JP2010164308A - Special braking assist method and device for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a special braking assist method capable of eliminating variations caused by the difference in the skill among test drivers, performing complicated and special braking, achieving higher evaluation accuracy and less number of evaluation tests and remarkably improving the evaluation efficiency, and a device for the same. <P>SOLUTION: In the braking assist method for evaluating the brake performance of a test vehicle by operating an actuator 10 attached on a brake pedal 22, in addition to control by a control part 2 to the actuator 10 based on a feedback signal from each sensor, a control pattern taking in constant, stable, complicated and special braking conditions can be selected and performed, without being affected by variations among test drivers, by setting a control pattern enabling complicated special control to the actuator 10 by oil pressure corresponding to evaluation items of the brake performance by a control setting part 1 in advance. Owing to high evaluation accuracy, the evaluation efficiency can be remarkably improved. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a braking support method and apparatus for evaluating a brake performance of the vehicle under test by operating an actuator mounted on a brake pedal of the vehicle under test.

  Currently, various types of support devices have been proposed for use in evaluating the braking performance of vehicles. And with regard to the evaluation of brake performance, of course, the evaluation of the brake itself is of course, along with the advancement of evaluation technology, such as evaluation tests on squeal and abnormal noise during braking, effectiveness characteristics of the brake, feeling evaluation during braking, etc. Evaluation tests based on complex and special braking conditions that are different from the conventional ones are now required. Therefore, a test driver who rides on the vehicle under test and performs an evaluation test operates the brake pedal to perform the evaluation test under various complicated and special braking conditions. However, in order for a test driver to perform special braking, there are individual differences in the skill and experience of the test driver, and it has been difficult to perform constant and stable appropriate braking. For this reason, some support devices used for evaluating brake performance have been proposed (see, for example, the following patent documents).

JP 2001-142506 A (refer to the gazette abstract)

Anthony Best Dynamics "Brake Robot" (Browsing on the Internet 11.11.30, see https://www.abd.uk.com/)

  The vehicle with the operation support function of the first conventional example disclosed in Patent Document 1 will be briefly described with reference to FIG. 16, because there is a difference in operation pattern between the skilled operator and the unskilled operator. The operation pattern is determined by the operator determination device 150, the skill level of the operator is evaluated, and the weight of the output from the learning controller 134 is automatically set using the result. The operation commands by the operators having various skill levels are obtained by multiplying the operation signal 145 from the operation lever 144 by the coefficient k1 by the multiplier 151 and the output of the learning controller 134 by the multiplier 152 for each actuator. By multiplying the product by the adder 143, the weighting of the operation signal and the learning controller output can be changed by changing the ratio between the coefficients k1 and k2. Regardless, it has made it possible to perform tasks equivalent to those operated by skilled operators.

  Next, a second conventional ABD brake robot disclosed in Document 2 will be briefly described with reference to FIG. In this brake robot, there is disclosed one in which a rod end of an actuator is pivotally supported on a connecting shaft fulcrum between a link member mounted on a brake pedal and a link member mounted on a frame installed on an occupant seat. Then, by operating the actuator, the link member attached to the brake pedal can step on the brake pedal and perform various brake performance evaluation tests.

However, in these conventional examples, in the vehicle with the operation support function of the first conventional example of FIG. 16, the operation equivalent to that performed by a skilled operator such as an unskilled operator is made possible. Therefore, it has been impossible to set constant, stable, appropriate, complex, special and diverse braking conditions for the brake performance evaluation test.
Moreover, although the brake robot of the second conventional example of FIG. 17 has a function as a support device for the brake performance evaluation test, it can be understood from the test data table described in the document 2. In addition, only the brake pedal depression force, the brake pedal stroke, and the feedback control from the vehicle acceleration / decelerometer are set as the control items, and this brake robot is also provided with a special braking function in advance as in the first conventional example. It was impossible to set conditions. Moreover, since the actuator does not directly press the brake pedal, there is a problem in quick response.

  Therefore, the present invention solves the problems in the conventional braking support device, eliminates the variation due to the skill difference of the test driver, can perform complicated and special braking, and has few evaluation tests with high evaluation accuracy. It is an object of the present invention to provide a special braking support method and apparatus that can realize the number of times to significantly improve evaluation efficiency.

