.

According to one aspect of the vehicle brake system, cost reduction can be achieved by using an inexpensive slave controller.

[3]

In one aspect of the vehicular brake system described above, it may be that,

The control device comprises a first control device and a second control device,

the first control device is provided with the main controller,

The second control device is provided with the sub-controller and the slave controller.

According to one aspect of the vehicle brake system, the main controller and the sub-controller are mounted on different control devices, thereby making it possible to achieve redundancy of the system. Further, the second control device is provided with an inexpensive slave controller, thereby reducing the cost.

[4]

In one aspect of the vehicular brake system described above, it may be that,

The control device comprises a first control device and a second control device,

The first control device is provided with at least one of the master controllers,

The second control device is provided with at least one sub-controller.

According to one aspect of the vehicle brake system, the main controller and the sub-controller are mounted on different control devices, thereby making it possible to achieve redundancy of the system.

[5]

In one aspect of the vehicular brake system described above, it may be that,

The control device comprises a first control device and a second control device,

the first control device is provided with at least one main controller and at least one sub controller,

The second control device is provided with at least one sub-controller.

according to one aspect of the vehicle brake system, the first control device is equipped with the main controller and the sub-controller, thereby increasing redundancy and reliability of the first control device.

[6]

in one aspect of the vehicular brake system described above, it may be that,

The control device comprises a first control device and a second control device,

The first control device is provided with the main controller and at least two sub-controllers,

The second control device is provided with at least one sub-controller.

According to one aspect of the vehicle brake system, the first control device is provided with at least two sub-controllers in addition to the main controller, thereby increasing redundancy and reliability of the first control device. In addition, the processing load of the main controller can be reduced by two or more sub-controllers.

[7]

in one aspect of the vehicular brake system described above, it may be that,

the control device comprises a first control device and a second control device,

the first control device is provided with the master controller, the slave controller, and the slave controller,

The second control device is provided with at least one sub-controller.

According to one aspect of the vehicle brake system, cost reduction can be achieved by using an inexpensive slave controller.

[8]

In one aspect of the vehicular brake system described above, it may be that,

The vehicle is a four-wheel vehicle,

The electric brake is provided to each wheel,

The control device comprises a first control device and a second control device,

The first control device is provided with at least one of the master controllers,

The second control device is provided with at least two sub-controllers,

The sub-controller controls the drivers of the electric actuators provided to the two wheels arranged diagonally.

According to one aspect of the vehicle brake system, control having reliability equivalent to that of an X pipe of a conventional hydraulic brake can be executed.

[9]

in one aspect of the vehicular brake system described above, it may be that,

the sub-controller also controls the driver of the electric actuator provided to the front wheel other than the two wheels.

According to the vehicle brake system, the system can be further made redundant.

Drawings

Fig. 1 is an overall configuration diagram showing a vehicle brake system according to the present embodiment.

Fig. 2 is a block diagram showing a master controller, first and second slave controllers, and a first slave controller of the vehicle brake system according to the present embodiment.

Fig. 3 is an overall configuration diagram showing a vehicle brake system according to modification 1.

Fig. 4 is a block diagram showing a main controller and first to third sub-controllers of a vehicle brake system according to modification 1.

fig. 5 is an overall configuration diagram showing a vehicle brake system according to modification 2.

fig. 6 is a block diagram showing a master controller, first and third sub-controllers, and a slave controller of a vehicle brake system according to modification 2.

fig. 7 is an overall configuration diagram showing a vehicle brake system according to modification 3.

Fig. 8 is a block diagram showing a main controller, first and third sub-controllers of a vehicle brake system according to modification 3.

Detailed Description

hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The drawings used in this description are for ease of illustration. The embodiments described below do not unduly limit the scope of the present invention. All the configurations described below are not necessarily essential to the present invention.

The vehicle brake system according to the present embodiment includes: an electric brake including at least one electric actuator for pressing a friction pad toward a rotor; a driver that drives the electric actuator; and a control device including a plurality of controllers connected to each other, wherein the plurality of controllers include a main controller and a sub-controller, and the main controller includes: an actuator control unit that controls the actuator, a braking force calculation unit that calculates a braking force of the electric brake, and a behavior control unit that controls a behavior of the vehicle, the sub-controller including: and a braking force calculation unit that calculates a braking force of the electric brake, wherein the main controller and the sub-controller include determination units that determine the braking force by comparing the braking force calculation results of the other controllers.

