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KR20060033949A - Brake control method for a vehicle - Google Patents

Brake control method for a vehicle Download PDF

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Publication number
KR20060033949A
KR20060033949A KR1020040083036A KR20040083036A KR20060033949A KR 20060033949 A KR20060033949 A KR 20060033949A KR 1020040083036 A KR1020040083036 A KR 1020040083036A KR 20040083036 A KR20040083036 A KR 20040083036A KR 20060033949 A KR20060033949 A KR 20060033949A
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KR
South Korea
Prior art keywords
braking
driver
braking force
vehicle
brake
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KR1020040083036A
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Korean (ko)
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김정훈
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주식회사 만도
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Priority to KR1020040083036A priority Critical patent/KR20060033949A/en
Publication of KR20060033949A publication Critical patent/KR20060033949A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/142—Systems with master cylinder
    • B60T13/145—Master cylinder integrated or hydraulically coupled with booster
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/44—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
    • B60T13/46—Vacuum systems
    • B60T13/52—Vacuum systems indirect, i.e. vacuum booster units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/03—Brake assistants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B60Y2400/3032—Wheel speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/306—Pressure sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)

Abstract

본 발명은 차량의 제동 제어방법에 관한 것으로, 특히 본 발명은 차량이 급제동하더라도 운전자가 충분한 제동력을 공급하지 못한 경우에는 브레이크 조력제어를 수행하고, 충분한 제동력을 공급한 경우에는 브레이크 조력제어를 수행하지 않음으로써 브레이크 조력제어가 불필요하게 수행하는 것을 방지할 수 있어 운전자의 브레이크 페달감을 향상시킨다.The present invention relates to a braking control method of a vehicle, and in particular, the present invention performs brake assist control when the driver does not provide sufficient braking force even when the vehicle suddenly brakes, and does not perform brake assist control when sufficient braking force is supplied. By doing so, the brake assistance control can be prevented from being performed unnecessarily, thereby improving the driver's brake pedal feel.

이를 위해 본 발명은 차량 급제동시, 마스터실린더의 압력변화에 기초하여 운전자가 제동력을 충분히 공급하는지 못하는지를 판단하고, 상기 운전자가 제동력을 충분히 공급하지 못하는 경우, 보조제동력을 발생시키기 위한 브레이크 조력제어를 수행하고, 상기 운전자가 제동력을 충분히 공급하는 경우, 상기 브레이크 조력제어를 금지시키는 것을 특징으로 하는 차량의 제동 제어방법.To this end, the present invention determines whether the driver does not supply enough braking force based on the pressure change of the master cylinder during braking of the vehicle, and if the driver does not supply enough braking force, the brake assist control for generating an auxiliary braking force is performed. And braking control of the vehicle, when the driver sufficiently supplies the braking force.

Description

차량의 제동 제어방법{Brake control method for a vehicle}Brake control method for a vehicle

도 1은 일반적인 차량 제동제어시스템의 간략화한 브레이크 유압 회로도이다.1 is a simplified brake hydraulic circuit diagram of a general vehicle braking control system.

도 2는 본 발명의 실시예에 따른 차량 제동 제어시스템의 브레이크 유압 회로도이다.2 is a brake hydraulic circuit diagram of a vehicle braking control system according to an embodiment of the present invention.

도 3은 본 발명의 실시예에 따른 차량 제동 제어방법을 설명하기 위한 제어흐름도이다.3 is a control flowchart illustrating a vehicle braking control method according to an embodiment of the present invention.

도 4는 풀 브레이킹과 패닉 브레이킹에서의 마스터실린더의 압력변화를 비교 설명하기 위한 그래프이다.4 is a graph for comparing and comparing the pressure change of the master cylinder in full braking and panic braking.

