Hydraulic control unit and vehicle

Abstract

To provide a fluid pressure control unit which can prevent control of the pressure of brake fluid of a brake device from becoming unstable when an inertial measurement device is mounted on a control board in comparison to a conventional technique.SOLUTION: A fluid pressure control unit according to the present invention includes a control device in which at least a portion thereof is constituted from a control board and which controls the pressure of brake fluid of a brake device that brakes a vehicle according to a physical quantity detected by an inertial measurement device, stores the control board therein, and is mounted on the vehicle. As the inertial measurement device, the fluid pressure control unit includes the first inertial measurement device and the second inertial measurement device mounted on the control board. The control device comprises: a physical quantity acquisition unit which acquires a first physical quantity on the basis of a detection result of the first inertial measurement device and acquires a second physical quantity in the opposite direction to the first physical quantity on the basis of the detection result of the second inertial measurement device; and a control unit which controls the pressure according to a difference between the first physical quantity and the second physical quantity.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a hydraulic control unit that controls the pressure of brake fluid in a braking device for braking a vehicle, and a vehicle equipped with the hydraulic control unit.

Background Art

[0002] Some conventional vehicles include a hydraulic control unit that controls the pressure of brake fluid in a braking device for braking the vehicle (see, for example, Patent Document 1). For such a hydraulic control unit, there has also been proposed one that controls the pressure of brake fluid in the braking device according to the physical quantity detected by an inertial measurement device. The physical quantity detected by the inertial measurement device is, for example, the acceleration in the directions of three axes orthogonal to each other, and the angular velocity around each of the above three axes. Note that the inertial measurement device may detect at least one of these six physical quantities (three accelerations and three angular velocities). Specifically, the inertial measurement device outputs a signal corresponding to the detected physical quantity. The hydraulic control unit controls the pressure of the brake fluid in the braking device based on the signal output from the inertial measurement device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] If a hydraulic control unit were to incorporate its own inertial measuring device, it would be assumed that the device would be mounted on the control board housed inside the hydraulic control unit. However, the control board housed inside the hydraulic control unit is a component that easily transmits vibrations. Therefore, when an inertial measuring device is mounted on the control board, the deflection caused by vibrations of the control board introduces noise into the signal output by the inertial measuring device. Furthermore, the common-mode noise component of the noise contained in the signal output by the inertial measuring device is difficult to remove with a filter. As a result, when an inertial measuring device is mounted on the control board, there is a problem in that the control of the brake fluid pressure of the braking system becomes unstable.

[0005] The present invention was made against the backdrop of the above-mentioned problems, and its first objective is to provide a hydraulic pressure control unit that can suppress, more effectively than conventional designs, the instability of brake fluid pressure control in a braking system when an inertial measuring device is mounted on a control board. The second objective of the present invention is to provide a vehicle equipped with such a hydraulic pressure control unit. [Means for solving the problem]

[0006] The hydraulic control unit according to the present invention comprises a control device which controls the pressure of the brake fluid of a braking device that brakes a vehicle in accordance with a physical quantity detected by an inertial measuring device, the control device which comprises a first inertial measuring device and a second inertial measuring device mounted on the control board as the inertial measuring device, the control device which comprises a physical quantity acquisition unit which acquires a first physical quantity based on the detection result of the first inertial measuring device and acquires a second physical quantity which is in the opposite direction to the first physical quantity based on the detection result of the second inertial measuring device, and a control unit which controls the pressure in accordance with the difference between the first physical quantity and the second physical quantity.

[0007] Furthermore, the vehicle according to the present invention is equipped with a hydraulic control unit according to the present invention. [Effects of the Invention]

[0008] In the hydraulic control unit according to the present invention, the physical quantity acquisition unit of the control device acquires a first physical quantity and a second physical quantity, which are opposite physical quantities. Then, in the hydraulic control unit according to the present invention, the control unit of the control device controls the pressure of the brake fluid of the braking device according to the difference between the first physical quantity and the second physical quantity. As a result, the hydraulic control unit according to the present invention can cancel out at least a portion of the common-mode noise components contained in the first physical quantity and the second physical quantity. Consequently, the hydraulic control unit according to the present invention can suppress instability in the control of the brake fluid pressure of the braking device more effectively than conventional designs when an inertial measuring device is mounted on the control board. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows the configuration of a vehicle equipped with a brake system according to an embodiment of the present invention. [Figure 2] This figure shows the configuration of a brake system according to an embodiment of the present invention. [Figure 3] This is a partial cross-sectional view showing a hydraulic control unit according to an embodiment of the present invention. [Figure 4] This is a view of the control board according to an embodiment of the present invention, observed in the direction of arrow A in Figure 3. [Figure 5] This figure shows a control board of another example of a hydraulic control unit according to an embodiment of the present invention, viewed in the direction of arrow A in Figure 3. [Figure 6] This is a partial cross-sectional view showing another example of a hydraulic control unit according to an embodiment of the present invention. [Figure 7] This figure shows a control board of another example of a hydraulic control unit according to an embodiment of the present invention, viewed in the direction of arrow A in Figure 3. [Figure 8] This figure shows a control board of another example of a hydraulic control unit according to an embodiment of the present invention, viewed in the direction of arrow A in Figure 3. [Figure 9] This is a block diagram showing a control device for a hydraulic control unit according to an embodiment of the present invention. [Figure 10]This figure shows a first physical quantity according to an embodiment of the present invention. [Figure 11] This figure shows a second physical quantity according to an embodiment of the present invention. [Figure 12] This figure shows the difference between a first physical quantity and a second physical quantity according to an embodiment of the present invention. [Modes for carrying out the invention]

[0010] The hydraulic control unit according to the present invention and a vehicle equipped with the hydraulic control unit will be described below with reference to the drawings. In the following, an example of the hydraulic control unit according to the present invention being mounted on a motorcycle, which is an example of a saddle-type vehicle, will be described. However, the hydraulic control unit according to the present invention may also be mounted on other saddle-type vehicles besides motorcycles. Other saddle-type vehicles besides motorcycles include, for example, bicycles (e.g., two-wheeled vehicles, three-wheeled vehicles, etc.), three-wheeled vehicles powered by at least one of an engine and an electric motor, and buggies. Furthermore, "bicycle" refers to any vehicle that can be propelled on the road by the force applied to the pedals. In other words, bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc. Furthermore, "two-wheeled vehicle" or "three-wheeled vehicle" refers to a so-called motorcycle, and motorcycles include motorcycles, scooters, electric scooters, etc. Furthermore, the hydraulic control unit according to the present invention may also be mounted on other vehicles besides saddle-type vehicles, such as four-wheeled vehicles powered by at least one of an engine and an electric motor.

