JP2018172033A - Brake system for vehicles - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular brake system with electric brakes which achieves a low cost.SOLUTION: A vehicular brake system 1 includes: electric brakes 16a to 16d; and control devices 11 to 15 with a plurality of controllers. The plurality of controllers include: first controllers (30, 40, 41) for controlling drivers 60 to 63 for wheels Wa and Wb; and second controllers (50, 51) for controlling drivers 64 and 65 for wheels Wc and Wd. The first controllers (30, 40, 41) include brake force arithmetic sections 302, 402, and 412 for computing brake force of the electric brakes 16a to 16d for wheels Wa to Wd. The second controllers (50, 51) include driver control sections 500 and 510 for controlling the drivers 64 and 65 on the basis of the brake force arithmetic results of the brake force arithmetic sections 302, 402, and 412.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle brake system including an electric brake.

  An electric brake system equipped with a large number of control devices and a large number of microcomputers (hereinafter referred to as “microcomputers”) has been proposed (Patent Document 1). In this system, a central control device and a control device for each wheel are provided, and the main microcomputer of all the control devices can calculate a target pressure based on a detection signal from a sensor or the like. In this system, since a large number of microcomputers capable of calculating the target pressure force are mounted, the cost of the entire system tends to increase.

JP 2001-138882 A

  An object of the present invention is to provide a vehicular brake system that includes an electric brake and that realizes low cost.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following aspects or application examples.

[Application Example 1]
The vehicle brake system according to this application example is
A brake system for a vehicle, comprising: an electric brake including at least one electric actuator for pressing the friction pad toward the rotor; a driver that drives the electric actuator; and a control device including a plurality of controllers connected to each other. In
The plurality of controllers are:
A first controller for controlling the driver of the electric brake for a front wheel;
A second controller for controlling the driver of the electric brake for rear wheels;
Including
The first controller includes a braking force calculation unit that calculates a braking force of the electric brake for the front wheel and a braking force of the electric brake for the rear wheel,
The second controller includes a driver control unit that controls the driver based on a braking force calculation result of the braking force calculation unit.

  According to the vehicle brake system according to this application example, since the second controller does not require a braking force calculation unit, an inexpensive controller can be adopted as the second controller, and the low cost of the vehicle brake system can be achieved. Can be achieved.

[Application Example 2]
In the vehicle brake system according to the application example,
The first controller includes a master controller and a sub-controller,
The master controller includes a driver control unit that controls the driver of the electric brake for the front wheels,
The sub-controller may include a driver control unit that controls the driver of the electric brake for the front wheels.

  According to the vehicle brake system according to this application example, the redundancy of the electric brake for the front wheels can be achieved. Moreover, according to the vehicle brake system according to this application example, variations in control can be increased by using the master controller and the sub-controller.

[Application Example 3]
In the vehicle brake system according to the application example,
The driver of the electric brake for the front wheel includes a first driver that can be controlled by the driver control unit of the master controller, and a second driver that can be controlled by the driver control unit of the sub-controller. ,
The master controller may further include a behavior control unit that controls the behavior of the vehicle.

  According to the vehicular brake system according to this application example, by providing the first driver of the master controller separately from the second driver of the sub-controller, redundancy of the electric brake for the front wheels can be achieved. Moreover, according to the vehicle brake system according to this application example, precise braking control can be performed on the front wheel electric brake, and controllability can be improved.

[Application Example 4]
In the vehicle brake system according to the application example,
A plurality of control devices including at least one of the first controller and the second controller may be included.

  According to the vehicle brake system according to this application example, the heat generation amount per control device can be suppressed by arranging the controller in a plurality of control devices. In addition, according to the vehicle brake system according to this application example, it is possible to improve the mountability to the vehicle by arranging the controller in a plurality of control devices.

[Application Example 5]
In the vehicle brake system according to the application example,
The vehicle brake system is for a four-wheeled vehicle,
The second controller is
A controller for the left rear wheel that controls the driver of the electric brake for the left rear wheel;
A controller for the right rear wheel that controls the driver of the electric brake for the right rear wheel;
Can be included.