1. Vehicle brake system

the vehicle brake system 1 according to the present embodiment will be described in detail with reference to fig. 1 and 2. Fig. 1 is a block diagram showing an overall configuration of a vehicle brake system 1 according to the present embodiment, and fig. 2 is a block diagram showing a master controller 30, first and second slave controllers 40 and 41, and a first slave controller 50 of the vehicle brake system 1 according to the present embodiment.

as shown in fig. 1, a vehicle brake system 1 includes: electric brakes 16a to 16d, the electric brakes 16a to 16d including at least one motor 80 to 85, the motor 80 to 85 being an electric actuator for pressing a friction pad, not shown, toward a rotor, not shown; drivers 60 to 65, the drivers 60 to 65 driving the motors 80 to 85; and a control device (10, 11), wherein the control device (10, 11) is provided with a plurality of controllers (a main controller (30), a first sub-controller (40), a second sub-controller (41), and a first sub-controller (50)) connected with each other. The rotor, not shown, is provided to each of the wheels Wa to Wd of the vehicle VB that is a four-wheel vehicle, and rotates integrally with the wheels Wa to Wd. The vehicle VB is not limited to a four-wheel vehicle. Further, a plurality of electric motors may be provided for one electric brake, or a plurality of electric brakes may be provided for one wheel.

1-1. electric brake

An electric brake 16a provided on a wheel Wa on the front wheel left side (FL) includes a brake caliper 5 a; electric motors 80, 81, the electric motors 80, 81 being fixed to the caliper 5a via the speed reducer 4 a; and a load sensor 6a, the load sensor 6a detecting a load applied to a friction pad not shown by the motors 80 and 81. The motor 80 includes a rotation angle sensor 90 that detects a relative position of the rotation axis with respect to the stator of the motor 80 itself. The motor 81 is coaxial with the motor 80, and therefore a rotation angle sensor is not required. The detection signal of the load sensor 6a is input to the first sub-controller 40, and the detection signal of the rotation angle sensor 90 is input to the drivers 60 and 61.

the electric brake 16b provided on the wheel Wb on the front wheel right side (FR) includes: a brake caliper 5 b; electric motors 82, 83, the electric motors 82, 83 being fixed to the caliper 5b via the speed reducer 4 b; and a load sensor 6b, the load sensor 6b detecting a load applied to a friction pad not shown by the motors 82 and 83. The motor 82 includes a rotation angle sensor 92 that detects a relative position of the rotation axis with respect to the stator of the motor 82 itself. The motor 83 is coaxial with the motor 82, and therefore a rotation angle sensor is not required. The detection signal of the load sensor 6b is input to the first slave controller 50, and the detection signal of the rotation angle sensor 92 is input to the drivers 62, 63.

The electric brake 16c of the wheel Wc provided on the rear wheel left side (RL) includes: a brake caliper 5 c; an electric motor 84, the electric motor 84 being fixed to the brake caliper 5c via the reduction gear 4 c; and a load sensor 6c, the load sensor 6c detecting a load applied to a friction pad, not shown, by the motor 84. The motor 84 includes a rotation angle sensor 94 that detects a relative position of the rotation axis with respect to the stator of the motor 84 itself. The detection signal of the load sensor 6c is input to the second sub-controller 41, and the detection signal of the rotation angle sensor 94 is input to the driver 64.

The electric brake 16d provided to the wheel Wd on the rear wheel right side (RR) includes: a brake caliper 5 d; an electric motor 85, the electric motor 85 being fixed to the caliper 5d via the reduction gear 4 d; and a load sensor 6d, the load sensor 6d detecting a load applied to a friction pad, not shown, by the motor 85. The motor 85 includes a rotation angle sensor 95 that detects a relative position of the rotation axis with respect to the stator of the motor 85 itself. The detection signal of the load sensor 6d is input to the second sub-controller 41, and the detection signal of the rotation angle sensor 95 is input to the driver 65.

the calipers 5a to 5d are integrally provided with a pawl portion formed in a substantially C-shape and extending on the opposite side across a rotor, not shown.