*도면의 주요 기능에 대한 부호의 설명** Description of the symbols for the main functions of the drawings *

MC : 마스터실린더 SC1,SC2 : 노멀오픈형 컷밸브MC: Master cylinder SC1, SC2: Normally open cut valve

SI1, SI2 : 노멀클로즈형 컷밸브 PC1~PC4 : 노멀오픈형 입구밸브SI1, SI2: Normally closed cut valve PC1 ~ PC4: Normally open inlet valve

PC5~PC8 : 노멀클로즈형 출구밸브 PS : 압력센서PC5 ~ PC8: Normally closed outlet valve PS: Pressure sensor

MF : 주액압라인 MFc : 보조액압라인MF: Main Hydraulic Pressure Line MFc: Auxiliary Hydraulic Pressure Line

본 발명은 차량의 제동 제어방법에 관한 것으로, 특히 차량 급제동시, 제동력을 자동으로 증가시켜 운전자의 브레이크 작동을 보조하는 브레이크 조력 제어기능을 수행하는 차량의 제동 제어방법에 관한 것이다.The present invention relates to a braking control method of a vehicle, and more particularly, to a braking control method of a vehicle that performs a brake assistance control function to automatically increase the braking force to assist the driver's brake operation during braking of the vehicle.

일반적으로, 브레이크 조력제어(Brake Assist control System)는 긴급한 제동상황에서 충분한 제동력을 발생시키도록 안티록 브레이크 시스템(Anti-lock Brake System ; 이하 ABS 라 칭함) 또는 트랙션 제어 시스템(Traction Ccontrol System ; 이하 TCS 라 칭함)에서 사용되는 유압 모듈레이터를 작동시켜 보조의 제동력을 공급하는 장치이다.Generally, Brake Assist Control System is an Anti-lock Brake System (hereinafter referred to as ABS) or Traction Ccontrol System (hereinafter referred to as TCS) to generate sufficient braking force in an emergency braking situation. It is a device that supplies the auxiliary braking force by operating the hydraulic modulator used in.

도 1은 일반적인 차량 제동제어시스템의 간략화한 브레이크 유압 회로도이다. 도 1에 도시된 바와 같이, 마스터실린더(MC)와 휠 실린더(W)사이에는 주액압라인(MF)이 연결되고, 이 주액압라인(MF)상에는 주액압라인(MF)을 개폐하는 노멀오픈밸브(SC)가 설치된다. 또한, 유압펌프(HP)의 흡입측과 마스터실린더(MC)사이에는 보조액압라인(MFC)이 연결되고, 이 보조액압라인(MFc)상에는 보조액압라인(MFc)을 개폐하는 노멀클로즈밸브(SI)가 설치된다. 이때, 이 노멀오픈밸브(SC), 노멀클로즈밸브(SI) 및 유압펌프(HP)를 작동시키는 모터(M)는 전자제어유닛(ECU)에 의해 구동된다. 미설명부호 PC1는 입구밸브, PC2는 출구밸브, WS는 휠속도센서, CV1과 CV2는 체크밸브이다.1 is a simplified brake hydraulic circuit diagram of a general vehicle braking control system. As shown in FIG. 1, a liquid pressure line MF is connected between the master cylinder MC and the wheel cylinder W, and a normal open to open and close the liquid pressure line MF on the liquid pressure line MF. The valve SC is installed. In addition, an auxiliary hydraulic line (MFC) is connected between the suction side of the hydraulic pump (HP) and the master cylinder (MC), and a normal closed valve (SIc) for opening and closing the auxiliary hydraulic line (MFc) on the auxiliary hydraulic line (MFc). ) Is installed. At this time, the motor M for operating the normal open valve SC, the normal close valve SI and the hydraulic pump HP is driven by the electronic control unit ECU. Notation PC1 is an inlet valve, PC2 is an outlet valve, WS is a wheel speed sensor, CV1 and CV2 are check valves.