  According to the vehicle brake system according to this application example, the electric brakes for the rear wheels can be made redundant by providing controllers on the left and right of the rear wheels.

[Application Example 6]
In the vehicle brake system according to the application example,
The master controller, the sub-controller, and the second controller are arranged in different control devices, respectively.
A brake pedal stroke simulator and a stroke sensor may be integrally provided in the control device in which the master controller is arranged.

  According to the vehicle brake system according to this application example, the stroke simulator and the stroke sensor are integrally provided in the control device in which the master controller is arranged, so that the vehicle brake system can be saved in space and the vehicle can be saved. Can be improved.

1 is an overall configuration diagram illustrating a vehicle brake system according to an embodiment. It is a block diagram which shows the master controller of the vehicle brake system which concerns on this embodiment, a 1st, 2nd sub controller, and a 1st, 2nd slave controller. It is a whole block diagram which shows the brake system for vehicles which concerns on the modification 1. It is a block diagram which shows the master controller of the brake system for vehicles which concerns on the modification 1, a 1st, 2nd sub controller, and a 3rd slave controller.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The drawings used in this description are for convenience of description. The embodiments described below do not unduly limit the contents of the present invention described in the claims. Also, not all of the configurations described below are essential constituent requirements of the present invention.

  The vehicle brake system according to the present embodiment includes an electric brake including at least one electric actuator for pressing the friction pad toward the rotor, a driver for driving the electric actuator, and a plurality of controllers connected to each other. In the vehicle brake system, the plurality of controllers controls a first controller that controls the driver of the electric brake for front wheels and the driver of the electric brake for rear wheels. A second controller, and the first controller includes a braking force calculation unit that calculates a braking force of the electric brake for the front wheel and a braking force of the electric brake for the rear wheel, The second controller controls the driver based on a braking force calculation result of the braking force calculation unit. Characterized in that it comprises a driver control unit that.

1. Vehicle Brake System A vehicle brake system 1 according to the present embodiment will be described in detail with reference to FIGS. 1 and 2. FIG. 1 is an overall configuration diagram showing a vehicle brake system 1 according to this embodiment, and FIG. 2 is a master controller 30, first and second sub-controllers 40, 41 of the vehicle brake system 1 according to this embodiment. FIG. 3 is a block diagram showing first and second slave controllers 50 and 51.

  As shown in FIG. 1, the vehicle brake system 1 includes electric brakes 16 a to 16 d including at least one motor 80 to 85 that are electric actuators for pressing a friction pad (not shown) to the rotor side, and motors 80 to 85. Drivers 60 to 65, and control devices 11 to 15 each having a plurality of controllers connected to each other.

  A rotor (not shown) is provided on each of the wheels Wa to Wd of the vehicle VB that is a four-wheeled vehicle and rotates integrally with the wheels Wa to Wd. The vehicle VB is not limited to a four-wheeled vehicle. Further, a plurality of motors may be provided for one electric brake, and a plurality of electric brakes may be provided for one wheel.

The plurality of controllers includes a first controller (30, 40, 41) for controlling the drivers 60 to 63 of the electric brakes 16a, 16b for the wheels Wa, Wb (front wheels) and a wheel Wc, Wd (rear wheels). And a second controller (50, 51) for controlling the drivers 64, 65 of the electric brakes 16c, 16d.

  As shown in FIG. 1 and FIG. 2, the first controller (30, 40, 41) includes the braking force of the electric brakes 16a, 16b for the wheels Wa, Wb (front wheels) and the wheels Wc, Wd (rear wheels). Braking force calculation units 302, 402, and 412 for calculating the braking force of the electric brakes 16c and 16d for use. The second controller (50, 51) includes driver control units 500, 510 that control the drivers 64, 65 based on the braking force calculation results of the braking force calculation units 302, 402, 412. Since the second controller (50, 51) does not require the braking force calculation units 302, 402, 412, an inexpensive controller can be employed as the second controller (50, 51), and the vehicle brake system 1 The cost can be reduced. The first controller (30, 40, 41) and the second controller (50, 51) will be described in detail in “1-3. Control device” below.