[0011] Furthermore, although the following describes an example in which the hydraulic control unit according to the present invention is employed in a vehicle brake system equipped with two hydraulic circuits, the number of hydraulic circuits in a vehicle brake system employing the hydraulic control unit according to the present invention is not limited to two. A vehicle brake system employing the hydraulic control unit according to the present invention may be equipped with only one hydraulic circuit, or it may be equipped with three or more hydraulic circuits.

[0012] In addition, the configurations, operations, etc. described below are merely examples, and the present invention is not limited to such configurations, operations, etc. Also, in each figure, the same or similar members or parts may be given the same reference numerals or the assignment of reference numerals may be omitted. Further, the illustration of detailed structures is appropriately simplified or omitted.

[0013] Embodiment. A vehicle braking system including a hydraulic control unit according to the present embodiment will be described below.

[0014] <Configuration and Operation of Vehicle Braking System> The configuration and operation of a braking system including a hydraulic control unit according to the present embodiment will be described. FIG. 1 is a diagram showing the configuration of a vehicle on which a braking system according to an embodiment of the present invention is mounted. FIG. 2 is a diagram showing the configuration of a braking system according to an embodiment of the present invention.

[0015] As shown in FIGS. 1 and 2, a braking system 10 is mounted on a vehicle 100, which is, for example, a motorcycle. The vehicle 100 includes a body 1, a handle 2 rotatably held by the body 1, a front wheel 3 rotatably held by the body 1 together with the handle 2, and a rear wheel 4 pivotally held by the body 1.

[0016] The brake system 10 includes a brake lever 11, a first hydraulic circuit 12 filled with brake fluid, a brake pedal 13, and a second hydraulic circuit 14 filled with brake fluid. The brake lever 11 is located on the handle 2 and is operated by the driver's hand. The first hydraulic circuit 12 generates a braking force on the rotor 3a, which rotates with the front wheel 3, in accordance with the amount of operation of the brake lever 11. In other words, the first hydraulic circuit 12 generates a braking force on the front wheel 3 in accordance with the amount of operation of the brake lever 11. The brake pedal 13 is located at the bottom of the body 1 and is operated by the driver's foot. The second hydraulic circuit 14 generates a braking force on the rotor 4a, which rotates with the rear wheel 4, in accordance with the amount of operation of the brake pedal 13. In other words, the second hydraulic circuit 14 generates a braking force on the rear wheel 4 in accordance with the amount of operation of the brake pedal 13.

[0017] Note that the brake lever 11 and brake pedal 13 are examples of brake operating parts. For example, a brake pedal other than the brake pedal 13 provided on the body 1 may be used as a brake operating part instead of the brake lever 11. Alternatively, a brake lever other than the brake lever 11 provided on the handle 2 may be used as a brake operating part instead of the brake pedal 13. Furthermore, the first hydraulic circuit 12 may generate a braking force on the rotor 4a that rotates with the rear wheel 4 according to the amount of operation of the brake lever 11 or the amount of operation of the brake pedal other than the brake pedal 13 provided on the body 1. Furthermore, the second hydraulic circuit 14 may generate a braking force on the rotor 3a that rotates with the front wheel 3 according to the amount of operation of the brake pedal 13 or the amount of operation of the brake lever other than the brake lever 11 provided on the handle 2.

[0018] The first hydraulic circuit 12 and the second hydraulic circuit 14 of the brake system 10 have the same configuration. Therefore, the configuration of the first hydraulic circuit 12 will be described below as a representative example. The first hydraulic circuit 12 includes a master cylinder 21 containing a piston (not shown), a reservoir 22 attached to the master cylinder 21, and a braking device 20 held in the body 1. The braking device 20 brakes the vehicle 100 and includes a brake caliper 23 having brake pads (not shown) and a wheel cylinder 24 that operates the brake pads (not shown) of the brake caliper 23.

[0019] Furthermore, the first hydraulic circuit 12 includes a main flow path 25, a supply flow path 27, and a sub-flow path 26. In this embodiment, the main flow path 25, the supply flow path 27, and the sub-flow path 26 are provided on the base 51 of the hydraulic control unit 50.

[0020] The main passage 25 is a passage that connects the master cylinder 21 and the wheel cylinder 24. In this embodiment, the master cylinder port MP formed at one end of the main passage 25 is connected to the master cylinder 21 by a liquid pipe. Also, the wheel cylinder port WP formed at the other end of the main passage 25 is connected to the wheel cylinder 24 by a liquid pipe. In this way, the main passage 25 connects the master cylinder 21 and the wheel cylinder 24. The main passage 25 may also be directly connected to the master cylinder 21 and the wheel cylinder 24.

[0021] The supply passage 27 is a passage that supplies brake fluid to the intermediate section 25a of the main passage 25. Specifically, brake fluid from the master cylinder 21 is supplied to the intermediate section 25a of the main passage 25 via the supply passage 27. One end of the supply passage 27, end 27a, is in communication with the master cylinder 21, and the other end, end 27b, is connected to the intermediate section 25a of the main passage 25. Specifically, in this embodiment, end 27a of the supply passage 27 is connected to the main passage 25 (more specifically, the region on the master cylinder 21 side with respect to the first switching valve 32, which will be described later). End 27a of the supply passage 27 is in communication with the master cylinder 21 via the fluid pipe connecting the master cylinder 21 and the master cylinder port MP, and via the main passage 25. Note that end 27a of the supply passage 27 may be connected to the master cylinder port MP or directly to the master cylinder 21.