도 1의 작동을 살펴보면, 운전자가 브레이크 페달(BP)을 급격히 조작하는 것과 같이 차량 급제동시, 전자제어유닛(ECU)은 브레이크 조력제어를 수행하기 위해 보조의 제동력을 생성하도록 먼저, 노멀오픈밸브(SC)는 폐쇄시키고, 노멀클로즈밸 브(SI)는 개방시켜 브레이크 페달(BP) 조작에 따라 마스터실린더(MC)에서 브레이크압력이 승압된 브레이크액을 보조액압라인(MFC)를 통해 유압펌프(HP)의 흡입 측으로 유입시킨다. 그리고, 모터(M)를 구동시켜 유압펌프(HP)를 작동시킴으로써 보조의 제동력을 휠 실린더(W)에 제공하여 제동력을 보조한다.Referring to the operation of FIG. 1, when the vehicle suddenly brakes, such as a driver operating the brake pedal BP rapidly, the electronic control unit ECU first generates a normal braking force to perform brake assistance control. The SC is closed and the normal closing valve SI is opened, and the hydraulic fluid (HP) is pumped through the auxiliary hydraulic line (MFC) to the brake fluid whose brake pressure is increased in the master cylinder MC according to the brake pedal operation. ) To the suction side of the Then, by driving the motor (M) to operate the hydraulic pump (HP) to provide an auxiliary braking force to the wheel cylinder (W) to assist the braking force.

하지만, 브레이크 조력제어시 노멀클로즈밸브(SI)를 개방시키고 유압펌프(HP)를 작동시키게 되면 마스터실린더(MC)의 브레이크압력이 순간적으로 유압펌프(HP)의 흡입측으로 빨려 들어가게 되는데 이로 인해 브레이크 페달(BP)에 브레이크 반력이 형성되지 않는다. 따라서, 운전자는 브레이크 페달(BP)이 심하게 꺼지는 느낌을 받게 되므로, 브레이크 페달감이 나쁘다고 느끼게 되는 단점이 있다.However, when the normal closing valve (SI) is opened and the hydraulic pump (HP) is operated during brake assistance control, the brake pressure of the master cylinder (MC) is sucked into the suction side of the hydraulic pump (HP) at the moment. Brake reaction force is not formed in (BP). Therefore, since the driver feels that the brake pedal BP is severely turned off, the driver may feel that the brake pedal feeling is bad.

종래에는 급제동시, 운전자가 충분한 제동력을 발생시키는지 아닌지 여부에 관계없이 브레이크 조력제어를 수행한다.Conventionally, during braking, the brake assistance control is performed regardless of whether or not the driver generates sufficient braking force.

따라서, 종래에는 운전자가 충분한 제동력을 발생시키는 상황인데도 불구하고, 브레이크 조력제어가 불필요하게 수행될 수 있는 문제점이 있다. 이로 인해, 운전자는 브레이크 조력제어의 단점인 브레이크 페달감이 나쁘다고 느끼게 된다.Therefore, conventionally, despite the situation in which the driver generates a sufficient braking force, there is a problem that the brake assistance control can be performed unnecessarily. As a result, the driver feels a bad feeling of the brake pedal, which is a disadvantage of the brake assistance control.

본 발명은 전술한 문제점을 해결하기 위한 것으로, 본 발명의 목적은 차량 급제동시, 불필요한 브레이크 조력제어를 방지하여 운전자의 브레이크 페달감을 향상시킬 수 있는 차량의 제동 제어방법을 제공하는 것이다.The present invention is to solve the above-mentioned problems, an object of the present invention is to provide a braking control method of a vehicle that can improve the driver's brake pedal feeling by preventing unnecessary brake assist control during vehicle braking.

전술한 목적을 달성하기 위한 본 발명의 차량의 제동 제어방법은 차량 급제동시, 마스터실린더의 압력변화에 기초하여 운전자가 제동력을 충분히 공급하는지 못하는지를 판단하고, 상기 운전자가 제동력을 충분히 공급하지 못하는 경우, 보조제동력을 발생시키기 위한 브레이크 조력제어를 수행하고, 상기 운전자가 제동력을 충분히 공급하는 경우, 상기 브레이크 조력제어를 금지시키는 것을 특징으로 한다.The braking control method of the vehicle of the present invention for achieving the above object is determined whether the driver does not supply enough braking force based on the pressure change of the master cylinder when the vehicle sudden braking, the driver does not supply enough braking force , And perform brake assist control to generate auxiliary braking force, and when the driver supplies sufficient braking force, the brake assist control is prohibited.