The speed reducers 4a to 4d are fixed to the calipers 5a to 5d, and transmit torque generated by rotation of the motors 80 to 85 to a linear motion mechanism, not shown, built in the calipers 5a to 5 d.

the linear motion mechanism can be a mechanism known in the electric brake. The linear motion mechanism converts the rotation of the motors 80 to 85 into linear motion of the friction pads via the speed reducers 4a to 4 d. The linear motion mechanism presses the friction pad against the rotor to suppress rotation of the wheels Wa to Wd.

The motors 80 to 85 can be any known motor, for example, brushless dc motors. The friction pads are moved by the driving of the motors 80 to 85 through the speed reducers 4a to 4d and the linear motion mechanism. The example of using the electric motor as the electric actuator has been described, but the present invention is not limited thereto, and other known actuators may be used.

1-2. input device

The vehicle brake system 1 includes a brake pedal 2 as an input device and a stroke simulator 3 connected to the brake pedal 2. The brake pedal 2 includes a second stroke sensor 21 and a third stroke sensor 22 that detect the amount of operation of the brake pedal 2 by the driver. The stroke simulator 3 includes a first stroke sensor 20 that detects an operation amount of the brake pedal 2.

The stroke sensors 20 to 22 generate electric detection signals corresponding to a stepping stroke and/or a stepping force, which is one of the operation amounts of the brake pedal 2, independently of each other. The first stroke sensor 20 transmits a detection signal to a main controller 30 described later, the second stroke sensor 21 transmits a detection signal to a first sub-controller 40 described later, and the third stroke sensor 22 transmits a detection signal to a second sub-controller 41 described later.

The vehicle VB includes, as an input device to the vehicle brake system 1, a plurality of control devices (hereinafter, referred to as "other control devices 1000") provided in systems other than the vehicle brake system 1. The other control device 1000 is connected to the main Controller 30 of the first control device 10 and the second sub-Controller 41 of the second control device 11 via a CAN (Controller Area Network) and mutually communicates information related to the brake operation.

1-3. control device

The control means comprise first control means 10 and second control means 11. The first control device 10 and the second control device 11 are disposed at predetermined positions of the vehicle VB independently. The first control device 10 and the second control device 11 are Electronic Control Units (ECUs). The first control device 10 and the second control device 11 are housed in a synthetic resin case. Therefore, redundancy is provided by the two control devices, the first control device 10 and the second control device 11. Although an example in which two control devices are used is described, one control device may be provided in consideration of the arrangement in the vehicle VB, and three or more control devices may be provided in order to further improve redundancy.

the first controller 10 and the second controller 11 are connected by a CAN and communicate with each other. In CAN communication, unidirectional and bidirectional information transmission is performed. The communication between the ECUs is not limited to the CAN.

The first control device 10 and the second control device 11 are electrically connected to three batteries 100, 101, and 102 independent of each other. The batteries 100, 101, and 102 supply electric power to electronic components provided in the first control device 10 and the second control device 11. The batteries 100, 101, and 102 of the vehicle brake system 1 are disposed at predetermined positions of the vehicle VB.

The first control device 10 includes at least one main controller 30 and at least one first sub-controller 40, and the second control device 11 includes at least one sub-controller (second sub-controller 41). By mounting the main controller 30 and the first sub-controller 40 on the first control device 10, redundancy and reliability in the first control device 10 are improved.

the first control device 10 further includes a first slave controller 50. By using the inexpensive first slave controller 50, cost reduction can be achieved. In addition, a sub-controller may be provided instead of the first slave controller 50.

The main controller 30, the first and second sub-controllers 40 and 41, and the first sub-controller 50 are each a microcomputer.

The first control device 10 includes a master controller 30, a first sub-controller 40, and a first sub-controller 50. Although redundancy is achieved by using a plurality of controllers, cost reduction can be achieved because a plurality of expensive main controllers are not mounted. The main controller 30 needs high performance in order to provide the behavior control unit 303 (the behavior control unit 303 will be described later), and is a controller that is more expensive than the first and second sub-controllers 40 and 41.

As shown in fig. 1 and 2, the main controller 30 includes: a driver control unit 301, the driver control unit 301 controlling the drivers 61 and 63; a braking force calculation unit 302 that calculates the braking force of the electric brakes 16a to 16d by the braking force calculation unit 302; and a behavior control section 303, the behavior control section 303 controlling the behavior of the vehicle VB.