1-1. Electric brake The electric brake 16a provided on the left wheel (FL) of the front wheel includes a brake caliper 5a, motors 80 and 81 fixed to the brake caliper 5a via a speed reducer 4a, and friction not shown by the motors 80 and 81. A load sensor 6a for detecting a load applied to the pad. The motor 80 includes a rotation angle sensor 90 that detects the relative position of the rotation shaft with respect to its own stator. Since the motor 81 is coaxial with the motor 80, a rotation angle sensor is unnecessary. The detection signal of the load sensor 6a is input to the first sub-controller 40, and the detection signal of the rotation angle sensor 90 is input to the drivers 60 and 61.

  The electric brake 16b provided on the front wheel (FR) wheel Wb includes a brake caliper 5b, motors 82 and 83 fixed to the brake caliper 5b via the speed reducer 4b, and a friction pad (not shown) by the motors 82 and 83. A load sensor 6b for detecting an applied load. The motor 82 includes a rotation angle sensor 92 that detects the relative position of the rotation shaft with respect to its own stator. Since the motor 83 is coaxial with the motor 82, a rotation angle sensor is unnecessary. The detection signal of the load sensor 6b is input to the second sub-controller 41, and the detection signal of the rotation angle sensor 92 is input to the drivers 62 and 63.

  The electric brake 16c provided on the rear wheel (RL) wheel Wc includes a brake caliper 5c, a motor 84 fixed to the brake caliper 5c via the speed reducer 4c, and a load applied to a friction pad (not shown) by the motor 84. And a load sensor 6c for detecting. The motor 84 includes a rotation angle sensor 94 that detects the relative position of the rotation shaft with respect to its own stator. The detection signal of the load sensor 6 c is input to the first slave controller 50, and the detection signal of the rotation angle sensor 94 is input to the driver 64.

  The electric brake 16d provided on the rear wheel (RR) wheel Wd includes a brake caliper 5d, a motor 85 fixed to the brake caliper 5d via the speed reducer 4d, and a load applied to a friction pad (not shown) by the motor 85. A load sensor 6d for detecting. The motor 85 includes a rotation angle sensor 95 that detects the relative position of the rotation shaft with respect to its own stator. The detection signal of the load sensor 6d is input to the second slave controller 51, and the detection signal of the rotation angle sensor 95 is input to the driver 65.

  The brake calipers 5a to 5d are integrally formed with claw portions that are formed in a substantially C shape and extend to the opposite side across a rotor (not shown).

  The reduction gears 4a to 4d are fixed to the brake calipers 5a to 5d, and transmit torque generated by the rotation of the motors 80 to 85 to a linear motion mechanism (not shown) built in the brake calipers 5a to 5d.

  As the linear motion mechanism, a known mechanism in the electric brake can be adopted. The linear motion mechanism converts the rotation of the motors 80 to 85 into the linear motion of the friction pad via the speed reducers 4a to 4d. The linear motion mechanism presses the friction pad against the rotor and suppresses the rotation of the wheels Wa to Wd.

  As the motors 80 to 85, known electric motors can be adopted, for example, brushless DC motors. By driving the motors 80 to 85, the friction pads are moved via the speed reducers 4a to 4d and the linear motion mechanism. Although the example which employ | adopted the motor as an electric actuator is demonstrated, you may employ | adopt not only this but another well-known actuator.

1-2. Input Device A vehicle brake system 1 includes a control device 10, a brake pedal 2 as an input device, and a stroke simulator 3 connected to the brake pedal 2. The brake pedal 2 includes a second stroke sensor 21 and a third stroke sensor 22 that detect an operation amount of the driver's brake pedal 2. The stroke simulator 3 includes a first stroke sensor 20 that detects an operation amount of the brake pedal 2.