  Therefore, the present invention provides a braking support method for evaluating the brake performance of the vehicle under test by operating an actuator mounted on a brake pedal of the vehicle under test, and a force sensor, a deceleration sensor, and a pedal for the actuator In addition to control by the control unit based on a feedback signal from a stroke sensor or the like, a control pattern that allows complex special control by hydraulic pressure corresponding to the evaluation item of the brake performance for the actuator is set in advance by the control setting unit It is characterized by keeping. Further, the present invention is characterized in that the special control by the hydraulic pressure is appropriately combined with control of pressure increase / reduction and pressure holding during one braking. Further, the present invention is characterized in that measurement data obtained by the control unit is stored / stored in the control setting unit or the like. The present invention also relates to a braking support apparatus for evaluating the braking performance of the vehicle under test by operating an actuator mounted on a brake pedal of the vehicle under test, and an actuator mounted on the brake pedal via an attachment. , A control unit that controls the actuator based on a feedback signal from a force sensor, a deceleration sensor, a pedal stroke sensor, and the like, and the control unit enables complicated special control by hydraulic pressure corresponding to an evaluation item of brake performance And a control setting unit for presetting a control pattern to be performed. In the present invention, the base end portion of the actuator is attached to a base frame on which an occupant seat is placed, and the tip end portion of the actuator attached to the brake pedal directly pushes and pulls the brake pedal. These are the means for solving the problems.

  According to the present invention, in a braking support method for operating the actuator mounted on the brake pedal of the vehicle under test to evaluate the brake performance of the vehicle under test, a force sensor, a deceleration sensor, and a pedal for the actuator In addition to control based on a feedback signal from a control unit such as a stroke sensor, a control pattern that allows complex special control by hydraulic pressure corresponding to the evaluation items of the brake performance for the actuator is set in advance by a control setting unit By doing so, it is possible to select and implement a control pattern that incorporates a fixed, stable, complex and special braking condition without being affected by variations due to the skill difference of the test driver. The evaluation efficiency can be remarkably improved by realizing the number of evaluation tests.

  In addition, when the special control by the hydraulic pressure is appropriately combined with control of pressure increase / decrease and pressure holding during one braking, in addition to the feedback control, more complicated, special and various braking conditions set in advance are set. On the other hand, since it can be dealt with only by the change control of the hydraulic pressure, it can be adapted to a wide range of brake evaluation tests requiring various evaluation items. Further, when the measurement data obtained by the control unit is stored / stored in the control setting unit or the like, the same braking performed later is facilitated in addition to facilitating comparative examination of the evaluation of the brake performance for each vehicle under test. It is possible to easily select and implement the braking conditions for the evaluation test under the conditions.

  Furthermore, in a braking support device for operating the actuator mounted on the brake pedal of the vehicle under test to evaluate the brake performance of the vehicle under test, an actuator mounted on the brake pedal via an attachment, A control unit that controls the actuator based on a feedback signal from a force sensor, a deceleration sensor, a pedal stroke sensor, etc., and a control that enables the control unit to perform complex special control by hydraulic pressure corresponding to the evaluation items of the brake performance Since the control setting unit that presets the pattern is used, the control unit that performs feedback control from each sensor is used as it is, and the control setting unit evaluates the brake performance of the actuator. A control pattern that enables complex special control by hydraulic pressure corresponding to the item It is possible to set because, without the device itself too complicated, it is possible that the endpoints variety adapt to a wide range of brake evaluation tests required.

  Further, when the base end portion of the actuator is attached to a base frame on which an occupant seat is placed, and the tip end portion of the actuator attached to the brake pedal directly pushes and pulls the brake pedal. Since it is not necessary to attach the base end portion of the actuator to the vehicle body or the like, there is no need to make a mounting hole in the vehicle body floor surface or the like, and the upper side including the base frame can be shared as a braking assist device. In addition, since the tip of the actuator is configured to push and pull the brake pedal directly, the actuator can efficiently operate the brake pedal without being dispersed.

It is a system schematic diagram of the special braking assistance device of the present invention. 3 is a schematic control flowchart of the special braking assistance device. It is a perspective view of the vicinity of the driver's seat of Example 1 in which the special braking assistance device of the present invention is adopted. FIG. FIG. 2 is a partial cross-sectional plan view of the vicinity of the driver seat. It is a perspective view which shows the base frame attachment rail member which removed the seat part similarly. FIG. 3 is a front view of the vicinity of the driver seat. FIG. 4 is a cross-sectional view of a principal part showing a connection state between the actuator and the brake pedal connection portion of the partial cross section. It is a perspective view of the driver seat vicinity of Example 2 by which the special braking assistance apparatus of this invention was employ | adopted. FIG. 10 is a front view of FIG. 9. FIG. 10 is a partial cross-sectional plan view of FIG. 9. FIG. It is a test result figure of constant control which is the same control pattern example. It is a test result figure of follow-up braking which is an example of a control pattern. It is a test result figure of stepping braking which is the same control pattern example. It is explanatory drawing of the vehicle with an operation assistance function of a 1st prior art example. It is an explanatory photograph figure of the brake robot of the 2nd conventional example.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments for carrying out a special braking support method and apparatus according to the invention will be described with reference to the drawings.