[0022] The sub-channel 26 is a channel for venting brake fluid from the main channel 25. Specifically, brake fluid that flows from the wheel cylinder 24 into the main channel 25 is vented into the sub-channel 26. One end of the sub-channel 26, end 26a, is connected to an intermediate section 25b of the main channel 25. The intermediate section 25b is located in the region of the main channel 25 that is on the wheel cylinder 24 side, relative to the intermediate section 25a. The end 26b of the sub-channel 26, opposite to end 26a, is connected to an intermediate section 27c of the supply channel 27. The intermediate section 27c is located in the region of the supply channel 27 between the second switching valve 33 (described later) and the pump 31.

[0023] Furthermore, the brake system 10 includes a first hydraulic circuit 12, a fill valve 28, a release valve 29, an accumulator 30, a first switching valve 32, a second switching valve 33, a pump 31, and a motor 40.

[0024] The saturation valve 28 is located in the region between intermediate sections 25a and 25b of the main flow path 25. The opening and closing operation of the saturation valve 28 controls the flow rate of brake fluid circulating in this region. The accumulator 30 is located in the sub-flow path 26 and stores the brake fluid that flows into the sub-flow path 26 from intermediate section 25b. The release valve 29 is located in the region of the sub-flow path 26 that is on the end 26a side with respect to the accumulator 30. The opening and closing operation of the release valve 29 controls the flow rate of brake fluid circulating in this region. The first switching valve 32 is located in the region of the main flow path 25 that is on the master cylinder 21 side with respect to intermediate section 25a. The opening and closing operation of the first switching valve 32 controls the flow rate of brake fluid circulating in this region. The second switching valve 33 is located in the supply flow path 27. The flow rate of brake fluid circulating in the supply passage 27 is controlled by the opening and closing operation of the second switching valve 33. The pump 31 is installed in the region of the supply passage 27 that is on the end 27b side with respect to the second switching valve 33. The suction side of the pump 31 is in communication with the second switching valve 33, and the discharge side is in communication with the end 27b. The motor 40 is the driving source for the pump 31. In other words, the pump 31 is driven by the motor 40. In this embodiment, the pump 31 of the first hydraulic circuit 12 and the pump 31 of the second hydraulic circuit 14 are driven by a common motor 40.

[0025] Furthermore, in this embodiment, the brake system 10 includes in the first hydraulic circuit 12 a master cylinder-side pressure sensor 34 for detecting the pressure of the brake fluid in the master cylinder 21, and a wheel cylinder-side pressure sensor 35 for detecting the pressure of the brake fluid in the wheel cylinder 24. The master cylinder-side pressure sensor 34 is located in the area of ​​the main flow path 25 closer to the master cylinder 21 than the first switching valve 32. The wheel cylinder-side pressure sensor 35 is located in the area of ​​the main flow path 25 closer to the wheel cylinder 24 than the filling valve 28.

[0026] The suction valve 28 is a solenoid valve that, for example, when energized, switches the flow of brake fluid at the location where the suction valve 28 is installed from open to closed. The release valve 29 is a solenoid valve that, for example, when energized, switches the flow of brake fluid toward the accumulator 30 via the location where the release valve 29 is installed from closed to open. The first switching valve 32 is a solenoid valve that, for example, when energized, switches the flow of brake fluid at the location where the first switching valve 32 is installed from open to closed. The second switching valve 33 is a solenoid valve that, for example, when energized, switches the flow of brake fluid toward the pump 31 via the location where the second switching valve 33 is installed from closed to open.

[0027] The open / closed states of the suction valve 28, the release valve 29, the first switching valve 32, and the second switching valve 33 are controlled by the control device 60. The drive state of the motor 40 is also controlled by the control device 60. In other words, the energized state of the suction valve 28, the release valve 29, the first switching valve 32, the second switching valve 33, and the motor 40 is controlled by the control device 60. The control device 60 may be a single unit or divided into multiple units. The control device 60 may be attached to the base 51 or to other components other than the base 51. Furthermore, part or all of the control device 60 may be composed of, for example, a microcontroller, a microprocessor unit, etc., or may be composed of updatable firmware, etc., or may be a program module executed by commands from a CPU, etc. In this embodiment, at least a part of the control device 60 is composed of a control board 61. Details of the control device 60 will be described later.

[0028] In this embodiment, the hydraulic pressure control unit 50 is composed of a base body 51, various components provided on the base body 51 (such as a suction valve 28, a release valve 29, an accumulator 30, a pump 31, a first switching valve 32, a second switching valve 33, a master cylinder side pressure sensor 34, a wheel cylinder side pressure sensor 35, a motor 40, etc.), and a control device 60.

[0029] The control device 60 controls the pressure of the brake fluid in the braking device 20 that brakes the vehicle 100 by controlling the loading valve 28, the release valve 29, the first switching valve 32, the second switching valve 33, and the motor 40. More specifically, the control device 60 controls the pressure of the brake fluid in the wheel cylinder 24 of the braking device 20 by controlling the loading valve 28, the release valve 29, the first switching valve 32, the second switching valve 33, and the motor 40, thereby controlling the braking force generated on the front wheels 3 and rear wheels 4. For example, the control device 60 controls the pressure of the brake fluid in the wheel cylinder 24 as follows.

[0030] For example, in the normal state, the control device 60 opens the loading valve 28, closes the release valve 29, opens the first switching valve 32, closes the second switching valve 33, and stops the motor 40. In this state, when the brake lever 11 is operated, the piston (not shown) of the master cylinder 21 is pressed by the brake lever 11, and an amount of brake fluid corresponding to the amount of operation of the brake lever 11 is pushed out of the master cylinder 21. The brake fluid pushed out of the master cylinder 21 then flows into the wheel cylinder 24 through the first switching valve 32 and the loading valve 28, and the pressure of the brake fluid in the wheel cylinder 24 increases. As a result, the brake pads (not shown) of the brake caliper 23 are pressed against the rotor 3a of the front wheel 3, and a braking force corresponding to the amount of operation of the brake lever 11 is generated on the front wheel 3. In addition, the control device 60 performs similar control in the second hydraulic circuit 14, so that a braking force corresponding to the amount of operation of the brake pedal 13 is generated on the rear wheel 4.