The first sub-controller 40 includes: a driver control unit 400, the driver control unit 400 controlling the driver 60; and a braking force calculation unit 402, the braking force calculation unit 402 calculating the braking force of the electric brakes 16a to 16 d. The second sub-controller 41 includes: a driver control unit 410, the driver control unit 410 controlling the drivers 64 and 65; and a braking force calculation unit 412, wherein the braking force calculation unit 412 calculates the braking force of the electric brakes 16a to 16 d. The first and second sub-controllers 40 and 41 do not include a behavior control unit, and accordingly, a microcomputer which is less expensive than the main controller 30 can be used, which contributes to cost reduction.

The first slave controller 50 does not include a braking force calculation unit, but includes an actuator control unit 500, and the actuator control unit 500 controls the actuator 62 based on a braking force calculation result of at least one of the master controller 30 and the first and second slave controllers 40 and 41. Since the first slave controller 50 does not include a braking force calculation unit, a microcomputer which is relatively inexpensive compared to the first and second slave controllers 40 and 41 can be used.

the drivers 60 to 65 control the driving of the motors 80 to 85. Specifically, the driver 60 controls driving of the motor 80, the driver 61 controls driving of the motor 81, the driver 62 controls driving of the motor 82, the driver 63 controls driving of the motor 83, the driver 64 controls driving of the motor 84, and the driver 65 controls driving of the motor 85. The drivers 60 to 65 control the motors 80 to 85 by a sine wave drive method, for example. The drivers 60 to 65 may be controlled by, for example, a square wave current, and are not limited to the sine wave driving method.

The drivers 60 to 65 are provided with a power supply circuit and an inverter for supplying electric power corresponding to commands from the driver control units 301, 400, 410, and 500 to the motors 80 to 85.

The braking force calculation units 302, 402, 412 calculate braking force (required value) based on detection signals of the stroke sensors 20 to 22 corresponding to the operation amount of the brake pedal 2. The braking force calculation units 302, 402, and 412 can calculate the braking force (required value) based on signals from the other control device 1000.

The actuator control units 301, 400, 410, and 500 control the actuators 60 to 65 based on the braking forces (required values) calculated by the braking force calculation units 302, 402, and 412 and the detection signals of the load sensors 6a to 6 d. The drivers 60 to 65 supply sinusoidal current for driving to the motors 80 to 85 in accordance with commands from the driver control units 301, 400, 410, and 500. Current supplied to the motors 80-85 is detected by current sensors 70-75.

the behavior control section 303 outputs a signal for controlling the behavior of the vehicle VB to the driver control sections 301, 400, 410, 500. This behavior is a behavior other than a simple braking corresponding to a normal operation of the Brake pedal 2, and includes, for example, ABS (Antilock Brake System) as a Control for preventing locking of the wheels, TCS (Traction Control System) as a Control for suppressing spin of the wheels Wa to Wd, and behavior stabilization Control as a Control for suppressing spin of the vehicle VB.

the main controller 30 and the first and second sub-controllers 40 and 41 include determination units 304, 404, and 414, and the determination units 304, 404, and 414 determine the braking force by comparing the braking force calculation results of the other controllers. The main controller 30 and the first and second sub-controllers 40, 41 have determination units 304, 404, 414, and the controllers (30, 40, 41) are used separately according to the braking force calculation result, thereby making it possible to achieve redundancy of the vehicle brake system 1.

the determination units 304, 404, 414 determine the braking force by comparing the braking force calculation results of the other controllers. The other controllers are the first sub-controller 40 and the second sub-controller 41 for the determination unit 304, the main controller 30 and the second sub-controller 41 for the determination unit 404, and the main controller 30 and the first sub-controller 40 for the determination unit 414. For example, the determination units 304, 404, and 414 compare the calculation result in the braking force calculation unit 302 of the main controller 30, the calculation result in the braking force calculation unit 402 of the first sub-controller 40, and the calculation result in the braking force calculation unit 412 of the second sub-controller 41, and determine which calculation result is used as the braking force by a majority voting method. For example, if only the calculation result of the braking force calculation unit 402 is different from the other calculation results, the main controller 30 controls the actuator 61 and the actuator 63 based on the calculation results of the braking force calculation unit 302 and the braking force calculation unit 412. That is, the determination units 304, 404, and 414 make the vehicle brake system 1 redundant.