  The control device 10 is integrally provided with a stroke simulator 3 and first to third stroke sensors 20 to 22. The control device 10 is integrally fixed to a control device 11 in which a master controller 30 described later is disposed. Therefore, the stroke simulator 3 and the first to third stroke sensors 20 to 22 are integrally provided in the control device 11 via the control device 10. Since the stroke simulator 3 and the first to third stroke sensors 20 to 22 are integrally provided in the control device 11 in which the master controller 30 is disposed, the vehicle brake system 1 can be saved in space and the vehicle VB can be saved. Can be improved.

  Each of the stroke sensors 20 to 22 independently generates an electrical detection signal corresponding to a depression stroke and / or a depression force, which is a kind of operation amount of the brake pedal 2. The first stroke sensor 20 transmits a detection signal to a master controller 30 to be described later, the second stroke sensor 21 transmits a detection signal to a first sub-controller 40 to be described later, and the third stroke sensor 22 is a second sub-controller to be described later. A detection signal is transmitted to 41.

  The vehicle VB includes a plurality of control devices (hereinafter referred to as “other control devices 1000”) provided in systems other than the vehicle brake system 1 as input devices to the vehicle brake system 1. The other control device 1000 is connected to the master controller 30 of the control device 11 and the first sub-controller 40 of the control device 12 by CAN (Controller Area Network), and communicates information related to the brake operation with each other.

1-3. Control Device The vehicle brake system 1 includes a plurality (for example, five) of control devices 11 to 15. Redundancy of the vehicular brake system 1 can be achieved by performing separate control with five control devices. Control devices 11 to 15 are independently arranged at predetermined positions of vehicle VB. The control devices 11 to 15 are electronic control units (ECUs). Each of the control devices 11 to 15 is accommodated in a casing made of synthetic resin. In addition, although the example using five control apparatuses is demonstrated, you may change the number of control apparatuses in consideration of arrangement | positioning and redundancy in the vehicle VB.

  The five control devices 11 to 15 are connected by CAN and communicate. In CAN communication, unidirectional and bidirectional information is transmitted. Note that communication between ECUs is not limited to CAN.

  The five control devices 11 to 15 are electrically connected to three batteries 100, 101, and 102 that are independent of each other. The batteries 100, 101, and 102 supply power to the electronic components provided in the five control devices 11 to 15. The batteries 100, 101, 102 of the vehicle brake system 1 are arranged at predetermined positions of the vehicle VB.

  As described above, the first controller (30, 40, 41) is a controller that controls the drivers 60 to 63 of the electric brakes 16a, 16b for the wheels Wa, Wb (front wheels), and the second controller (50, 51) is a controller that controls the drivers 64 and 65 of the electric brakes 16c and 16d for the wheels Wc and Wd (rear wheels). The first controller includes a master controller 30 and a sub controller. In the vehicle brake system 1 of FIG. 1, the sub-controllers are a first sub-controller 40 and a second sub-controller 41.

  As shown in FIGS. 1 and 2, the master controller 30 includes a driver control unit 301 that controls the drivers 61 and 63 of the electric brakes 16 a and 16 b for the wheels Wa and Wb (front wheels). The first sub-controller 40 includes a driver control unit 400 that controls the driver 60 of the electric brake 16a for the wheel Wa (the left front wheel). The second sub-controller 41 includes a driver control unit 410 that controls the driver 62 of the electric brake 16b for the wheel Wb (right front wheel). Redundancy of the electric brakes 16a, 16b for the wheels Wa, Wb (front wheels) can be achieved by the master controller 30 and the sub controller (the first sub controller 40 and / or the second sub controller 41). Moreover, the variation of control can be increased by using the master controller 30 and the sub-controller (the first sub-controller 40 and / or the second sub-controller 41).

