KR102119913B1 - Brake control method of parked vehicle - Google Patents

Abstract

The present invention relates to a braking control method of a parking vehicle, in which the driver of the first parked vehicle is moving so as not to collide with surrounding vehicles or obstacles when the driver of the first parked vehicle moves the vehicle while the vehicle is blocking the front of the first parked vehicle. The main purpose is to provide a method for controlling braking of a parking vehicle that generates an appropriate braking force. In order to achieve the above object, determining whether the vehicle is parked in the non-driven state of the driver, the gear stage is N-stage, and the electric parking brake is in an unlocked state; When it is determined that the driver is unparking, N-stage, and the parking of the electric parking brake is in an inactive state, detecting a vehicle movement from signals of a speed sensor and a distance sensor to obtain a distance between the vehicle and surrounding obstacles; And generating a braking force by controlling the operation of the vehicle brake during driving when the distance is within the set distance 1.

Description

Brake control method of parked vehicle}

The present invention relates to a method for controlling braking of a parking vehicle, and more specifically, when a driver of a vehicle parked first moves a vehicle while the vehicle is blocked and parked in front of a vehicle parked first, collision with surrounding obstacles It relates to a braking control method of a parking vehicle that generates an appropriate braking force during movement so as not to.

Along with the rapid development of the automobile industry, the development of technologies that can satisfy environmental and safety regulations for automobiles that are being strengthened day by day continues to be developed.

In particular, technology related to vehicle safety has been developed into an active safety control system through a combination of electronic and control technologies.

In addition, in relation to the vehicle's brake system, the vehicle's electronic control unit such as ABS (Antilock Brake System), EBD (Electronic Braking Force Distribution System), TCS (Traction Control System) and ESC (Electronic Stability Control System), etc. , ECU) has been developed.

In a vehicle, brakes are classified into a main brake (driving brake) used for deceleration or stopping of a vehicle while driving, and a parking brake that maintains a stop state after stopping the vehicle.

Normally, the main brake is operated by the driver operating the brake pedal to decelerate or stop the vehicle while driving. In addition to ABS, which is a braking system in the ESC system, recently, the brake pedal operation is sensed by a sensor, so that the controller provides the optimal braking force for each wheel. It is developing with the Brake by Wire (BWB) technology that controls the generation of electricity.

As such a bbw system, an electric brake that generates a braking force by the rotational force of an electric motor without using hydraulic power, that is, EMB (Electro Mechanical Brake) or EWB (Electro Wedge Brake) is applied.

In a typical vehicle, EMB and EWB are applied in combination, and EWB is applied to the front wheel side and EMB is mainly applied to the rear wheel side.

In addition, in a brake system of an eco-friendly vehicle such as a pure electric vehicle, a hybrid vehicle, or a fuel cell vehicle, a high pressure generation and control device AHB (Active Hydraulic Booster) and EHB (Electro-Hydraulic Brake) systems necessary for brake hydraulic control are applied. .

And, in the vehicle, the parking brake is an electric parking brake (hereinafter referred to as'EPB'), in which the braking/braking release is controlled only by a simple button operation, instead of the conventional mechanical structure in which the brake/braking is released by pulling and releasing the cable. ) Is widely applied.

On the other hand, as shown in Figure 1, when parking the vehicle (1) in front of the vehicle (2) parked first without parking space when the vehicle is parked, the driver sets the gear stage of the vehicle (1) to neutral (N stage) In some cases, you may need to park with the parking brake released.

In this case, in order for another driver of the parked vehicle 2 to first drive the vehicle, the vehicle 1 obstructing the front of the vehicle must be moved, wherein the gear stage of the later parked vehicle 1 is in the neutral position. Since the parking brake is released, you can push the vehicle to move it.

However, it is often the case that the moving vehicle 1 collides with the surrounding vehicle 3 or an obstacle (wall, tree, etc.) and is damaged or scratched, and accordingly, a countermeasure is required.