According to the vehicle brake system 1 of the present embodiment, the front and rear wheels can be independently controlled by the first control device 10 and the second control device 11, and controllability can be improved.

2. modification example 1

a vehicle brake system 1a according to modification 1 will be described with reference to fig. 3 and 4. Fig. 3 is a general configuration diagram showing a vehicle brake system 1a according to modification 1, and fig. 4 is a block diagram showing a main controller 30 and first to third sub-controllers 40 to 42 of the vehicle brake system 1a according to modification 1. In the following description, the same components as those of the vehicle brake system 1 of fig. 1 and 2 are denoted by the same reference numerals in fig. 3 and 4, and detailed description thereof is omitted.

As shown in fig. 3 and 4, in the vehicle brake system 1a, the control device includes a first control device 10 and a second control device 11.

The first control device 10 includes a main controller 30 and at least two sub-controllers (a first sub-controller 40 and a third sub-controller 42). That is, the third sub-controller 42 is provided in place of the first slave controller 50 in the vehicle brake system 1 of fig. 1. The third sub-controller 42 is a microcomputer, and includes an actuator control unit 420, a braking force calculation unit 422, and a determination unit 424 having the same configuration as the first sub-controller 40, and controls the electric brake 16 b. The driver control section 420 controls the driver 62. The second control device 11 includes at least one sub controller (second sub controller 41). The third stroke sensor 22 transmits detection signals to the second sub-controller 41 and the third sub-controller 42.

The first control device 10 is equipped with at least two sub-controllers (the first sub-controller 40 and the third sub-controller 42) in addition to the main controller 30, thereby making the first control device 10 redundant and improving reliability. That is, in the first control device 10, which calculation result is adopted can be determined by a majority voting method using the determination unit 304 of the main controller 30, the determination unit 404 of the first sub-controller 40, and the determination unit 424 of the third sub-controller 42. From the viewpoint of redundancy, the first control device 10 may include three or more sub-controllers, and the second control device 11 may include two or more sub-controllers.

Further, by providing two or more sub-controllers (the first sub-controller 40 and the third sub-controller 42), the load on the main controller 30 can be reduced. This is because the third sub-controller 42 can control the electric brake 16b individually.

3. Modification 2

a vehicle brake system 1b according to modification 2 will be described with reference to fig. 5 and 6. Fig. 5 is a block diagram showing an overall configuration of the vehicle brake system 1b according to modification 2, and fig. 6 is a block diagram showing the main controller 30, the first and third sub-controllers 40 and 42, and the second sub-controller 52 of the vehicle brake system 1b according to modification 2. In the following description, the same components as those of the vehicle brake system 1 of fig. 1 and 2 are denoted by the same reference numerals in fig. 5 and 6, and detailed description thereof is omitted.

As shown in fig. 5 and 6, in the vehicle brake system 1b, the control device includes a first control device 10 and a second control device 11.

the first control device 10 includes a main controller 30. The first control device 10 includes drivers 61 and 63 controlled by a driver control unit 301 of the main controller 30.

The second control device 11 includes first and third sub-controllers 40 and 42 and a second slave controller 52. In the vehicle brake system 1b according to modification 2, the third sub-controller 42 is disposed in place of the first sub-controller 50 that performs braking on the right side (FR) of the front wheels in fig. 1, and the second sub-controller 52 is disposed in place of the second sub-controller 41 that performs braking on the rear wheels (RL, RR) in fig. 1. The second control device 11 includes drivers 60, 62, 64, and 65 and current sensors 70, 72, 74, and 75. The second slave controller 52 includes a driver control unit 520 that controls the drivers 64 and 65.

By mounting the main controller 30 and the first and third sub-controllers 40 and 42 on different control devices (the first control device 10 and the second control device 11), redundancy can be achieved. This is because the second control device 11 includes the first and third sub-controllers 40 and 42, and the second slave controller 52, the first sub-controller 40 includes the braking force calculation unit 402 and the actuator control unit 400, the third sub-controller 42 includes the braking force calculation unit 422 and the actuator control unit 420, and the second slave controller 52 includes the actuator control unit 520, and thus braking of the four wheels Wa to Wd can be performed by the second control device 11.

further, by mounting the second slave controller 52 on the second control device 11, the entire vehicle brake system 1b can be simplified and cost reduction can be achieved. That is, by using the second slave controller 52 which is less expensive than the first and third slave controllers 40 and 42, the number of expensive slave controllers can be reduced.

the first control device 10 includes at least one main controller 30, and the second control device 11 includes at least one sub-controller (a first sub-controller 40 and a third sub-controller 42). By mounting the main controller 30 and the first and third sub-controllers 40 and 42 on different control devices, redundancy of the vehicle brake system 1b can be achieved. From the viewpoint of redundancy, the first control device 10 may further include a main controller 30, and the second control device 11 may further include a sub-controller.