  As shown in FIG. 1A, the basic configuration of the present invention is braking for evaluating the brake performance of the vehicle under test by operating the actuator 10 mounted on the brake pedal 22 of the vehicle under test. In the support method, in addition to control by the control unit 2 based on feedback signals from the force sensor 12, the deceleration sensor 7, the pedal stroke sensor 11 and the like for the actuator 10, the brake performance evaluation item for the actuator 10 is used. A control pattern that enables complicated special control by corresponding hydraulic pressure is set by the control setting unit 1 in advance.

  In the braking device to which the special braking assist device of the present invention is not attached, the master cylinder 3 whose one end is supported by the pedal lever 21 is shown by the pedal lever 21 swinging about the support shaft when the brake pedal 22 is depressed. When the piston rod is pushed, the brake pressure oil acts on the left and right brakes 5 and 5 from the master cylinder 3 through the output pipe 6 to pinch the disc rotors 4 and 4 to generate a braking force. A hydraulic pressure sensor 9 is disposed in the output pipe 6, and an acceleration sensor 7 for detecting the acceleration / deceleration of the vehicle is disposed at an appropriate portion of the vehicle. A wheel speed sensor 8 comprising an encoder is attached to the wheel.

  The special braking assistance device of the present invention is attached to such a braking device. A brake pedal connecting portion (attachment) 20 is attached by sandwiching the brake pedal 22 from above and below, and an electric actuator 10 that is operated by a power source is attached to the attachment 20. The proximal end portion side of the actuator 10 is attached to the upper end portion of the arm portion 50 that is erected on the base frame 32 in the seat portion 30 of the occupant. The actuator 10 is electrically controlled by receiving a control signal from a special brake assist device control unit (Special Brake Assist System: hereinafter referred to as a control unit or SBAS) 2. The actuator 10 is provided with a force sensor 12 corresponding to the depression pressure of the brake pedal 22 and a stroke sensor 11 corresponding to the stroke of the brake pedal 22. The control unit 2 obtains signals from the force sensor 12, the stroke sensor 11, the hydraulic pressure sensor 9, the wheel speed sensor 8, and the acceleration sensor 7, and performs feedback control. In addition, a control command is sent from the control setting unit 1 such as a personal computer to the control unit 2.

  As shown in FIG. 1B, the control unit 2 is selected by the control pattern selection unit 2A for recording and selecting various control patterns set by the control pattern setting unit 1A in the CPU of the personal computer 1 or the like. A start button 2B for starting control of the specific control pattern, a signal processing unit 2C for performing feedback control while inputting data from each sensor for the specific control pattern, and a control history recording unit 2D thereof. The data of the control history recording unit 2D is recorded in the data storage unit 1B in the CPU of the personal computer 1 or the like.

The control command set in the control setting unit 1 can have various modes as exemplified below.
(1) Constant control as shown in FIG.
(2) Follow-up control as shown in FIG.
(3) Stepping control as shown in FIG.
(4) Each control of the above (1) to (3) etc. by an expert.
(5) Each control of the above (1) to (3) by the beginner.
(6) Each control of the above (1) to (3) by a specific Mr. A.
(7) Control to generate brake squeal during nose dive.
By setting these control settings in advance in the control setting unit 1, an occupant boarding for an evaluation test selects a control pattern in the control pattern selection unit 2 </ b> A in the control unit 2 and starts If you simply press the button 2B, in addition to feedback control using the signals from each sensor as input values, a wide variety of evaluation items are required for each of the more complex, special, and diverse braking conditions that are set in advance. Can be applied to a wide range of brake evaluation tests. At this time, since the control does not involve braking control by the occupant with variation, constant and stable control data can be obtained. Therefore, the evaluation efficiency can be greatly improved by realizing a small number of evaluation tests with high evaluation accuracy.