  The drivers 60 to 63 of the electric brakes 16 a and 16 b for the wheels Wa and Wb (front wheels) are drivers 61 and 63 as first drivers that can be controlled by the driver control unit 301 of the master controller 30, and the first sub-controller 40. The driver 60 as a second driver that can be controlled by the driver control unit 400 and the driver 62 as a second driver that can be controlled by the driver control unit 410 of the second sub-controller 41 are included. Master controller 30 further includes a behavior control unit 303 that controls the behavior of vehicle VB. Redundancy of the electric brakes 16a and 16b for the wheels Wa and Wb (front wheels) is provided by providing the drivers 61 and 63 of the master controller 30 separately from the drivers 60 and 62 of the first and second sub-controllers 40 and 41. Can do. Further, the first driver (61, 63) and the second driver (60, 62) can execute precise braking control on the electric brakes 16a, 16b for the wheels Wa, Wb (front wheels). It is possible to improve the performance.

  A plurality (five) of control devices (11-15) including at least one of the first controller (30, 40, 41) and the second controller (50, 51) can be included. By disposing the controller in a plurality of control devices (11 to 15), the amount of heat generated per control device can be suppressed. That is, it is possible to reduce the influence on the electronic device due to the heat generated by the microcomputer. Moreover, the mounting property to the vehicle VB can be improved by arranging the controllers separately for the plurality of control devices (11 to 15). This is because if the control devices 11 to 15 can be reduced in size, mounting on the vehicle VB becomes easier.

  The master controller 30, the sub-controllers (first and second sub-controllers 40 and 41), and the second controller (50 and 51) are arranged in separate control devices (11 to 15), respectively.

The vehicle brake system 1 is for a four-wheeled vehicle. The second controller (50, 51) includes a controller (50) for the wheel Wc (left rear wheel) that controls the driver 64 of the electric brake 16c for the wheel Wc (left rear wheel), and a wheel Wd (right rear wheel). And a controller (51) for the wheel Wd (right rear wheel) for controlling the driver 65 of the electric brake 16d. By providing the controllers (50, 51) on the left and right of the wheels Wc, Wd (rear wheels), the electric brakes 16c, 16d for the wheels Wc, Wd (rear wheels) can be made redundant.

  The controller for the wheel Wc (left rear wheel) is the first slave controller 50, and the controller for the wheel Wd (right rear wheel) is the second slave controller 51.

  The control device 11 includes a master controller 30, the control device 12 includes a first sub-controller 40, the control device 13 includes a second sub-controller 41, the control device 14 includes a first slave controller 50, and the control device 15 Includes a second slave controller 51.

  Each of the master controller 30, the first and second sub-controllers 40 and 41, and the first and second slave controllers 50 and 51 is a microcomputer. Each controller will be described in detail below.

  The master controller 30 includes a driver control unit 301 that controls the drivers 61 and 63, a braking force calculation unit 302 that calculates the braking force of the electric brakes 16a to 16d, and a behavior control unit 303 that controls the behavior of the vehicle VB. Including. The master controller 30 requires high performance in order to provide the behavior control unit 303 (the behavior control unit 303 will be described later), and the first and second sub-controllers 40 and 41 and the first and second slave controllers 50 and 51 are required. Compared to the controller, it becomes a relatively expensive controller.

  The first sub-controller 40 includes a driver control unit 400 that controls the driver 60, and a braking force calculation unit 402 that calculates the braking force of the electric brakes 16a to 16d. The second sub-controller 41 includes a driver control unit 410 that controls the driver 62, and a braking force calculation unit 412 that calculates the braking force of the electric brakes 16a to 16d. Since the first and second sub-controllers 40 and 41 do not include a behavior control unit, a microcomputer that is less expensive than the master controller 30 can be employed, which contributes to cost reduction.

  The first slave controller 50 does not have a braking force calculation unit, and controls the driver 64 based on the braking force calculation result of at least one of the master controller 30 and the first and second sub-controllers 40 and 41. A driver control unit 500 is included. The second slave controller 51 does not have a braking force calculation unit, and controls the driver 65 based on the braking force calculation result of the master controller 30 and at least one of the first and second sub-controllers 40 and 41. A driver control unit 510 is included. Since the first slave controller 50 and the second slave controller 51 do not have a braking force calculation unit, a relatively inexpensive microcomputer can be employed as compared with the first and second sub-controllers 40 and 41.