In relation to the brake control technology for preventing a vehicle collision during parking, a vehicle is pushed to prevent a vehicle from being pushed due to a lack of a braking force while a vehicle equipped with an electric parking brake is parked on a ramp. The vehicle is applied with an anti-slip algorithm that restarts the electric parking brake upon detection.

The anti-slip algorithm uses the tilt angle information obtained by the inclination angle sensor (inclination information of a stop road) and the wheel speed information obtained by the wheel speed sensor to detect vehicle thrust and control the operation of the electric parking brake to push the vehicle. Prevent things.

In addition, as a technique for preventing a vehicle collision during stoppage, vehicle Patent Publication No. 10-2013-0138013 (2013.12.18) discloses a technique for controlling a vehicle brake to prevent pushing after a vehicle stops on a slope. .

However, the above-described technique is only a technique for preventing the vehicle from being parked or stopped on a ramp, and is not a measure for preventing collision during forced movement at a neutral position (N-stage) of the vehicle.

Therefore, the present invention was created to solve the above problems, and the driver of the vehicle parked first collides with surrounding obstacles when the vehicle of the vehicle parked first blocks the vehicle in front of the parked vehicle. It is an object to provide a braking control method of a parking vehicle that generates an appropriate braking force during movement so as not to.

In order to achieve the above object, according to the present invention, determining whether the vehicle is parked in the driver's unloaded state, the gear stage is N-stage, and the electric parking brake is in an unlocked state; When it is determined that the driver is not riding, the N-speed, the parking of the electric parking brake is in an inactive state, detecting a vehicle movement from signals of a speed sensor and a distance sensor to obtain a distance between the vehicle and surrounding obstacles; And generating a braking force by controlling the operation of a vehicle brake during driving when the distance is within a set distance 1.

Thus, according to the braking control method according to the present invention, when the vehicle is forced to move when the vehicle is parked in the neutral (N-stage) and parking brake release state, the vehicle generates a braking force and a warning sound according to the distance from the surrounding obstacle, thereby causing the vehicle to By notifying the driver of another vehicle pushing the vehicle while not colliding with the surrounding obstacle, collision with the surrounding obstacle and the resulting vehicle damage can be prevented.

1 is a view for explaining a conventional problem.
2 is a block diagram showing the configuration of a system for performing braking while moving a parking vehicle according to the present invention.
3 is a view illustrating a braking force generation and warning pattern according to the distance from the surrounding obstacle in the present invention.
4 is a view showing the distribution of braking force during the transition process in which the braking is switched in the present invention.
5 is a flow chart showing a braking control process according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains may easily practice.

Figure 2 is a block diagram showing the configuration of a system for performing braking during the movement of a parking vehicle according to the present invention, the system includes a door detection unit 11, a driver's seat detection unit 12, a distance detection unit 13, speed detection It includes a unit 14, a control unit 20, a main brake 31 (driving brake), an electric parking brake 32 (hereinafter referred to as'EPB'), and a warning device 33.

First, the door detection unit 11 may be a door switch that outputs a signal according to the door opening and closing, and the driver seat detection unit 12 is for detecting whether the driver is on board or may be a load sensor installed on the driver seat. have.

The distance detection unit 13 is installed on the front and rear sides of the vehicle, a normal distance detection sensor that outputs an electrical signal according to the distance between the front and rear obstacles and surrounding vehicles (hereinafter referred to as'peripheral obstacles') , For example, it may be a distance detection sensor using ultrasonic waves.

The speed sensor 14 is for detecting the vehicle speed (vehicle speed), and may be a conventional wheel speed sensor that is pre-mounted in the vehicle and detects wheel speed.

The control unit 20 is in the N-stage parking state of the vehicle, that is, when the driver's gear stage is the N-stage (neutral position) when the driver is not riding, and the operation of the EPB 32 is released (braking release). In the case of, the vehicle is not colliding at the same time by operating the warning device 33 by determining that there is an obstacle that may collide around the vehicle during the forced movement of the vehicle from the signals of the distance detection unit 13 and the speed detection unit 14 In order to prevent the operation of the main brake 31 and the EPB 32 are controlled.