상기 급제동인 경우, 상기 마스터실린더의 압력값을 검출하고, 상기 검출된 마스터실린더의 압력값과 상기 압력값의 변화율에 기초하여 상기 운전자가 제동력을 충분히 공급하는지 못하는지를 판단하는 것을 특징으로 한다.In the case of the sudden braking, the pressure value of the master cylinder is detected, and it is determined whether the driver does not sufficiently supply the braking force based on the detected pressure value of the master cylinder and the rate of change of the pressure value.

상기 마스터실린더의 압력이 미리 설정된 제1압력값이거나, 상기 마스터실린더의 압력변화율이 미리 설정된 제1압력변화율 이상이면, 상기 운전자가 제동력을 충분히 공급하는 것으로 판단하는 것을 특징으로 한다.When the pressure of the master cylinder is a predetermined first pressure value, or if the pressure change rate of the master cylinder is more than the predetermined first pressure change rate, it is determined that the driver provides a sufficient braking force.

상기 차량 급제동을 상기 마스터실린더의 압력에 기초하여 판단하는 것을 더 포함하는 것을 특징으로 한다.The method may further include determining the vehicle braking based on the pressure of the master cylinder.

이하에서는 본 발명의 바람직한 실시예를 본 도면을 참조하여 상세하게 설명하도록 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

도 2는 본 발명의 실시예에 따른 차량용 브레이크 제어시스템의 브레이크 액압 회로도이다. 도 2에 도시된 바와 같이, 본 발명의 실시예에 따른 브레이크 제어 시스템은 브레이크 페달(BP)의 압박에 의한 진공부스터(VB)의 작동에 의해 브레이크 압력을 발생시키는 마스터실린더(MC)를 포함한다.2 is a brake hydraulic pressure circuit diagram of a vehicle brake control system according to an exemplary embodiment of the present invention. As shown in FIG. 2, the brake control system according to the embodiment of the present invention includes a master cylinder MC that generates brake pressure by the operation of the vacuum booster VB by the pressing of the brake pedal BP. .

이 마스터실린더(MC)는 두 개의 챔버(MCP, MCS)를 가지며, 마스터실린더(MC) 로부터 휠 실린더(WFR, WRL)에 전달되는 브레이크 액압을 제어하기 위해 첫 번째 챔버(MCP)와 전륜 우측 바퀴(FR)와 후륜 좌측 바퀴(RL)에 각각 설치된 휠 실린더(WFR, WRL) 사이의 주액압라인(MF)에는 노멀오픈형 컷밸브(SC1)가 마련된다. 그리고, 이 노멀오픈형 컷밸브(SC1)와 휠 실린더(WFR, WRL) 사이의 유압라인(MFr,MFl)에는 노멀오픈형 입구밸브(PC1, PC2)가 마련된다. 이 노멀오픈형 입구밸브(PC1, PC2)에는 병렬로 각각 체크밸브(CV1, CV2)가 설치된다. 휠 실린더(WFR, WRL)에서의 브레이크액은 이 체크밸브(CV1, CV2)를 거쳐 컷밸브(SC1)을 통해 마스터실린더(MC)로 리턴한다.This master cylinder (MC) has two chambers (MCP, MCS), the first chamber (MCP) and front wheel right wheel to control the brake hydraulic pressure transmitted from the master cylinder (MC) to the wheel cylinder (WFR, WRL) A normal open cut valve SC1 is provided in the liquid pressure line MF between the wheel cylinders WFR and WRL provided at the FR and the rear wheel left wheel RL, respectively. In addition, the normal open inlet valves PC1 and PC2 are provided in the hydraulic lines MFr and MFl between the normal open cut valve SC1 and the wheel cylinders WFR and WRL. These normal open inlet valves PC1 and PC2 are provided with check valves CV1 and CV2 in parallel, respectively. The brake fluid in the wheel cylinders WFR and WRL is returned to the master cylinder MC through the cut valves SC1 via the check valves CV1 and CV2.

