| CPC B60T 8/17616 (2013.01) [B60T 8/172 (2013.01); B60T 8/1769 (2013.01); B60T 2250/04 (2013.01); B60T 2270/12 (2013.01)] | 4 Claims |
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1. A vehicle braking control device for application to a vehicle including a plurality of wheels, a plurality of wheel speed sensors each of which outputs a detection signal according to a wheel speed that is a speed of a corresponding wheel, and an anteroposterior acceleration sensor that outputs a detection signal according to an anteroposterior acceleration of the vehicle, the vehicle braking control device comprising:
a wheel deceleration deriving section configured to, assuming that a deceleration of the vehicle in an anteroposterior direction derived based on the detection signal of the anteroposterior acceleration sensor is an anteroposterior deceleration detection value, decrease rates of the wheel speeds are wheel decelerations, and wheel speeds derived based on the detection signals of the wheel speed sensors are wheel speed detection values, derive decrease rates of the wheel speed detection values as wheel deceleration calculation values;
an average value deriving section configured to derive an average value of the wheel deceleration calculation values of the wheels as a wheel deceleration average value;
a determination section configured to determine, based on the wheel deceleration average value and the anteroposterior deceleration detection value, whether or not a slip increase state, in which an increase rate of the average value of the wheel decelerations of the respective wheels is higher than an increase rate of the deceleration of the vehicle in the anteroposterior direction, has been occurring for a determination time or longer; and
a detection section configured to detect occurrence of cascade lock, in which a predetermined deceleration slip occurs in all drive wheels of the vehicle, when it is determined that the slip increase state has been occurring for the determination time or longer during vehicle braking, wherein
the determination section
performs, every predetermined control cycle, update processing of incrementing a counter value when it is determined that the increase rate of the wheel deceleration average value is higher than the increase rate of the anteroposterior deceleration detection value, and decrementing the counter value when it is determined that the increase rate of the wheel deceleration average value is equal to or lower than the increase rate of the anteroposterior deceleration detection value, and
when the counter value becomes equal to or greater than a counter determination value, determines that the slip increase state has been occurring for the determination time or longer, and
in the update processing, the determination section
determines, when a deviation, which is a value obtained by subtracting the increase rate of the anteroposterior deceleration detection value from the increase rate of the wheel deceleration average value, is greater than a first derived difference determination value of “0” or greater, that the increase rate of the wheel deceleration average value is higher than the increase rate of the anteroposterior deceleration detection value, and
when the deviation is equal to or smaller than a second derived difference determination value equal to or smaller than the first derived difference determination value, determines that the increase rate of the wheel deceleration average value is equal to or lower than the increase rate of the anteroposterior deceleration detection value.
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