The main brake 31 may be a conventional electronic brake that decelerates and stops the vehicle when the driver operates the brake pedal while driving, and more specifically, an electronic brake system (such as ABS) in the ESC system or braking force by an electric motor. A known brake capable of generating braking force according to a control signal output from the control unit 20 regardless of artificial brake pedal operation, such as EMB and EWB generating a brake, and AHB using hydraulic pressure among BBW systems, a brake system applied with EHB, etc. It can be one of the systems or a combination of two or more depending on the wheel.

On the other hand, in the present invention, when it is determined that the vehicle is forcibly moved from the wheel speed information acquired by the speed sensor 14 in the N-stage parking state of the vehicle and the deactivation state of the EPB, that is, the driver of the other vehicle is forced to the vehicle When it is determined to move by pushing, the distance information acquired by the distance detection unit 13 determines whether a vehicle is in proximity to a surrounding obstacle (including surrounding vehicles), and determines if there is a possibility of collision due to the proximity of the vehicle to the surrounding obstacle. When the brake is applied, a braking force is generated.

As a result, the vehicle is stopped by the braking force, so that collision with surrounding obstacles can be avoided, and vehicle damage can be prevented.

In addition, in the present invention, when it is determined that there is a possibility of collision with surrounding obstacles, a warning device 33 is operated by generating a braking force and warning another vehicle driver pushing the vehicle through a warning sound. The braking force generation and warning patterns are adjusted in stages according to the distance.

3 is a diagram illustrating a braking force generation and warning pattern according to a distance from a surrounding obstacle in the present invention, as shown, when a moving vehicle (own vehicle) is far away from a surrounding obstacle (eg, a surrounding stationary vehicle), the braking force And does not generate warning sound, but when it approaches within the preset distance 1, it generates braking force and warning sound step by step depending on the distance.

For example, in the first stage, when the moving vehicle is moving from the surrounding obstacle outside the set distance 1, the braking force and warning sound are not generated, and in the second stage, when the mobile vehicle enters within the set distance 1, the braking force and warning sound are intermittently generated.

In addition, when entering within the set distance 2 closer than after entering within the set distance 1, continuous braking force and warning sound are maintained.

On the other hand, as the brake that generates the braking force, the main brake 31 is quick to operate, so that the braking force can be rapidly generated, but the EPB 32 is slow to operate and takes time to generate the target braking force.

In addition, the main brake 31 may generate the braking force intermittently and continuously by using electric energy, but in the case of continuous operation for a long time, it continuously consumes electric energy of the vehicle and also operates the brake by overheating of an actuator such as a motor. Can't.

On the other hand, the EPB 32 takes a long time to reach the target braking force, but once operated, it can maintain a large braking force even when the engine is turned off without consuming electrical energy.

In consideration of the characteristics of each brake, the control unit 20 intermittently operates the main brake 31 having high responsiveness in the second stage section that generates a small braking force, and the main brake in the third stage section that generates and maintains a large braking force. While operating (31), the braking force generation is switched from the braking switching condition to the EPB 32 operation based on the operation information of the main brake (31).

In a preferred embodiment, the operation information of the main brake 31 may be the temperature of the actuator, such as a motor, and the accumulated current consumption after the start of operation, and the control unit 20 may maintain the main temperature or higher from the signal of the temperature sensor during operation of the main brake. When the brake overheating is sensed, or when the accumulated current consumption of the main brake exceeds the set current, the braking force of the main brake 31 is gradually reduced and the EPB 32 is operated to convert the brake to EPB, which generates braking force.

Proper braking force of the main brake 31 and the EPB 32 during the transition period in which the transition is made so that the heterogeneity of braking force generation does not occur during the transition from the initial operation of the main brake 31 to the EPB 32 operation in the step 3 section. Distribution must be done.