또한, 브레이크액이 휠 실린더(WFR, WRL)의 출구측에는 노멀클로즈형 출구밸브(PC5, PC6)가 마련된다. 이 노멀클로즈형 출구밸브(PC5, PC6)의 출구측에는 휠 실린더(WFR, WRL)에서 배출되는 브레이크액을 일시 저장하는 저압 어큐뮬레이터(RS1) 및 이 저압 어큐뮬레이터(RS1)에 저장된 브레이크액을 펌핑하여 강제 환류시키는 유압펌프(HP1)와 모터(M)가 마련된다.Further, the brake fluid is provided with normal closed outlet valves PC5 and PC6 on the outlet side of the wheel cylinders WFR and WRL. The low pressure accumulator RS1 temporarily storing the brake fluid discharged from the wheel cylinders WFR, WRL and the brake fluid stored in the low pressure accumulator RS1 are forced to the outlet side of the normal closed outlet valves PC5 and PC6. A hydraulic pump HP1 and a motor M for reflux are provided.

한편, 유압펌프(HP1)의 흡입측과 마스터실린더(MC)의 첫 번째 챔버(MCP)사이의 보조액압라인(MFc)사이에는 노멀오픈형 입구밸브(SI1)가 마련된다. 그리고, 체크밸브(CV5, CV6)는 보조액압라인(MFc)에 의해 분기되는 두 개의 액압라인상에 각각 설치된다. 이에 따라, 입구밸브(SI1)가 폐쇄되면 마스터 실린더(MC)와 유압펌프(HP1)사이의 보조액압라인(MFc)는 차단되고, 입구밸브(SI1)가 개방되면 마스터 실린더(MC)와 유압펌프(HP1)사이의 보조액압라인(MFc)는 연결된다. 이때, 체크밸브(CV5)는 브레이크액이 저압 어큐뮬레이터(RS1)로 유입되는 것을 방지한다. Meanwhile, a normal open inlet valve SI1 is provided between the suction side of the hydraulic pump HP1 and the auxiliary hydraulic line MFc between the first chamber MCP of the master cylinder MC. The check valves CV5 and CV6 are respectively provided on two hydraulic lines branched by the auxiliary hydraulic line MFc. Accordingly, when the inlet valve SI1 is closed, the auxiliary hydraulic line MFc between the master cylinder MC and the hydraulic pump HP1 is blocked, and when the inlet valve SI1 is opened, the master cylinder MC and the hydraulic pump are closed. Auxiliary hydraulic pressure line MFc between HP1 is connected. At this time, the check valve CV5 prevents the brake fluid from flowing into the low pressure accumulator RS1.                     

한편, 전륜 좌측 바퀴(FL)와 후륜 우측 바퀴(RR)의 유압회로에서는 각각의 부품들이 상술한 전륜 우측 바퀴(FR)와 후륜 좌측 바퀴(RL)의 유압회로와 동일하게 구성된다.On the other hand, in the hydraulic circuit of the front wheel left wheel FL and the rear wheel right wheel RR, the respective components are configured in the same way as the hydraulic circuit of the front wheel right wheel FR and the rear wheel left wheel RL.

참고로, 참조부호 DP1, DP2는 고압 어큐뮬레이터이다.For reference, reference numerals DP1 and DP2 are high pressure accumulators.

도 2의 컷밸브(SC1, SC2), 입구밸브(SI1, SI2), 그리고 각 휠 실린더(WFR, WRL, WFL, WRR)에서의 입구밸브(PC1~PC4)와 출구밸브(PC5~PC8), 유압펌프(HP1,HP2)는 ABS 모드 등의 제어모드를 수행하는 전자제어유닛(ECU)에 의해 작동된다.Inlet valves PC1 to PC4 and outlet valves PC5 to PC8 of the cut valves SC1 and SC2, the inlet valves SI1 and SI2 of FIG. 2, and the respective wheel cylinders WFR, WRL, WFL, and WRR; The hydraulic pumps HP1 and HP2 are operated by an electronic control unit ECU which performs a control mode such as ABS mode.

