US-12623643-B2 - Brake control device and brake control method

Abstract

A brake control device includes a deciding unit for deciding a requested deceleration that is requested by the driver, based on the brake pedal operation amount that is acquired, and a braking processing unit for deciding a braking amount of braking to be executed by a brake device, based on the requested deceleration that is decided, and deciding to execute reducing control in which a deceleration is reduced as compared to the requested deceleration immediately before stopping a vehicle. The braking processing unit is configured to execute increasing control in which a deceleration is increased as compared to the requested deceleration before executing the reducing control, and decides whether to execute the increasing control based on the detection result of the in-vehicle sensor.

Inventors

• Ryochi Watanabe

Assignees

• TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date

20260512

Application Date

20240820

Priority Date

20231122

Claims (2)

1. 1 . A brake control device comprising: an acquisition unit that acquires a brake pedal operation amount of a brake pedal operation performed by a driver, and a detection result of an in-vehicle sensor; a deciding unit for deciding a requested deceleration that is requested by the driver, based on the brake pedal operation amount that is acquired; and a braking processing unit for deciding a braking amount of braking to be executed by a brake device, based on the requested deceleration that is decided, and deciding to execute reducing control in which a deceleration is reduced as compared to the requested deceleration immediately before stopping a vehicle, wherein the braking processing unit is configured to execute increasing control in which the deceleration is increased as compared to the requested deceleration before executing the reducing control, decide whether to execute the increasing control based on the detection result of the in-vehicle sensor, the detection result of the in-vehicle sensor including information regarding an object for stopping, located in a traveling direction of the vehicle, decide to execute the increasing control when detection is made that the object for stopping is present in the traveling direction of the vehicle, and decide not to execute the increasing control when detection is not made that the object for stopping is present in the traveling direction of the vehicle.
2. 2 . A brake control device comprising: an acquisition unit that acquires a brake pedal operation amount that is the amount of operation of a brake pedal performed by a driver, and a detection result of an in-vehicle sensor; a deciding unit for deciding a requested deceleration that is requested by the driver, based on the brake pedal operation amount that is acquired; a braking processing unit for deciding a braking amount of braking to be executed by a brake device, based on the requested deceleration that is decided, and deciding to execute reducing control in which a deceleration is reduced as compared to the requested deceleration immediately before stopping a vehicle; and an estimating unit that estimates an estimated requested deceleration that is a deceleration requested later than an initial stage of depression, based on the brake pedal operation amount at an initial stage of depression in which the driver starts depressing the brake pedal, and calculates an increased requested deceleration in which the estimated requested deceleration is increased, wherein, the braking processing unit is configured to execute increasing control in which the deceleration is increased as compared to the requested deceleration before executing the reducing control, decide whether to execute the increasing control based on the detection result of the in-vehicle sensor, decide to execute the increasing control for controlling the brake device in accordance with the increased requested deceleration when a difference between the increased requested deceleration and the requested deceleration is within a predetermined range, and decide not to execute the increasing control when the difference between the increased requested deceleration and the requested deceleration is outside of the predetermined range.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims priority to Japanese Patent Application No. 2023-198390 filed on Nov. 22, 2023, incorporated herein by reference in its entirety. BACKGROUND 1. Technical Field The disclosure relates to brake control for slowing change in deceleration immediately before a vehicle stops. 2. Description of Related Art In order to suppress pitching behavior of a vehicle generated when applying a braking force to the vehicle when stopping the vehicle in a state of applying the braking force to the vehicle, Japanese Unexamined Patent Application Publication No. 2021-112950 (JP 2021-112950 A) discloses a control device for executing reducing control for reducing the braking force in accordance with a braking request before the vehicle stops, and also for executing increasing control for increasing the braking force in accordance with the braking request before the reducing control. SUMMARY In technology disclosed in JP 2021-112950 A, the increasing control and the reducing control are executed immediately before the vehicle stops, and accordingly there is concern that increase in amount of change in the deceleration may cause the braking feeling to be perceived as being unnatural. An object of the disclosure is to provide technology for improving braking feeling while suppressing swinging in a pitching direction from occurring when the vehicle is stopped. In order to solve the above problem, a brake control device according to an aspect of the disclosure includes an acquisition unit that acquires a brake pedal operation amount of a brake pedal operation performed by a driver, and a detection result of an in-vehicle sensor, a deciding unit for deciding a requested deceleration that is requested by the driver, based on the brake pedal operation amount that is acquired, and a braking processing unit for deciding a braking amount of braking to be executed by a brake device, based on the requested deceleration that is decided, and deciding to execute reducing control in which a deceleration is reduced as compared to the requested deceleration immediately before stopping a vehicle. The braking processing unit is configured to execute increasing control in which the deceleration is increased as compared to the requested deceleration before executing the reducing control, and decides whether to execute the increasing control based on the detection result of the in-vehicle sensor. Another aspect of the disclosure is a brake control method, of which each step is executed by a brake control device of a vehicle. The method includes acquiring a brake pedal operation amount of a brake pedal operation performed by a driver, and a detection result of an in-vehicle sensor, deciding a requested deceleration that is requested by the driver, based on the brake pedal operation amount that is acquired, starting to control a braking amount to be executed by a brake device, based on the requested deceleration that is decided, deciding whether to execute increasing control in which a deceleration is increased as compared to the requested deceleration before stopping the vehicle, based on the detection result of the in-vehicle sensor, executing the increasing control when deciding to execute the increasing control, and executing reducing control in which the deceleration is reduced as compared to the requested deceleration when stopping the vehicle. According to the disclosure, technology can be provided that improves braking feeling while suppressing swinging from occurring in the pitching direction when the vehicle is being stopped. BRIEF DESCRIPTION OF THE DRAWINGS Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein: FIG. 1 is a diagram for explaining an operation of a brake control system according to a first embodiment; FIG. 2 is a diagram illustrating a functional configuration of a brake control system; FIG. 3 is a flowchart of the brake control method according to the first embodiment; FIG. 4 is a view for explaining the operation of the braking control device according to the second embodiment; and FIG. 5 is a flowchart of a brake control method according to a second embodiment. DETAILED DESCRIPTION OF EMBODIMENTS First Embodiment FIG. 1 is a diagram for explaining an operation of a brake control system according to a first embodiment. The graph (a) of FIG. 1 shows the relationship between the vehicle speed V and the time T in the brake control, and the graph (b) of FIG. 1 shows the relationship between the deceleration B and the time T in the brake control. The time T shown in the graph (a) and the graph (b) indicates the passage of the same time. The first vehicle speed 10 and the first deceleration 14 indicate control results executed by the brake control system of the embodiment, and the second vehicle spe