That is, the braking force distribution in which the braking force of the main brake 31 and the braking force of the EPB 32 satisfies the total braking force required in the three-step section should be performed in the transition section.

The distribution of the braking force may be achieved by the control unit 20 controlling the operation of the main brake 31 and the EPB 32 during the transition process to control the braking force generated by each brake.

To this end, after the control unit 20 determines the braking change according to the operation information of the main brake 31, it determines the time to reach the target braking force of the EPB 32 according to the wheel speed of the moving vehicle and the distance between the surrounding obstacles, The braking occurrence of the EPB 32 is controlled according to the inclination of the braking force rise of the EPB 32 corresponding to the target braking force arrival time.

At this time, as shown in FIG. 4, during the transition process, the braking force distribution is performed to generate the total braking force required by the vehicle brake, that is, the target braking force in the vehicle, and the braking force generated by subtracting the braking force of the EPB 32 from the target braking force is generated. The operation of the main brake 31 is controlled.

In addition, when the vehicle moves, the braking force in the second stage and the braking force in the third stage are controlled such that the wheel speed of the vehicle is equal to or less than a set limit speed, but the vehicle is parked in an N stage on a slope such as a downhill or uphill road although it is a gentle slope. If you move the vehicle, the vehicle will move at a high speed, so a dangerous situation may occur.

Therefore, the control unit 20 controls the operation of the main brake 31 and the EPB 32 so that the moving vehicle does not move at a wheel speed exceeding a predetermined limit speed, and the vehicle moves due to the braking force of the main brake 31 The EPB 32 is operated under the condition that it is controlled below the limit speed and braking change is necessary.

5 is a flowchart illustrating a braking control process according to the present invention, and the control process is described step by step with reference to this.

First, the control unit 20 enters a control mode that controls vehicle braking during forced movement of the parking vehicle when it is determined that the vehicle is in a non-driving state, the gear stage is N-stage, and the EPB 32 is being parked in an unlocked state ( S11, S12).

At this time, the control unit 20 confirms that the door is opened and closed from the signal of the door detection unit 11 in the IG OFF state, and if the driver is not in the driver's seat through the driver's seat detection unit 12, the driver is not boarded. It is judged as a state.

Subsequently, when the vehicle movement of a predetermined speed or more is determined from the signal of the speed detection unit 14, the distance between the vehicle and the surrounding obstacles is started from the signal of the distance detection unit 13 (S13, S14).

At this time, when the distance between the vehicle and the surrounding obstacles is within the set distance 1, the system enters the second stage mode and intermittently generates braking force and warning sound by controlling the operation of the main brake 31 and the warning device 33 during the second stage. (S16).

In addition, when the vehicle and surrounding obstacles are within the set distance 2, the vehicle enters the 3rd stage mode, and in the 3rd stage, it generates a continuous braking force through the main brake 31 or the EPB 32, and also generates a continuous warning sound. Warning (S17).

In addition, the vehicle movement is controlled so that the wheel speed of the vehicle becomes below a limit speed during the braking control of the second and third stages (S18, S19), and the main brake 31 during the operation of the main brake 31 after entering the third stage ), it is checked whether braking switching to EPB 32 is necessary (S20).

At this time, when the temperature of the actuator, such as the motor, is overheating condition of the main brake 31 above the set temperature, or when the accumulated current consumption exceeds the set current, braking switching to the EPB 32 is started.

In the braking conversion process, the braking force distribution control in the above-described transition section is performed, and the time to reach the target braking force of the EPB 32 is determined according to the wheel speed of the mobile vehicle and the distance from the surrounding obstacle (S21), and then the target braking force is reached The braking occurrence of the EPB 32 is controlled according to the gradient of the braking force rising of the EPB 32 corresponding to time (S22).

During the transition process, the braking force distribution must be made to generate the total braking force required by the vehicle brake, that is, the target braking force in the vehicle, and the operation of the main brake 31 is controlled to generate the braking force minus the braking force of the EPB 32 from the target braking force. do.