전륜 좌우측 바퀴(FL, FR)와 후륜 좌우측 바퀴(RL, RR)에 각각 마련된 바퀴 속도센서(WS1~WS4)는 검출된 바퀴의 회전속도를 제공할 수 있도록 전자제어유닛(ECU)에 전기적으로 연결된다.The wheel speed sensors WS1 to WS4 respectively provided on the front left and right wheels FL and FR and the rear left and right wheels RL and RR are electrically connected to the electronic control unit ECU to provide the detected rotation speed of the wheels. do.

또한, 전자제어유닛(ECU)에는 브레이크 페달(BP)가 눌러지면 턴 온되고 눌림이 풀어지면 턴 오프되는 브레이크 스위치(BS)가 전기적으로 연결된다. 또한, 전자제어유닛(ECU)에는 마스터 실린더(MC)의 압력을 검출하는 마스터실린더 압력센서(PS)가 전기적으로 연결된다.In addition, the brake switch BS, which is turned on when the brake pedal BP is pressed and turned off when the brake is released, is electrically connected to the electronic control unit ECU. In addition, the master cylinder pressure sensor PS for detecting the pressure of the master cylinder MC is electrically connected to the electronic control unit ECU.

전자제어유닛(ECU)은 급제동시, 마스터실린더 압력센서(PS)를 통해 검출된 마스터실린더(MC)의 압력변화에 기초하여 운전자가 제동력을 충분히 공급하는지 못하는지를 판단하고, 판단결과에 따라 브레이크 조력제어를 수행함으로서 브레이크 조력제어가 불필요하게 수행하는 것을 방지할 수 있어 운전자의 브레이크 페달감을 향상시킨다.The electronic control unit ECU determines whether the driver does not sufficiently supply the braking force based on the pressure change of the master cylinder MC detected by the master cylinder pressure sensor PS at the time of sudden braking, and according to the determination result, the brake assistance By performing the control, the brake assistance control can be prevented from being performed unnecessarily, thereby improving the driver's brake pedal feeling.

도 3은 본 발명의 실시예에 따른 차량 제동 제어방법을 설명하기 위한 제어 흐름도이다. 도 4는 (a) 풀 브레이킹과 (b) 패닉 브레이킹에서의 마스터실린더의 압력변화를 비교 설명하기 위한 그래프이다.3 is a control flowchart illustrating a vehicle braking control method according to an embodiment of the present invention. 4 is a graph for comparing and explaining the pressure change of the master cylinder in (a) full braking and (b) panic braking.

도 4를 참고하여 도 3을 살펴보면, 먼저, 작동모드 100에서 전자제어유닛(ECU)은 브레이크 스위치(BS)를 통해 브레이크 페달(BP)의 작동을 검출하여 차량이 제동중인지를 판단한다.Referring to FIG. 3 with reference to FIG. 4, first, in the operation mode 100, the electronic control unit ECU detects the operation of the brake pedal BP through the brake switch BS to determine whether the vehicle is braking.

차량이 제동중이면, 작동모드 101에서 전자제어유닛(ECU)은 마스터실린더 압력센서(PS)를 통해 마스터실린더의 압력값(P)을 읽어 들인다.When the vehicle is braking, in the operation mode 101, the electronic control unit ECU reads the pressure value P of the master cylinder through the master cylinder pressure sensor PS.

작동모드 102에서 전자제어유닛(ECU)은 t1시간동안 작동모드 101에서 읽어 들인 마스터실린더의 압력(P)의 변화율(dp/dt)이 급제동 판단을 위해 미리 설정된 제1변화율이상인지를 비교하여 운전자의 급제동 의지를 판단한다.In the operation mode 102, the ECU controls the driver by comparing whether the change rate dp / dt of the pressure P of the master cylinder read in the operation mode 101 for t1 time is greater than or equal to the first change rate set in advance for judging braking. Determine the will of braking.

