US 11,697,415 B2
Braking force control system, device, and method
Masato Shimizu, Toyota (JP); Shun Sato, Toyota (JP); Katsumi Kono, Toyota (JP); Atsushi Ayabe, Toyota (JP); Noritake Mitsutani, Toyota (JP); and Hiroki Nakano, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Apr. 9, 2021, as Appl. No. 17/226,530.
Application 17/226,530 is a continuation of application No. 16/272,000, filed on Feb. 11, 2019, granted, now 11,001,263.
Claims priority of application No. 2018-040871 (JP), filed on Mar. 7, 2018; and application No. 2018-145972 (JP), filed on Aug. 2, 2018.
Prior Publication US 2021/0221376 A1, Jul. 22, 2021
Int. Cl. B60W 10/10 (2012.01); B60W 30/18 (2012.01); B60W 10/06 (2006.01); B60W 10/184 (2012.01); B60W 30/14 (2006.01); B60T 8/1766 (2006.01); B60W 30/16 (2020.01)
CPC B60W 30/18127 (2013.01) [B60W 10/06 (2013.01); B60W 10/10 (2013.01); B60W 10/184 (2013.01); B60W 30/14 (2013.01); B60W 30/18072 (2013.01); B60W 30/18136 (2013.01); B60T 8/1766 (2013.01); B60T 2201/04 (2013.01); B60T 2260/08 (2013.01); B60W 30/16 (2013.01); B60W 30/162 (2013.01); B60W 2510/0623 (2013.01); B60W 2510/184 (2013.01); B60W 2510/244 (2013.01); B60W 2510/246 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2556/45 (2020.02); B60W 2556/65 (2020.02); B60W 2710/1005 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A control device mounted on a vehicle, the control device comprising a processor programmed to:
acquire a plurality of longitudinal accelerations from a driving assistance system;
calculate a driving/braking request when the vehicle is in a coasting state in which an acceleration operation and a braking operation are not performed during running of the vehicle;
acquire a driving force lower limit set for a powertrain actuator having a set gear ratio;
distribute the driving/braking request to (i) a powertrain system including the powertrain actuator and (ii) a brake system including a brake actuator; and
control the distribution of the driving/braking request to the powertrain system and the brake system based on the acquired driving force lower limit,
wherein a distribution braking force allocated to each actuator is determined such that the distribution braking force is less than or equal to a braking force generable by the respective actuator, a sum of the respective distribution braking forces is equal to a target braking force, and a lower limit of braking force of each actuator is less than or equal to the distribution braking force of the respective actuator.