[0031] Furthermore, for example, if the brake fluid pressure in the wheel cylinder 24 becomes excessive or potentially excessive, the control device 60 performs automatic pressure reduction control to discharge brake fluid from the wheel cylinder 24 of the braking device 20 and reduce the brake fluid pressure in the wheel cylinder 24. In automatic pressure reduction control, the control device 60 closes the fill valve 28, opens the release valve 29, opens the first switching valve 32, and closes the second switching valve 33. Then, the control device 60 drives the motor 40. As a result, the brake fluid in the wheel cylinder 24 of the braking device 20 flows from the intermediate section 25b into the sub-flow channel 26 due to the suction force of the pump 31 driven by the motor 40. The brake fluid that flows into the sub-flow channel 26 then passes through the release valve 29 and is stored in the accumulator 30. As a result, in the first hydraulic circuit 12, the pressing force of the brake pad (not shown) of the brake caliper 23 against the rotor 3a is reduced, and a braking force smaller than the braking force corresponding to the amount of operation of the brake lever 11 is generated on the front wheel 3. Similarly, in the second hydraulic circuit 14, the control device 60 performs control so that a braking force smaller than the braking force corresponding to the amount of operation of the brake pedal 13 is generated on the rear wheel 4. It should be noted that conventional brake systems that perform automatic pressure reduction control without using a pump are known. The first hydraulic circuit 12 and the second hydraulic circuit 14 of the brake system 10 according to this embodiment may also be configured to perform automatic pressure reduction control without using a pump.

[0032] Furthermore, for example, if the control device 60 experiences a deficiency or potential deficiency in the brake fluid pressure of the wheel cylinder 24, it performs automatic pressure boosting control to supply brake fluid to the wheel cylinder 24 and increase the brake fluid pressure of the wheel cylinder 24. In automatic pressure boosting control, the control device 60 opens the fill valve 28, closes the release valve 29, closes the first switching valve 32, and opens the second switching valve 33. The control device 60 then drives the motor 40. As a result, the brake fluid from the master cylinder 21 flows into the supply passage 27 due to the suction force of the pump 31 driven by the motor 40. The brake fluid that has flowed into the supply passage 27 then flows from the end 27b through the second switching valve 33 and the pump 31 into the middle section 25a of the main passage 25. The brake fluid that has flowed from the middle section 25a into the main passage 25 then flows into the wheel cylinder 24 through the fill valve 28, increasing the brake fluid pressure of the wheel cylinder 24. As a result, in the first hydraulic circuit 12, the pressing force of the brake pad (not shown) of the brake caliper 23 against the rotor 3a increases, and a braking force greater than that corresponding to the amount of operation of the brake lever 11 is generated on the front wheel 3. Furthermore, the control device 60 performs similar control in the second hydraulic circuit 14, so that a braking force greater than that corresponding to the amount of operation of the brake pedal 13 is generated on the rear wheel 4.

[0033] <Configuration and operation of the hydraulic control unit> Details of the hydraulic control unit according to this embodiment will be described below.

[0034] Figure 3 is a partial cross-sectional view showing a hydraulic control unit according to an embodiment of the present invention. More specifically, Figure 3 shows a cross-sectional view of the housing 55, the control board 61, and the terminal holding portion 72 of the connector 70. As described above, the hydraulic control unit 50 includes a base body 51. The base body 51 is a substantially rectangular parallelepiped member made of, for example, an aluminum alloy. Each surface of the base body 51 may be flat, include curved portions, or include steps. A motor 40 is attached to the surface 51a of the base body 51. In this embodiment, the coils of the suction valve 28, the release valve 29, the first switching valve 32, and the second switching valve 33 are also attached to the surface 51a of the base body 51. The coil 36 shown in Figure 3 is an example of one of the coils of the suction valve 28, the release valve 29, the first switching valve 32, and the second switching valve 33.

[0035] Furthermore, the hydraulic control unit 50 is equipped with a housing 55. The housing 55 is made of, for example, resin and has a roughly rectangular box shape. The housing 55 is connected to, for example, a surface 51a of the base body 51. The control board 61 is housed in this housing 55. In other words, the hydraulic control unit 50 houses the control board 61, which constitutes at least a part of the control device 60, inside itself. In this embodiment, the motor 40 is also housed in the housing 55. The coils of the ignition valve 28, the release valve 29, the first switching valve 32, and the second switching valve 33 are also housed in the housing 55.

[0036] The control board 61 and the motor 40 are connected by terminal 41. The control board 61 supplies power to the motor 40 via terminal 41. The control board 61 is also connected to the coils of the ignition valve 28, the release valve 29, the first switching valve 32, and the second switching valve 33 by terminal 37. The control board 61 supplies power to the coils of the ignition valve 28, the release valve 29, the first switching valve 32, and the second switching valve 33 via terminal 37.

[0037] Furthermore, the hydraulic control unit 50 is equipped with a connector 70 that connects the control board 61 to an external device. Specifically, the connector 70 is equipped with a plurality of terminals 71, each of which is connected to the control board 61. The connector 70 is fixed to the housing 55. Specifically, the connector 70 is equipped with a terminal holding portion 72 that holds each of the terminals 71, and the terminal holding portion 72 is fixed to the housing 55. In this embodiment, the connector 70 is fixed to the housing 55 by fixing the terminal holding portion 72, which is formed separately from the housing 55, to the housing 55. However, the housing 55 and the terminal holding portion 72 may be formed integrally, and the connector 70 may be fixed to the housing 55. Information used to control the pressure of the brake fluid of the wheel cylinder 24 is input to the control board 61 via the connector 70. The information used to control the brake fluid pressure of the wheel cylinder 24 includes signals from various sensors, such as the master cylinder side pressure sensor 34, the wheel cylinder side pressure sensor 35, and wheel speed sensors (not shown) for detecting the rotational speed of the wheels (front wheel 3 and rear wheel 4).

[0038] In the hydraulic control unit 50 configured in this way, the control board 61 is held inside the housing 55 by terminals 41, terminal 37, and terminal 71 of the connector 70, etc. Alternatively, as shown in Figure 3, for example, pins 56 may be provided on the base 51, and the control board 61 may be held by these pins 56.

[0039] Incidentally, the physical quantities detected by the inertial measuring device mounted on the vehicle reflect the vehicle's behavior. For this reason, some conventional hydraulic control units have been proposed that control the pressure of the brake fluid in the braking system according to the physical quantities detected by the inertial measuring device. The physical quantities detected by the inertial measuring device are, for example, the acceleration in the directions of three mutually orthogonal axes, and the angular velocity around each of the three axes mentioned above. The inertial measuring device may also detect at least one of these six physical quantities (three accelerations and three angular velocities).