4. modification 3

a vehicle brake system 1c according to modification 3 will be described with reference to fig. 7 and 8. Fig. 7 is a block diagram showing an overall configuration of a vehicle brake system 1c according to modification 3, and fig. 8 is a block diagram showing a main controller 30 and first and third sub-controllers 40 and 42 of the vehicle brake system 1c according to modification 3. In the following description, the same components as those of the vehicle brake system 1 of fig. 1 and 2 are denoted by the same reference numerals in fig. 7 and 8, and detailed description thereof is omitted.

As shown in fig. 7 and 8, in the vehicle brake system 1c, the vehicle VB is a four-wheel vehicle, and the electric brakes 16a to 16d are provided on the wheels Wa to Wd.

the control means comprise first control means 10 and second control means 11.

The first control device 10 includes at least one main controller 30. The first control device 10 includes drivers 61 and 63 controlled by a driver control unit 301 of the main controller 30.

the second control device 11 includes at least two sub-controllers (a first sub-controller 40 and a third sub-controller 42). From the viewpoint of redundancy, the second control device 11 may include three or more sub-controllers.

The driver control unit 400 of the first sub-controller 40 can control the drivers 60 and 65 of the motors 80 and 85 provided to the two wheels Wa and Wd arranged diagonally. The driver control unit 420 of the third sub-controller 42 can control the drivers 62 and 64 of the motors 82 and 84 provided to the two wheels Wb and Wc arranged diagonally. The control equivalent to the X pipe of the conventional hydraulic brake can be executed.

The driver control unit 400 of the first sub-controller 40 can also control the driver 62 of the electric motor 82 provided in the front wheel (right front wheel Wb) other than the two wheels Wa, Wd arranged diagonally. The driver control unit 420 of the third sub-controller 42 can also control the driver 60 of the motor 80 provided in the front wheel (front left wheel Wa) other than the two wheels Wb, Wc arranged diagonally. The electric brakes 16a, 16b of the front wheels Wa, Wb can be made redundant.

in the vehicle brake system 1c, the first control device 10 includes at least one main controller 30, and the second control device 11 includes at least two sub-controllers (e.g., first and third sub-controllers 40 and 42). By mounting the main controller 30 and the first and third sub-controllers 40 and 42 on different control devices (the first control device 10 and the second control device 11), redundancy can be achieved.

The present invention is not limited to the above-described embodiments, and various modifications can be made. For example, the present invention includes substantially the same structures (for example, structures having the same functions, methods, and results or structures having the same objects and effects) as those described in the embodiments. The present invention includes a configuration in which the immaterial portion of the configuration described in the embodiment is replaced. The present invention includes a structure that can achieve the same operational effects as the structures described in the embodiments or a structure that can achieve the same object. The present invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

Reference numerals

1. 1a, 1b, 1c vehicle brake system, 2 brake pedal, 3 stroke simulator, 4a to 4d retarder, 5a to 5d brake caliper, 6a to 6d load sensor, 10 first control device, 11 second control device, 16a to 16d electric brake, 20 first stroke sensor, 21 second stroke sensor, 22 third stroke sensor, 30 main controller, 301 driver control unit, 302 brake force calculation unit, 303 behavior control unit, 304 determination unit, 40 first sub-controller, 400 driver control unit, 402 brake force calculation unit, 404 determination unit, 41 second sub-controller, 410 driver control unit 412, brake force calculation unit, determination unit 414, 42 third sub-controller, 420 driver control unit, 422 brake force calculation unit, 424 determination unit, 50 first sub-controller, 500 driver control unit, 52 second sub-controller, A 520 driver control part, 60-65 drivers, 70-75 current sensors, 80-85 motors, 90, 92, 94, 95 rotation angle sensors, 100-102 batteries, 1000 other control devices, a VB vehicle and Wa-Wd wheels.