작동모드 102에서의 판단결과 급제동인 경우, 작동모드 103과 작동모드 105에서 전자제어유닛(ECU)은 t2시간동안의 마스터실린더의 압력값(P)과 압력변화율에 기초하여 운전자가 제동력을 충분히 공급하는 풀 브레이킹(full braking)인지 운전자가 제동력을 충분히 공급하지 못하는 패닉 브레이킹(panic braking)인지를 판단한다. 이때, 전자제어유닛(ECU)은 급제동 상황에서 운전자의 제동의지를 풀 브레이킹과 패닉 브레이킹으로 판단하기 위하여 마스터실린더(MC)의 압력의 경향을 모니터하여, 마스터실린더(MC)의 압력변화율이 미리 설정된 제1변화율이상인 상태에서 미리 설정된 제2변화율이상으로 계속해서 증가되거나, 마스터실린더(MC)의 압력이 미리 설정된 제1압력값 이상으로 충분히 증가된 경우에는 풀 브레이킹으로 판단하여 운전자가 제동력을 충분히 공급할 수 있는 것으로 판단한다. 반면에, 급제동 상 황에서 운전자의 제동능력이 부족하여, 마스터실린더(MC)의 압력변화율이 미리 설정된 제2변화율보다 낮아 제동력의 증가속도가 느리고, 마스터실린더의 압력값(P)이 미리 설정된 제1압력값(P1)보다는 적고, 미리 설정된 제2압력값(P2)보다 큰 경우에는 패닉 브레이킹으로 판단하여 운전자가 제동력을 충분히 공급할 수 없는 것으로 판단한다.In the case of sudden braking in the operation mode 102, in the operation mode 103 and the operation mode 105, the electronic control unit (ECU) provides the driver with sufficient braking force based on the pressure value P and the rate of change of pressure of the master cylinder for t2 hours. It is determined whether full braking or panic braking that the driver does not provide enough braking force. At this time, the electronic control unit (ECU) monitors the tendency of the pressure of the master cylinder MC in order to determine the braking intention of the driver in the braking situation by full braking and panic braking, and the pressure change rate of the master cylinder MC is preset. If the pressure is continuously increased above the preset second change rate while the pressure is higher than the first change rate, or when the pressure of the master cylinder MC is sufficiently increased above the preset first pressure value, the driver may supply full braking force by determining full braking. I judge that I can. On the other hand, the driver's braking ability is insufficient in the sudden braking situation, the rate of change of the pressure of the master cylinder MC is lower than the preset second rate of change, so that the increase in braking force is slow, and the pressure value P of the master cylinder is set in advance. When less than 1 pressure value P1 and larger than 2nd pressure value P2 preset, it determines with panic braking and judges that a driver cannot supply enough braking force.

작동모드 103에서의 판단결과 풀 브레이킹이면, 작동모드 104에서 전자제어유닛(ECU)은 운전자가 제동력을 충분히 공급할 수 있으므로, 브레이크 조력제어를 금지시켜 브레이크 조력제어를 수행하지 않는다.If the result of the determination in the operation mode 103 is full braking, in the operation mode 104, the electronic control unit (ECU) does not perform the brake assistance control by prohibiting the brake assistance control because the driver can sufficiently supply the braking force.

한편, 작동모드 105에서의 판단결과 패닉 브레이킹이면, 작동모드 106에서 전자제어유닛(ECU)은 운전자가 제동력을 충분히 공급할 수 없으므로, 브레이크 조력제어를 수행하여 보조 제동력을 제공한다. 즉, 전자제어유닛(ECU)은 브레이크 조력제어를 수행하기 위해 보조의 제동력을 생성하도록 먼저, 노멀오픈형 컷밸브(SC1, SC2)는 폐쇄시키고, 노멀클로형 컷밸브(SI1, SI2)는 개방시켜 브레이크 페달(BP) 조작에 따라 마스터실린더(MC)에서 브레이크압력이 승압된 브레이크액을 보조액압라인(MFc)를 통해 유압펌프(HP1, HP2)의 흡입 측으로 유입시킨다. 그리고, 모터(M)를 구동시켜 유압펌프(HP1, HP2)를 작동시킴으로써 각 휠 실린더(WFR, WRL, WFL, WRR)의 브레이크 액압을 상승시키는 방식으로 보조의 제동력을 휠 실린더(WFR, WRL, WFL, WRR)에 제공하여 제동력을 보조한다.On the other hand, if the determination result in the operation mode 105 is panic braking, in the operation mode 106, the electronic control unit (ECU) can provide the auxiliary braking force by performing the brake assistance control because the driver cannot supply the braking force sufficiently. That is, the electronic control unit ECU first closes the normal open cut valves SC1 and SC2 and opens the normal claw cut valves SI1 and SI2 so as to generate an auxiliary braking force to perform the brake assist control. According to the operation of the brake pedal BP, the brake fluid whose brake pressure is increased in the master cylinder MC is introduced into the suction side of the hydraulic pumps HP1 and HP2 through the auxiliary hydraulic pressure line MFc. Then, the auxiliary braking force is applied to the wheel cylinders WFR, WRL and WFL, WRR) to assist the braking force.