  FIG. 2 is a schematic control flowchart in the special braking assistance device of the present invention. The control flow will be described with reference to FIG. 1B. In step S1, the control setting unit 1 such as a personal computer is activated. In step S2, a control target is selected as to which of the vehicle speed, hydraulic pressure, deceleration, and stroke should be controlled. In step S3, parameters for the controlled object are set, and in step S4, various control patterns (patterns exemplified in paragraph 0017) suitable for the braking condition for the brake performance evaluation test are created and set. These various control patterns thus set are stored as maps in appropriate storage means provided in the control setting unit 1 or the control unit 2. A control pattern suitable for a brake performance evaluation test performed from these is selected. The selection is performed by selecting and pressing a control pattern selection unit (button or the like) 2A provided inside or outside the control unit 2. When the control pattern is selected, brake control is started by pressing the start button 2B or the like.

  When the brake control is started, the actuator is driven by rotation of the electric motor 13 or the like (see FIG. 8) according to the control signal based on the control pattern selected by the signal processing unit 2C in the control unit 2 in step S5. 10 is driven. In the control at that time, detection values (current values such as target and stroke amount) of each sensor are input. In step S6, a difference from the target value is calculated. In step S7, a control parameter is calculated from the calculated difference. In step S8, a stroke control target value is calculated by a control algorithm. In step S9, the stroke amount is output to the actuator based on the calculated stroke control target value. Thus, if the control is performed in accordance with the pattern by the feedback control for automatic correction, the control history is recorded in the control unit 2 or the control history recording unit 2D in the control setting unit 1 such as a personal computer, and in step S10. If the end of the range is confirmed, the data is stored in the control setting unit 1, and the control end operation is performed in step S11.

  The attachment form of Example 1 of the special brake assistance apparatus of this invention is explained in full detail using FIGS. FIG. 3 is a perspective view of the vicinity of the driver's seat where the special braking assist device is adopted. In the first embodiment, the connection plate 23 is attached so as to sandwich the top and bottom of the brake pedal 22 (see FIG. 7 which is a front view of FIG. 3) at the lower end of the pedal lever 21. FIG. 7 can clearly understand the state in which the brake pedal 22 at the lower end of the pedal lever 21 is sandwiched from above and below and the connection plate 23 of the brake pedal connection portion (attachment) 20 is attached. Returning to FIG. 3, the magnet joining cylinder part 27 is attached to the connection plate 23 via the hinge part 26. A connecting fitting at the tip of the piston rod 15 of the actuator 10 is inserted into the magnet-joined cylindrical portion 27 and is magnetically connected by a magnet described later.

  The base end side of the actuator 10 is connected to the upper end portion of an actuator fixing bracket 54 that constitutes an arm portion 50 that is erected and planted by fixing a bolt or the like to a base frame 32 on which a passenger (driver) seat 31 is placed. Connected. The operation and action of the quick release pin 18 that is pivotally connected to the connecting portion at the upper end of the actuator fixing bracket 54 will be described in detail in a second embodiment to be described later. In the present embodiment, as shown in the longitudinal sectional view of the vicinity of the driver's seat in FIG. 4, the actuator fixing bracket 54 is fixed without swinging, so that the upper end portion of the actuator fixing bracket 54 and the base end portion of the actuator 10 are fixed. By selectively inserting a shim (spacer) 55 having a different thickness between the connecting portion 53 to which the side is connected, the height of the base end portion of the actuator 10 relative to the base frame 32, that is, the actuator 10 The operating angle to the brake pedal 22 is adjusted.

  FIG. 7 is a front view of the vicinity of the driver's seat. As clearly understood from this figure, the brake pedal 22 at the lower end portion of the pedal lever 21 is sandwiched from above and below, and a connection plate 23 of the brake pedal connection portion (attachment) 20 is attached. The upper end portions of the pair of actuator fixing brackets 54 are connected to both sides of the actuator 10 connected to the brake pedal connecting portion 20 via 27. FIG. 5 is a partial sectional plan view of the vicinity of the driver's seat. According to this, it is understood that a pair of actuator fixing brackets 54 are disposed on both sides of the actuator 10.

  FIG. 6 is a perspective view showing the base frame mounting rail member with the seat portion removed. The seat portion 30 above the base frame 32 shown in FIG. 4 is used for a brake performance test of an arbitrary vehicle under test as an element having a specific shape that constitutes a main part of the special braking assistance device of the present invention. Made possible to turn. That is, as the base frame mounting rail member 40 adapted to the shape of the floor surface of an arbitrary vehicle under test, the rail member 41 is configured such that the upper mounting portion (common mounting surface) 41A is adapted to the base frame 32. Is adopted. Therefore, an attachment portion (dedicated attachment surface) 41B to the floor surface of the arbitrary vehicle under test is formed at the lower portion of the rail member 41. By preparing the rail member 41 in which such a lower mounting portion 41B is adapted to the shape of the floor surface of an arbitrary vehicle under test, a dedicated device constituting the main part of the special braking assistance device of the present invention is a seat portion. The brake performance evaluation test can be performed at a low cost for each vehicle under test.