[0040] The control device 60 of the hydraulic pressure control unit 50 according to this embodiment is also configured to control the pressure of the brake fluid in the wheel cylinder 24 of the braking system 20 according to the physical quantity detected by the inertial measuring device 80. Specifically, the inertial measuring device 80 outputs a signal corresponding to the detected physical quantity. The control device 60 of the hydraulic pressure control unit 50 controls the pressure of the brake fluid in the wheel cylinder 24 of the braking system 20 based on the signal output from the inertial measuring device 80. Furthermore, the hydraulic pressure control unit 50 according to this embodiment is equipped with the inertial measuring device 80 as part of its own configuration. Specifically, the inertial measuring device 80 is mounted on the control board 61.

[0041] Here, it is difficult to firmly fix the control board 61 within the housing 55. For this reason, vibrations are easily transmitted to the control board 61. For example, while the vehicle 100 is running, vibrations from the engine and vibrations transmitted to the vehicle 100 from the road surface are transmitted to the control board 61. In addition, vibrations generated in the pressure control mechanism that controls the pressure of the brake fluid in the wheel cylinder 24 are also transmitted to the control board 61. Specifically, the pressure control mechanism that controls the pressure of the brake fluid in the wheel cylinder 24 consists of a flow path through which the brake fluid flows (main flow path 25, sub-flow path 26, supply flow path 27), valves provided in the flow path (fill valve 28, release valve 29, first switching valve 32, second switching valve 33), a pump 31 provided in the flow path, and a motor 40 which is the drive source for the pump 31. For example, vibrations generated when the brake fluid flows through the main flow path 25, sub-flow path 26, and supply flow path 27 are transmitted to the control board 61. For example, vibrations generated when the sealing valve 28, release valve 29, first switching valve 32, and second switching valve 33 are driven are transmitted to the control board 61. For example, vibrations generated when the pump 31 and motor 40 are driven are transmitted to the control board 61. In particular, the vibrations generated when the motor 40 is driven are large, and since the motor 40 and the control board 61 are connected by terminal 41, the vibrations generated by the motor 40 are transmitted to the control board 61 in large quantities.

[0042] If the control board 61 is deflected due to vibrations transmitted to the control board 61, noise will be included in the signal output by the inertial measuring device 80. Furthermore, the common-mode noise component of the noise included in the signal output by the inertial measuring device 80 is difficult to remove by filtering. For this reason, simply mounting one inertial measuring device 80 on the control board 61 will cause the control of the brake fluid pressure of the wheel cylinder 24 to become unstable due to the common-mode noise component included in the signal output by the inertial measuring device 80. Therefore, in the hydraulic pressure control unit 50 according to this embodiment, in order to suppress the instability of the brake fluid pressure control of the wheel cylinder 24, the inertial measuring device 80 is mounted on the control board 61 as follows, and the control device 60 is configured as follows.

[0043] Figure 4 is a view of a control board according to an embodiment of the present invention, observed in the direction of arrow A in Figure 3. Note that in Figure 4, the connection points between terminal 37 and pin 56 on the control board 61 are not shown. In Figure 4 and Figure 3 described above, the direction perpendicular to the paper, from the back of the page to the front, is indicated by a mark of a black circle inside a white circle. In Figure 4 and Figure 3 described above, the direction perpendicular to the paper, from the front of the page to the back, is indicated by a mark of an X inside a white circle. In the following drawings as well, the direction perpendicular to the paper will be indicated by these marks.

[0044] As shown in Figures 3 and 4, the hydraulic control unit 50 according to this embodiment includes a first inertial measuring device 81 and a second inertial measuring device 82 mounted on the control board 61 as an inertial measuring device 80.

[0045] In this embodiment, the first inertial measuring device 81 detects acceleration in the directions of three mutually orthogonal axes (X1 axis, Y1 axis, and Z1 axis) as physical quantities. Specifically, in Figure 3, the positive direction for the X1 axis is from the right side of the paper to the left side. In Figure 3, the positive direction for the Y1 axis is from the back side of the paper to the front side, which is orthogonal to the paper. In Figure 3, the positive direction for the Z1 axis is from the top side of the paper to the bottom side. In addition, in this embodiment, the first inertial measuring device 81 detects angular velocity around each of the three axes as physical quantities. Specifically, the first inertial measuring device 81 detects angular velocity around the X1 axis, angular velocity around the Y1 axis, and angular velocity around the Z1 axis as physical quantities. Note that the first inertial measuring device 81 may detect at least one of these six physical quantities.

[0046] In this embodiment, the second inertial measuring device 82 detects acceleration in the directions of three mutually orthogonal axes (X2 axis, Y2 axis, and Z2 axis) as physical quantities. Specifically, the positive direction of the X2 axis is opposite to the positive direction of the X1 axis, and in Figure 3, the positive direction is from left to right on the page. The positive direction of the Y2 axis is opposite to the positive direction of the Y1 axis, and in Figure 3, the positive direction is from the front to the back on the page, perpendicular to the page. The positive direction of the Z2 axis is opposite to the positive direction of the Z1 axis, and in Figure 3, the positive direction is from the bottom to the top on the page. In addition, in this embodiment, the second inertial measuring device 82 detects angular velocity around each of the three axes as physical quantities. More specifically, the second inertial measuring device 82 detects angular velocity around the X2 axis as a physical quantity, where the positive direction is opposite to the positive direction of the angular velocity around the X1 axis. The second inertial measuring device 82 also detects angular velocity around the Y2 axis as a physical quantity, where the positive direction is opposite to the positive direction of the angular velocity around the Y1 axis. Furthermore, the second inertial measuring device 82 detects angular velocity around the Z2 axis as a physical quantity, where the positive direction is opposite to the positive direction of the angular velocity around the Z1 axis. Note that the second inertial measuring device 82 may detect at least one of the six physical quantities described above.

[0047] In this embodiment, the first inertial measuring device 81 is mounted on the first surface 61a of the control board 61. The second inertial measuring device 82 is mounted on the second surface 61b of the control board 61, which is the surface opposite to the first surface 61a.

