To provide a brake controller capable of accomplishing a good brake feeling.
On the basis of the feedforward control law and the feedback control law, the brake controller corrects the target deceleration GxRef calculated on the basis of the pedal stroke ST and the master cylinder pressure PMC. Because in particular, an efficacy measurement correction term learnt on the basis of the brake pad condition is used to the feedforward term KFF, this involves less influence such as secular deterioration etc. of constituent elements of the brake device during the feedback control. Accordingly hunting of the control amount can be precluded or suppressed. Also the feedback control is executed continuously while the feedforward term KFF is taken into account, so that the followup performance of the control can be held. As a result, even if there is turbulence resulting from a secular deterioration etc. of any constituent element(s) of the brake device, it is possible to hold a good brake feeling while the stability of the control system is well maintained.
COPYRIGHT: (C)2007,JPO&INPIT
Yusuke Murata
Tomoyuki Miki