이상에서 상세히 설명한 바와 같이, 본 발명은 급제동시, 운전자가 충분한 제동력을 공급하지 못한 경우에는 브레이크 조력제어를 수행하고, 충분한 제동력을 공급한 경우에는 브레이크 조력제어를 수행하지 않음으로써 브레이크 조력제어가 불필요하게 수행하는 것을 방지할 수 있어 운전자의 브레이크 페달감을 향상시킬 수 있는 효과가 있다.As described in detail above, the present invention does not require brake assist control by performing brake assist control when the driver does not supply enough braking force and suddenly does not perform brake assist control when sufficient braking force is supplied. It can be prevented from doing so, there is an effect that can improve the driver's sense of brake pedal.

Claims (4)

차량 급제동시, 마스터실린더의 압력변화에 기초하여 운전자가 제동력을 충분히 공급하는지 못하는지를 판단하고,When braking the vehicle, it is determined whether the driver can supply enough braking power based on the pressure change of the master cylinder, 상기 운전자가 제동력을 충분히 공급하지 못하는 경우, 보조제동력을 발생시키기 위한 브레이크 조력제어를 수행하고, 상기 운전자가 제동력을 충분히 공급하는 경우, 상기 브레이크 조력제어를 금지시키는 것을 특징으로 하는 차량의 제동 제어방법.The brake control method of the vehicle, characterized in that for performing the braking assistance control for generating an auxiliary braking force when the driver does not supply enough braking force, and prohibiting the brake assistance control when the driver supplies enough braking force. . 제1항에 있어서, 상기 급제동인 경우, 상기 마스터실린더의 압력값을 검출하고, 상기 검출된 마스터실린더의 압력값과 상기 압력값의 변화율에 기초하여 상기 운전자가 제동력을 충분히 공급하는지 못하는지를 판단하는 것을 특징으로 하는 차량의 제동 제어방법.The method of claim 1, wherein, in the case of the sudden braking, the pressure value of the master cylinder is detected, and whether the driver does not sufficiently supply the braking force based on the detected pressure value of the master cylinder and the rate of change of the pressure value. Braking control method of the vehicle, characterized in that. 제2항에 있어서, 마스터실린더의 압력이 미리 설정된 제1압력값이거나, 상기 마스터실린더의 압력변화율이 미리 설정된 제1압력변화율 이상이면, 상기 운전자가 제동력을 충분히 공급하는 것으로 판단하는 것을 특징으로 하는 차량의 제동 제어방법.The method of claim 2, wherein if the pressure of the master cylinder is a predetermined first pressure value, or if the pressure change rate of the master cylinder is greater than or equal to the preset first pressure change rate, the driver determines that the braking force is sufficiently supplied. Braking control method of vehicle. 제1항에 있어서, 상기 차량 급제동을 상기 마스터실린더의 압력에 기초하여 판단하는 것을 더 포함하는 것을 특징으로 하는 차량의 제동 제어방법.The method of claim 1, further comprising determining the vehicle braking based on the pressure of the master cylinder.
KR1020040083036A 2004-10-18 2004-10-18 Brake control method for a vehicle KR20060033949A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190069778A (en) * 2017-12-12 2019-06-20 현대자동차주식회사 Method for using auxiliary brake in emergency braking

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190069778A (en) * 2017-12-12 2019-06-20 현대자동차주식회사 Method for using auxiliary brake in emergency braking

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