[0048] Furthermore, in this embodiment, when the first inertial measuring device 81 and the second inertial measuring device 82 are observed in the thickness direction of the control board 61, at least a portion of the first inertial measuring device 81 and the second inertial measuring device 82 overlap. The thickness direction of the control board 61 is the vertical direction of the paper in Figure 3, and the observation direction of the control board 61 in Figure 4 (orthogonal to the plane of the paper). Also, Figures 3 and 4 show an example in which the first inertial measuring device 81 and the second inertial measuring device 82 completely overlap when observed in the thickness direction of the control board 61.

[0049] Furthermore, in this embodiment, the first inertial measuring device 81 and the second inertial measuring device 82 are mounted on the control board 61 in the area on the connector 70 side, with reference to the connection portion between the terminal 41 and the control board 61.

[0050] The mounting positions of the first inertial measuring device 81 and the second inertial measuring device 82 described above are merely examples.

[0051] Figure 5 shows a control board of another example of a hydraulic control unit according to an embodiment of the present invention, viewed in the direction of arrow A in Figure 3. For example, when observing the first inertial measuring device 81 and the second inertial measuring device 82 in the thickness direction of the control board 61, the first inertial measuring device 81 and the second inertial measuring device 82 may be mounted in positions that do not overlap each other.

[0052] Figure 6 is a partial cross-sectional view showing another example of a hydraulic control unit according to an embodiment of the present invention. More specifically, Figure 6 shows a cross-sectional view of the housing 55, the control board 61, and the terminal holding portion 72 of the connector 70. For example, the first inertial measuring device 81 and the second inertial measuring device 82 may be mounted on the same surface of the control board 61. Figure 6 shows an example in which the first inertial measuring device 81 and the second inertial measuring device 82 are mounted on the first surface 61a of the control board 61. However, the first inertial measuring device 81 and the second inertial measuring device 82 may also be mounted on the second surface 61b of the control board 61. Furthermore, Figure 6 shows an example in which at least a portion of the first inertial measuring device 81 and the second inertial measuring device 82 overlap when observed in the thickness direction of the control board 61. However, the first inertial measuring device 81 and the second inertial measuring device 82 may be mounted in positions where they do not overlap when observed in the thickness direction of the control board 61.

[0053] Figure 7 shows a control board of another example of a hydraulic control unit according to an embodiment of the present invention, viewed in the direction of arrow A in Figure 3. For example, at least one of the first inertial measuring device 81 and the second inertial measuring device 82 may be mounted on the control board 61 in a region opposite to the connector 70 side, with reference to the connection between the terminal 41 and the control board 61. In Figure 7, the first inertial measuring device 81 and the second inertial measuring device 82 are mounted on different parts of the control board 61. However, the first inertial measuring device 81 and the second inertial measuring device 82 may be mounted on the same part of the control board 61. Also, in Figure 7, when the first inertial measuring device 81 and the second inertial measuring device 82 are observed in the thickness direction of the control board 61, they are mounted in positions where they do not overlap each other. However, the first inertial measuring device 81 and the second inertial measuring device 82 may overlap in some parts when observed in the thickness direction of the control board 61.

[0054] Figure 8 shows a control board of another example of a hydraulic control unit according to an embodiment of the present invention, viewed in the direction of arrow A in Figure 3. In the above example describing the mounting positions of the first inertial measuring device 81 and the second inertial measuring device 82, the second inertial measuring device 82 was mounted on the control board 61 in a position that detected a physical quantity opposite to the physical quantity detected by the first inertial measuring device 81. An opposite physical quantity is a physical quantity that has the same absolute value but opposite signs. Specifically, the axis on which the first inertial measuring device 81 detects acceleration and the axis on which the second inertial measuring device 82 detects acceleration were parallel. More specifically, the X1 axis and the X2 axis were parallel, the Y1 axis and the Y2 axis were parallel, and the Z1 axis and the Z2 axis were parallel. However, the configuration is not limited to this, and as shown in Figure 8, the second inertial measuring device 82 may be mounted on the control board 61 in a position that does not detect a physical quantity opposite to the physical quantity detected by the first inertial measuring device 81 at any of the above mounting positions of the first inertial measuring device 81 and the second inertial measuring device 82. In Figure 8, the X1 and X2 axes are not parallel, and the Y1 and Y2 axes are not parallel. Conventionally, there is a known technique for correcting the origin and angle of the axes of physical quantities measured by an inertial measuring device through calculation. Therefore, even if the second inertial measuring device 82 is mounted on the control board 61 in a position where it does not detect physical quantities in the opposite direction to the physical quantities detected by the first inertial measuring device 81, this technique makes it possible to obtain physical quantities in opposite directions from the detection results of the first inertial measuring device 81 and the second inertial measuring device 82.

[0055] Figure 9 is a block diagram showing a control device for a hydraulic control unit according to an embodiment of the present invention. The control device 60 of the hydraulic pressure control unit 50 according to this embodiment includes a physical quantity acquisition unit 62 and a control unit 63 as functional units. The physical quantity acquisition unit 62 is a functional unit that acquires a first physical quantity based on the detection result of the first inertial measuring device 81. The physical quantity acquisition unit 62 is also a functional unit that acquires a second physical quantity that is in the opposite direction to the first physical quantity based on the detection result of the second inertial measuring device 82. In this embodiment, the physical quantity acquisition unit 62 uses the physical quantity detected by the first inertial measuring device 81 as the first physical quantity. The physical quantity acquisition unit 62 also uses the physical quantity detected by the second inertial measuring device 82 as the second physical quantity. The control unit 63 is a functional unit that controls the pressure of the brake fluid in the wheel cylinder 24 of the braking device 20 according to the difference between the first physical quantity and the second physical quantity acquired by the physical quantity acquisition unit 62. Furthermore, when the control unit 63 controls the pressure of the brake fluid in the wheel cylinder 24 of the braking device 20, it may, of course, also use information other than the difference between the first physical quantity and the second physical quantity acquired by the physical quantity acquisition unit 62. The operation of the physical quantity acquisition unit 62 and the control unit 63 will be further explained below with reference to Figures 10 to 12, which will be described later.