  FIG. 8 is a cross-sectional view of a principal part showing a connection state between the actuator and the brake pedal connecting part in a partial cross section. A permanent magnet (for example, a magnetic force of 22 Kgf) 28 installed at the bottom of a magnet-joined cylinder 27 whose lower end is pivotally supported by a hinge 26 on the attachment 20 is arranged in the cylinder 14 of the actuator 10. A connection fitting 16 fixed to the tip of the provided piston rod 15 is adsorbed. During the brake control in the normal brake performance evaluation test, the piston rod 15 moves forward and backward based on the rotational drive from the electric motor 13 or the like according to the control signal from the control unit 2, and the brake pedal 22 is automatically operated via the attachment 20. Will be operated. Reference numeral 11 denotes a stroke sensor.

  When it is necessary to operate an emergency brake for some reason during the brake performance evaluation test, the occupant steps the board 24 installed on the connection plate 23 of the attachment 20 with a strong force, thereby The adsorption between the permanent magnet 28 at the bottom in the joining cylinder portion 27 and the connection fitting 16 at the tip of the piston rod 15 is separated. When the connection fitting 16 slides, for example, 20 mm in the magnet-joined cylindrical portion 27, the actuator 10 falls off. As a result, the vehicle is released from the brake control by the actuator 10. The actuator 10 is reset by inserting and returning the connection fitting 16 at the tip of the piston rod 15 into the magnet-joined cylindrical portion 27 by a sufficiently deep stepping of the substrate 24. Further, when the actuator 10 is fixed, the quick release pin that pivotally connects the rod end bearing 17 at the base end portion of the actuator 10 to the connection portion 53 connected to the upper end portion of the actuator fixing link 51. After pulling out 18 and removing the base end portion of the actuator 10, the connecting bracket 16 at the tip end of the piston rod 15 is removed from the magnet joint cylinder portion 27, whereby the actuator 10 is repaired or replaced.

    The attachment form of Example 2 of the special brake assistance apparatus of this invention is explained in full detail using FIGS. As shown in FIG. 9, the connection plate 23 is attached so as to sandwich the top and bottom of the brake pedal 22 (see FIG. 10, which is a front view of FIG. 9) at the lower end of the pedal lever 21. FIG. 10 can clearly understand the state in which the brake pedal 22 at the lower end portion of the pedal lever 21 is sandwiched from above and below and the connection plate 23 of the brake pedal connection portion (attachment) 20 is attached. Returning to FIG. 9, the magnet joining cylinder part 27 is attached to the connection plate 23 via the hinge part 26. A connecting fitting at the tip of the piston rod 15 of the actuator 10 is inserted into the magnet-joined cylindrical portion 27 and is magnetically connected by a magnet. The base end portion side of the actuator 10 is connected to the upper end portion of the actuator fixing link 51 that constitutes the arm portion 50 that is erected on the base frame 32 on which the occupant (driver) seat 31 is placed. It is connected to the portion 53 by a support shaft. An adjuster mechanism 52 is interposed between an appropriate portion in the middle of the actuator fixing link 51 and the base frame 32. By adjusting the inclination of the actuator fixing link 51 by adjusting the adjuster mechanism 52, the brake pedal 22 and the actuator 10 are adjusted. The positional relationship with the base frame 32 can be finely adjusted.

  As shown in FIG. 12, the lower end portion of the actuator fixing link 51 and the lower end portion of the adjuster mechanism 52 are pivotally supported by the base frame 32 so as to be tiltable. The base frame 32 is attached to the rail member 41 in the base frame attachment rail member 40 attached to the floor of the vehicle body. A seat pedestal 34 fixed to the lower portion of the seat 31 is slidably held by a seat rail 33 mounted on the base frame 32. As shown in FIG. 11, the positioning lock / release between the seat base 34 and the seat rail 33 is performed by engaging and disengaging the seat slide lever 35. A board 24 constituting a treadmill is formed at a position deviated from the axis of the actuator 10 on the connection plate 23 attached with the brake pedal 22 interposed therebetween, and a sensor 25 is installed on the surface of the board 24. .

