BRAKING CONTROLLER

摘要

PROBLEM TO BE SOLVED: To limit braking force control in the case of erroneous detection of a vehicle body deceleration in an appropriate range. SOLUTION: When a braking torque command value Td-comis defined by adding a braking torque command value feed-forward term Td-FF as a target decelerationαdemcorresponding to a master cylinder pressure Pmcto a braking torque command value feedback term Td-FB corresponding to a differential value between a target decelerationαdemand an automobile body decelerationαV, in the case that the master cylinder pressure Pmcis equal to or less than a predetermined value Pmc0, a value calculated by multiplying the braking torque command value feed forward term Td-FF by coefficient KLU and KLL is regarded as an upper limit value Td-FBUL of feedback term and a lower limit value Td-FBLL of feedback term and in the case that the master cylinder pressure Pmcis equal to or more than the predetermined value Pmc0, a constant value CUL is regarded as the upper limit value Td-FBUL of feedback term and CLL is regarded as the lower limit value Td-FBLL of feedback term. Thus, the braking torque command value Td-comin the case of erroneous detection of an automobile body deceleration is limited in the appropriate range corresponding to the target decelerationαdem. COPYRIGHT: (C)2003,JPO