  Drivers 60 to 65 control driving of the motors 80 to 85. Specifically, the driver 60 controls the driving of the motor 80, the driver 61 controls the driving of the motor 81, the driver 62 controls the driving of the motor 82, the driver 63 controls the driving of the motor 83, and the driver Reference numeral 64 controls the driving of the motor 84, and the driver 65 controls the driving of the motor 85. The drivers 60 to 65 control the motors 80 to 85 by, for example, a sine wave driving method. Further, the drivers 60 to 65 are not limited to the sine wave driving method, and may be controlled by, for example, rectangular wave current.

The drivers 60 to 65 include power supply circuits and inverters that supply electric power to the motors 80 to 85 according to instructions from the driver control units 301, 400, 410, 500, and 510.

  The braking force calculation units 302, 402, and 412 calculate the braking force (required value) based on the detection signals of the stroke sensors 20 to 22 corresponding to the operation amount of the brake pedal 2. Further, the braking force calculation units 302, 402, and 412 can calculate the braking force (required value) based on a signal from another control device 1000.

  The driver control units 301, 400, 410, 500, 510 are drivers 60-65 based on the braking force (required value) calculated by the braking force calculation units 302, 402, 412 and the detection signals of the load sensors 6a-6d. To control. Drivers 60 to 65 supply driving sine wave currents to motors 80 to 85 in accordance with instructions from driver control units 301, 400, 410, 500, and 510. Currents supplied to the motors 80 to 85 are detected by current sensors 70 to 75.

  The behavior control unit 303 outputs a signal for controlling the behavior of the vehicle VB to the driver control units 301, 400, 410, and 500. It is a behavior other than simple braking according to the operation of the normal brake pedal 2, for example, ABS (Antilock Brake System) which is a control for preventing the lock of the wheel, TCS (control which suppresses the idling of the wheels Wa to Wd) (Traction Control System), behavior stabilization control that is control for suppressing the side slip of the vehicle VB.

  The master controller 30 and the first and second sub-controllers 40 and 41 include determination units 304, 404, and 414 that determine the braking force by comparing the braking force calculation results of other controllers. Since the master controller 30 and the first and second sub-controllers 40, 41 have the determination units 304, 404, 414, the vehicle brake can be used by properly using the controllers (30, 40, 41) according to the braking force calculation result. Redundancy of the system 1 can be realized.

  The determination units 304, 404, and 414 determine the braking force by comparing the braking force calculation results of other controllers. The other controllers are the first sub controller 40 and the second sub controller 41 for the determination unit 304, the master controller 30 and the second sub controller 41 for the determination unit 404, and the master controller 30 for the determination unit 414. And a first sub-controller 40. For example, the determination units 304, 404, and 414 calculate the calculation result in the braking force calculation unit 302 of the master controller 30, the calculation result in the braking force calculation unit 402 of the first sub controller 40, and the braking force calculation of the second sub controller 41. The calculation result in the unit 412 is compared, and it is determined by the majority vote which calculation result is adopted as the braking force. For example, if only the calculation result of the braking force calculation unit 402 is different from other calculation results, the master controller 30 controls the driver 61 and the driver 63 based on the calculation results of the braking force calculation unit 302 and the braking force calculation unit 412. That is, the determination units 304, 404, and 414 make the vehicle brake system 1 redundant.

2. Modification 1
A vehicle brake system 1a according to the first modification will be described with reference to FIGS. FIG. 3 is an overall configuration diagram showing a vehicle brake system 1a according to Modification 1. FIG. 4 shows a master controller 30, first and second sub-controllers 40, 41 of the vehicle brake system 1a according to Modification 1. 3 is a block diagram showing a third slave controller 52. FIG. In the following description, the same components as those in the vehicle brake system 1 in FIGS. 1 and 2 are denoted by the same reference numerals in FIGS. 3 and 4 and detailed description thereof is omitted.

  As shown in FIGS. 3 and 4, the vehicle brake system 1 a includes four control devices 11 to 13 and 16.