FIG. 13 is a test result diagram of one constant control of the selected control pattern example. Line segments A to D are the result values of the first test, and line segments E to H are the result values of the second test. Line segments C and G represent changes in the first and second wheel speeds (Km / h), and line segments D and H represent changes in the first and second decelerations (m / s ² ). Minutes B and F represent the first and second hydraulic pressure changes (Mpa), and line segments A and E represent the first and second pedal stroke (mm) changes. As can be understood from this figure, as shown in line segments B and F, when hydraulic pressure control is performed at a hydraulic pressure of 2.0 MPa, the wheel speeds C and G are reduced uniformly, and the pedal strokes A and E are also reduced. As for the decelerations D and H, the line segments are almost overlapped by the two data collections, and it is understood that high-precision control is performed by the control of the device (SBAS) of the present application.

FIG. 14 is a test result diagram of one additional braking of the selected control pattern example. The braking condition is that braking is started at a vehicle speed of 100 km / h, and the pedal is depressed until the vehicle stops while increasing the deceleration by 1.5 m / s ² per second immediately after the start. Line segment A represents the change in deceleration (m / s ² ) due to the present device (SBAS), line segment B represents the change in deceleration (m / s ² ) by a skilled expert, and line segment C represents a beginner. It represents the change in deceleration (m / s ² ). It can be said that the line segment A by the device (SBAS) of the present application changes almost linearly and accurately follows the target rate.

FIG. 15 is a test result diagram of one stepping brake of the selected control pattern example. The braking condition is that braking is performed at a deceleration of 3 m / s ² from a vehicle speed of 100 Km / h, then the deceleration is increased to 6 m / s ² , and the deceleration is decreased again to 3 m / s ² . A line segment B represents a change in deceleration (m / s ² ) by a skilled expert, and a line segment A represents a change in deceleration (m / s ² ) by the present device (SBAS). It can be understood that the line segment A by the present device (SBAS) accurately follows the braking condition.

  The embodiments of the present invention have been described above, but within the scope of the present invention, the shape and type of the vehicle under test, the shape and form of the brake pedal, the form and form of the actuator, the shape and form of the force sensor, Deceleration sensor shape, type, pedal stroke sensor shape, type, control mode based on feedback signal, control unit shape, type, brake performance evaluation item type, control pattern type, control setting unit shape, type , Special control mode by hydraulic pressure (combination mode of control of pressure increase / decrease and pressure hold), storage / storage mode in control setting unit of measurement data obtained by control unit, attachment of brake pedal Appropriate shapes, types, and brake pedal mounting styles, and actuator mounting styles on the base frame of the passenger seat Can-option. The specifications described in the examples are merely examples in all respects and should not be interpreted in a limited manner.

1 Control setting section (PC etc.)
2 Special braking assist device (SBAS) control unit 3 Master cylinder 4 Disc rotor 5 Brake 6 Output pipe 7 Acceleration sensor 8 Wheel speed sensor 9 Fluid pressure sensor 10 Actuator (electric actuator, etc.)
11 Stroke sensor 12 Force sensor 20 Brake pedal connection (attachment)
22 Brake pedal 30 Seat part 32 Base frame 50 Arm part

Claims (5)

In a braking support method for evaluating the braking performance of the vehicle under test by operating an actuator mounted on a brake pedal of the vehicle under test, feedback from a force sensor, a deceleration sensor, a pedal stroke sensor, etc. for the actuator In addition to the control by the control unit based on the signal, the control setting unit sets in advance a control pattern that enables complex special control by hydraulic pressure corresponding to the evaluation items of the brake performance for the actuator. Special braking support method. The special braking support method according to claim 1, wherein the special control by the hydraulic pressure is performed by appropriately combining control of pressure increase / decrease and pressure holding during one braking. 3. The special braking support method according to claim 1, wherein measurement data obtained by the control unit is stored and stored in the control setting unit or the like. In a braking support device for operating the actuator mounted on a brake pedal of a vehicle under test to evaluate the brake performance of the vehicle under test, an actuator mounted on the brake pedal via an attachment, and the actuator A control unit that performs control based on feedback signals from a sensor, a deceleration sensor, a pedal stroke sensor, etc., and a control pattern that enables complex special control by hydraulic pressure corresponding to the evaluation items of brake performance in the control unit in advance A special braking support device comprising a control setting unit for setting. A base end portion of the actuator is attached to a base frame on which an occupant seat is placed, and a tip end portion of the actuator attached to a brake pedal is configured to push and pull the brake pedal directly. The special braking assistance device according to claim 4.

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