At this time, the braking force of the main brake 31 is reduced while increasing the braking force of the EPB 32.

In addition, when the braking force of the EPB 32 reaches the target braking force as described above, the operation of the main brake 31 is completely stopped to complete the braking transition to the EPB 32, and eventually the surrounding obstacles are caused by the braking force of the EPB 32. The vehicle can be stopped before colliding with it.

Of course, if it does not correspond to the braking switching condition, the operation of the main brake 31 is maintained (S23).

As described above in detail with respect to embodiments of the present invention, the scope of rights of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention as defined in the following claims. The form is also included in the scope of the present invention.

11: Door detection unit
12: Driver seat detection unit
13: distance detection unit
14: speed sensor
20: control unit
31: main brake
32: electric parking brake
33: warning device

Claims (9)

Determining whether the vehicle is parked in a state in which the gear stage is the N-stage and the electric parking brake is deactivated in a state where the driver is not riding;
When it is determined that the driver is not riding, the N-speed, the parking of the electric parking brake is in an inactive state, detecting a vehicle movement from signals of a speed sensor and a distance sensor to obtain a distance between the vehicle and surrounding obstacles; And
When the distance is within the set distance 1 includes the step of generating a braking force by controlling the operation of the vehicle brake while driving,
Braking of a parking vehicle, characterized in that it is determined that the driver is not riding when the door is opened and closed from the signal of the door detection unit in the IG OFF state of the vehicle and the driver is not in the driver's seat through the driver detection unit. Control method.
delete The method according to claim 1,
When the distance between the vehicle and surrounding obstacles is within the set distance 1 When the vehicle is driving, the braking force of the main brake for deceleration and stop is intermittently generated, and then the distance between the vehicle and the surrounding obstacles is closer to within the set distance 2 A braking control method for a parking vehicle, characterized in that the braking force of the main brake is continuously generated.
The method according to claim 3,
If the distance between the vehicle and surrounding obstacles is within the set distance 1, the warning device is activated to intermittently output a warning sound, and then, when the distance between the vehicle and the surrounding obstacles becomes closer and within the set distance 2, the warning sound is continuously heard through the warning device. The braking control method of the parking vehicle, characterized in that output.
The method according to claim 3,
When it is determined that the braking switching condition is satisfied from the operation information of the main brake while the distance between the vehicle and the surrounding obstacle is within the set distance 2, braking switching is performed to convert braking force generation from the main brake to the electric parking brake. Method for controlling braking of a parking vehicle.
The method according to claim 5,
The operation information of the main brake is the temperature of the actuator including the motor and the accumulated current consumption after the start of operation,
If the temperature of the actuator from the temperature sensor signal detects overheating of the main brake above the set temperature, or when the accumulated current consumption applied to the main brake exceeds the set current, the condition for braking switching to the electric parking brake is satisfied. A braking control method for a parking vehicle, characterized in that it is judged.
The method according to claim 5,
The braking conversion process to the electric parking brake,
Determining a target braking force arrival time of the electric parking brake according to the wheel speed of the vehicle obtained from the signal of the speed sensor and the distance between the vehicle and the surrounding obstacles obtained from the signal of the peripheral sensor;
Determining an inclination of a braking force increase of the electric parking brake corresponding to the time to reach the target braking force;
Controlling the generation of the braking force of the electric parking brake according to the inclination of the braking force and reducing the braking force of the main brake;
Braking control method of a parking vehicle comprising a.

The method according to claim 7,
In the step of reducing the braking force of the main brake,
Parking, characterized in that the braking force distribution to control the operation of the main brake to increase the braking force of the parking brake to a target braking force in accordance with the inclination of the braking force rise and generate the braking force minus the braking force of the electric parking brake from the target braking force Vehicle braking control method.
The method according to claim 1 or claim 3,
A braking control method for a parking vehicle, characterized in that the braking force generation is controlled such that the wheel speed of the vehicle obtained from the signal of the speed detection unit is equal to or less than a predetermined limit speed.

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