[0056] Figure 10 shows a first physical quantity according to an embodiment of the present invention. Figure 11 shows a second physical quantity according to an embodiment of the present invention. Figure 12 shows the difference between the first physical quantity and the second physical quantity according to an embodiment of the present invention. In this embodiment, the first inertial measuring device 81 and the second inertial measuring device 82 are assumed to be configured to output a voltage signal of a magnitude corresponding to the physical quantity when they detect that physical quantity. Therefore, in Figures 10 to 12, the vertical axis represents the magnitude of the first and second physical quantities as the magnitude of the voltage. The horizontal axis in Figures 10 to 12 represents time.

[0057] When the first inertial measuring device 81 detects a physical quantity, the second inertial measuring device 82 detects a physical quantity in the opposite direction to that detected by the first inertial measuring device 81. For example, suppose that acceleration occurs in the hydraulic control unit 50 (in other words, the vehicle 100) from the right side of the page to the left side in Figure 3. And suppose that the first inertial measuring device 81 outputs a signal of voltage a [V] at this time. In this case, the second inertial measuring device 82 will output a signal of voltage -a [V]. That is, as shown in Figures 10 and 11, when the first physical quantity reaches a magnitude corresponding to voltage a [V], the second physical quantity reaches a magnitude corresponding to voltage -a [V]. Here, if the signals output by the first inertial measuring device 81 and the second inertial measuring device 82 contain common-mode noise components, then, as indicated by the symbol n in Figures 10 and 11, the first and second physical quantities will also contain common-mode noise components.

[0058] In this case, the common-mode noise component contained in the first physical quantity and the common-mode noise component contained in the second physical quantity are in phase. Therefore, by calculating the difference between the first physical quantity and the second physical quantity, at least a portion of the common-mode noise components contained in the first and second physical quantities can be canceled out, as shown in Figure 12, and at least a portion of the common-mode noise component can be removed from the difference between the first and second physical quantities.

[0059] When the control unit 63 controls the pressure of the brake fluid in the wheel cylinder 24 of the braking device 20 according to the difference between the first physical quantity and the second physical quantity, it assumes, for example, that a physical quantity equal to half the difference between the first physical quantity and the second physical quantity is generated in the hydraulic control unit 50 (in other words, the vehicle 100). Based on this physical quantity, the control unit 63 determines whether the brake fluid pressure in the wheel cylinder 24 is excessive or likely to be excessive, and whether the brake fluid pressure in the wheel cylinder 24 is insufficient or likely to be insufficient. The control unit 63 then controls the pressure of the brake fluid in the braking device 20 that brakes the vehicle 100 by controlling the fill valve 28, the release valve 29, the first switching valve 32, the second switching valve 33, and the motor 40.

[0060] In this case, as described above, by calculating the difference between the first physical quantity and the second physical quantity, at least a portion of the common-mode noise components contained in the first and second physical quantities can be canceled out, as shown in Figure 12, and at least a portion of the common-mode noise components can be removed from the difference between the first and second physical quantities. For this reason, the control of the brake fluid pressure of the wheel cylinder 24 becomes more stable compared to the case where a single inertial measuring device 80 is simply mounted on the control board 61. In other words, the hydraulic pressure control unit 50 according to this embodiment can suppress the instability of the brake fluid pressure control of the wheel cylinder 24 of the braking device 20 more than in the conventional case when the inertial measuring device 80 is mounted on the control board 61.

[0061] <Effects of the hydraulic control unit> The hydraulic control unit 50 according to this embodiment is composed of at least a portion of a control board 61 and includes a control device 60 that controls the pressure of the brake fluid of the braking device 20 that brakes the vehicle 100 according to a physical quantity detected by an inertial measuring device 80. The hydraulic control unit 50 is a hydraulic control unit that houses the control board 61 inside and is mounted on the vehicle 100. The hydraulic control unit 50 includes a first inertial measuring device 81 and a second inertial measuring device 82 mounted on the control board 61 as the inertial measuring device 80. The control device 60 includes a physical quantity acquisition unit 62 and a control unit 63. The physical quantity acquisition unit 62 acquires a first physical quantity based on the detection result of the first inertial measuring device 81 and acquires a second physical quantity which is in the opposite direction to the first physical quantity based on the detection result of the second inertial measuring device 82. The control unit 63 then controls the pressure of the brake fluid of the braking device 20 according to the difference between the first physical quantity and the second physical quantity. As described above, the hydraulic control unit 50 configured in this way can suppress the instability of the brake fluid pressure control of the braking device 20 more effectively than conventional methods when the inertial measuring device 80 is mounted on the control board 61.

[0062] Preferably, when the first inertial measuring device 81 and the second inertial measuring device 82 are observed in the thickness direction of the control substrate 61, at least a portion of the first inertial measuring device 81 and the second inertial measuring device 82 overlap. By mounting the first inertial measuring device 81 and the second inertial measuring device 82 in close proximity, the deflection of the substrate 61 at the mounting position of the first inertial measuring device 81 and the deflection of the substrate 61 at the mounting position of the second inertial measuring device 82 become similar. Therefore, the common-mode noise components included in the signals output by the first inertial measuring device 81 and the second inertial measuring device 82 become similar. Consequently, by mounting the first inertial measuring device 81 and the second inertial measuring device 82 in such positions, the common-mode noise component remaining in the difference between the first physical quantity and the second physical quantity can be further reduced. Therefore, by mounting the first inertial measuring device 81 and the second inertial measuring device 82 in such positions, instability in the control of the brake fluid pressure of the braking device 20 can be further suppressed.

[0063] Preferably, the first inertial measuring device 81 is mounted on the first surface 61a of the control board 61. The second inertial measuring device 82 is mounted on the second surface 61b of the control board 61, which is the surface opposite to the first surface 61a. By mounting the first inertial measuring device 81 and the second inertial measuring device 82 on different sides of the control board 61 in this way, even when using the same type of inertial measuring device for both the first and second inertial measuring devices 81, the Z2 axis of the second inertial measuring device 82 will have a positive direction opposite to the positive direction of the Z1 axis of the first inertial measuring device 81. In other words, by mounting the first and second inertial measuring devices 81 and the second inertial measuring device 82 on different sides of the control board 61 in this way, the same type of inertial measuring device can be used for both the first and second inertial measuring devices 81 and 82. Furthermore, when the first inertial measuring device 81 and the second inertial measuring device 82 are observed in the thickness direction of the control board 61, if they are configured so that at least a portion of the first inertial measuring device 81 and the second inertial measuring device 82 overlap, mounting the first inertial measuring device 81 and the second inertial measuring device 82 on different surfaces of the control board 61 in this manner makes it easier to mount the first inertial measuring device 81 and the second inertial measuring device 82 onto the control board 61.