  In the vehicle brake system 1a according to the first modified example, instead of the first and second slave controllers 50 and 51, the second controller that executes braking of the wheels Wc and Wd (rear wheels) in FIGS. A third slave controller 52 is arranged, and includes one control device 16 instead of the two control devices 14 and 15. The control device 16 includes a third slave controller 52, drivers 64 and 65, and current sensors 74 and 75. The third slave controller 52 includes a driver control unit 520 that controls the drivers 64 and 65.

  By using the second controller as one third slave controller 52, the entire vehicle brake system 1a can be simplified and the cost can be reduced. Further, since the third slave controller 52 does not have a braking force calculation unit, a relatively inexpensive microcomputer can be employed as compared with the first and second sub-controllers 40 and 41.

  The present invention is not limited to the above-described embodiments, and various modifications can be made. For example, the present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations that have the same functions, methods, and results, or configurations that have the same objects and effects). In addition, the invention includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. In addition, the present invention includes a configuration that exhibits the same operational effects as the configuration described in the embodiment or a configuration that can achieve the same object. In addition, the invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

DESCRIPTION OF SYMBOLS 1,1a ... Brake system for vehicles, 2 ... Brake pedal, 3 ... Stroke simulator, 4a-4d ... Reduction gear, 5a-5d ... Brake caliper, 6a-6d ... Load sensor, 10-16 ... Control device, 16a-16d DESCRIPTION OF SYMBOLS ... Electric brake, 20 ... 1st stroke sensor, 21 ... 2nd stroke sensor, 22 ... 3rd stroke sensor, 30 ... Master controller, 301 ... Driver control part, 302 ... Braking force calculating part, 303 ... Behavior control part, 304 Determining unit, 40 ... first sub controller, 400 ... driver control unit, 402 ... braking force calculation unit, 404 ... determination unit, 41 ... second sub controller, 410 ... driver control unit, 412 ... braking force calculation unit, 414 ... determination unit, 50 ... first slave controller, 500 ... driver control unit, 51 ... second slave controller 510: Driver control unit, 52: Third slave controller, 520: Driver control unit, 60-65 ... Driver, 70-75 ... Current sensor, 80-85 ... Motor, 90, 92, 94, 95 ... Rotation angle sensor, 100 to 102 ... battery, 1000 ... other control device, VB ... vehicle, Wa to Wd ... wheel

Claims (6)

A brake system for a vehicle, comprising: an electric brake including at least one electric actuator for pressing the friction pad toward the rotor; a driver that drives the electric actuator; and a control device including a plurality of controllers connected to each other. In
The plurality of controllers are:
A first controller for controlling the driver of the electric brake for a front wheel;
A second controller for controlling the driver of the electric brake for rear wheels;
Including
The first controller includes a braking force calculation unit that calculates a braking force of the electric brake for the front wheel and a braking force of the electric brake for the rear wheel,
The second controller includes a driver control unit that controls the driver based on a braking force calculation result of the braking force calculation unit. In claim 1,
The first controller includes a master controller and a sub-controller,
The master controller includes a driver control unit that controls the driver of the electric brake for the front wheels,
The vehicular brake system, wherein the sub-controller includes a driver control unit that controls the driver of the electric brake for the front wheel. In claim 2,
The driver of the electric brake for the front wheel includes a first driver that can be controlled by the driver control unit of the master controller, and a second driver that can be controlled by the driver control unit of the sub-controller. ,
The master controller further includes a behavior control unit that controls the behavior of the vehicle. In any one of Claims 1-3,
A vehicular brake system including a plurality of control devices including at least one of the first controller and the second controller. In any one of Claims 1-4,
The vehicle brake system is for a four-wheeled vehicle,
The second controller is
A controller for the left rear wheel that controls the driver of the electric brake for the left rear wheel;
A controller for the right rear wheel that controls the driver of the electric brake for the right rear wheel;
A brake system for a vehicle, comprising: In claim 2,
The master controller, the sub-controller, and the second controller are arranged in different control devices, respectively.
A brake system for a vehicle, wherein a brake pedal stroke simulator and a stroke sensor are integrally provided in the control device in which the master controller is arranged.

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