[0064] Preferably, the motor 40 and the control board 61 are connected by terminal 41. In a hydraulic control unit in which the motor and the control board are connected by terminals, vibrations are easily transmitted to the control board, and the signal output by the inertial measuring device mounted on the control board is prone to containing common-mode noise components. For this reason, it is preferable to configure a hydraulic control unit with such a configuration as the hydraulic control unit 50 according to this embodiment.

[0065] Preferably, when the motor 40 and the control board 61 are connected by terminal 41, a connector 70 is provided to connect the control board 61 to an external device, and the connector 70 is fixed to the housing 55. The first inertial measuring device 81 and the second inertial measuring device 82 are mounted on the control board 61 in the area on the connector 70 side, with reference to the connection portion between terminal 41 and the control board 61. Since the connector 70 is fixed to the housing 55, the connection point between the connector 70 and the control board 61 is less prone to bending. Therefore, the area of ​​the control board 61 on the connector 70 side, relative to the connection point between terminal 41 and the control board 61, is an area of ​​the control board 61 where bending due to vibration is less likely to occur. Therefore, by mounting the first inertial measuring device 81 and the second inertial measuring device 82 in this area, the common-mode noise components of the first and second physical quantities are reduced. Consequently, the common-mode noise component remaining in the difference between the first and second physical quantities can be further reduced. Therefore, by mounting the first inertial measuring device 81 and the second inertial measuring device 82 in this area, instability in the control of the brake fluid pressure of the braking device 20 can be further suppressed.

[0066] Preferably, the second inertial measuring device 82 is mounted on the control board 61 in a position that detects a physical quantity opposite to the physical quantity detected by the first inertial measuring device 81. This eliminates the need to correct the axis angle of the physical quantity measured by the first inertial measuring device 81 or the second inertial measuring device 82 through calculation, making it easier to acquire the first physical quantity, the second physical quantity, and the difference between the first and second physical quantities.

[0067] Although the hydraulic control unit 50 according to this embodiment has been described above, the hydraulic control unit according to the present invention is not limited to the description of this embodiment, and only a part of this embodiment may be implemented. [Explanation of symbols]

[0068] 1 Body, 2 Handle, 3 Front wheel, 3a Rotor, 4 Rear wheel, 4a Rotor, 10 Brake system, 11 Brake lever, 12 First hydraulic circuit, 13 Brake pedal, 14 Second hydraulic circuit, 20 Braking device, 21 Master cylinder, 22 Reservoir, 23 Brake caliper, 24 Wheel cylinder, 25 Main flow path, 25a Intermediate section, 25b Intermediate section, 26 Sub-flow path, 26a End section, 26b End section, 27 Supply flow path, 27a End section, 27b End section, 27c Intermediate section, 28 Fill valve, 29 Release valve, 30 Accumulator, 31 Pump, 32 First switching valve, 33 Second switching valve, 34 Master cylinder side pressure sensor, 35 Wheel cylinder side pressure sensor, 36 Coil, 37 Terminal, 40 Motor, 41 Terminal, 50 Hydraulic control unit, 51 base body, 51a surface, 55 housing, 56 pin, 60 control device, 61 control board, 61a first surface, 61b second surface, 62 physical quantity acquisition unit, 63 control unit, 70 connector, 71 terminal, 72 terminal holding unit, 80 inertial measuring device, 81 first inertial measuring device, 82 second inertial measuring device, 100 vehicle, MP master cylinder port, WP wheel cylinder port.

Claims

1. At least a portion of it is composed of a control board (61), and it includes a control device (60) that controls the pressure of the brake fluid of the braking device (20) that brakes the vehicle (100) according to the physical quantity detected by the inertial measuring device (80), A hydraulic control unit (50) is mounted on a vehicle (100) and has the control board (61) housed inside, The inertial measuring device (80) comprises a first inertial measuring device (81) and a second inertial measuring device (82) mounted on the control board (61), The control device (60) is A physical quantity acquisition unit (62) acquires a first physical quantity based on the detection result of the first inertial measuring device (81) and a second physical quantity in the opposite direction to the first physical quantity based on the detection result of the second inertial measuring device (82), A control unit (63) that controls the pressure according to the difference between the first physical quantity and the second physical quantity, A pump (31) for discharging brake fluid from the braking device (20), The motor (40) is the driving source for the pump (31), A housing (55) for housing the control board (61), A connector (70) that connects the control board (61) and an external device, Equipped with, The motor (40) and the control board (61) are connected by a terminal (41). The first inertial measuring device (81) and the second inertial measuring device (82) are mounted on the control board (61) in the region that is on the connector (70) side, with reference to the connection portion between the terminal (41) and the control board (61). When the first inertial measuring device (81) and the second inertial measuring device (82) are observed in the thickness direction of the control board (61), the first inertial measuring device (81) and the second inertial measuring device (82) are mounted closer to the connector (70) than to the motor (40). Hydraulic control unit (50).

2. When the first inertial measuring device (81) and the second inertial measuring device (82) are observed in the thickness direction of the control board (61), at least a portion of the first inertial measuring device (81) and the second inertial measuring device (82) overlap. The hydraulic control unit (50) according to claim 1.

3. The first inertial measuring device (81) is mounted on the first surface (61a) of the control board (61), The second inertial measuring device (82) is mounted on the second surface (61b) of the control board (61), which is the surface opposite to the first surface (61a). A hydraulic control unit (50) according to claim 1 or claim 2.

4. The second inertial measuring device (82) is mounted on the control board (61) in a position that detects a physical quantity opposite to the physical quantity detected by the first inertial measuring device (81). A hydraulic control unit (50) according to any one of claims 1 to 3.

5. The hydraulic control unit (50) is provided according to any one of claims 1 to 4. Vehicle (100).

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