KR100254339B1 - Abs - Google Patents

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Publication number
KR100254339B1
KR100254339B1 KR1019960054279A KR19960054279A KR100254339B1 KR 100254339 B1 KR100254339 B1 KR 100254339B1 KR 1019960054279 A KR1019960054279 A KR 1019960054279A KR 19960054279 A KR19960054279 A KR 19960054279A KR 100254339 B1 KR100254339 B1 KR 100254339B1
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South Korea
Prior art keywords
road surface
wheel
braking force
control
braking
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KR1019960054279A
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Korean (ko)
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KR19980035834A (en
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전재환
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정몽규
현대자동차주식회사
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Priority to KR1019960054279A priority Critical patent/KR100254339B1/en
Publication of KR19980035834A publication Critical patent/KR19980035834A/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
    • 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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • B60T8/17636—Microprocessor-based 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems
    • 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
    • B60Y2400/81—Braking systems

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE: A road surface jump control method rapidly copes with road surface jump by using the control information about the road surface jump detected from the front wheels for the braking force control of the rear wheels to reduce braking distance and improve steering stability on braking. CONSTITUTION: A road surface jump control method comprises a step to transmit the information about road surface jump determined by front wheels to a control part(11), a step to calculate timing for rear wheels to reach the road surface jump according to current car speed and the distance between the front wheels and the rear wheels and a step to prepare control for the road surface jump of the rear wheels.

Description

자동차용 제동력 제어 시스템의 노면 점프 제어방법Method for controlling road surface jump of braking force control system for automobile

일반적으로 자동차에는 차량의 속력제어를 위해 브레이크방법을 구비하고 있는 바, 최근에는 차량의 제동능력향상과 제동중의 조향안정성 확보를 위해 제동 제도시스템(ABS)을 구비하고 있다.BACKGROUND ART [0002] Generally, a vehicle is provided with a brake method for controlling the speed of a vehicle. Recently, a braking system (ABS) is provided to improve the braking capability of the vehicle and secure the steering stability during braking.

제동력제어시스템은 제동마찰계수가 낮은 노면에서 고속주행중 제동할 때 제동력을 노면에 충분히 전달할 수 없어서 야기되는 고착상태(blocking) 즉, 제동 중 차륜은 회전하지 않아도 차량은 미끄러져 진행하게 되는 차륜의 상태를 대비한 것으로서, 제동중 차륜의 고착상태가 있기 전에 이를 사전에 감지하고 발생을 방지하기 위한 시스템이다.In the braking force control system, the braking force is not sufficiently transmitted to the road surface during braking at a high speed on a road surface with low braking friction coefficient. In other words, the state of the wheel in which the vehicle slips while the braking wheel is not rotating And is a system for detecting the wheels before the wheels are fastened and preventing them from occurring during braking.

이 시스템은 제동시, 차량의 전후륜에 설치된 차륜회전속력 검출센서를 이용하여 차속을 추정하고 이를 기초로 현재의 슬립률과 감속도를 계산한 후, 이들 가료를 입력변수로하여 차량의 고착상태발생을 예측하고 그 전에 브레이크 압력을 감소시켜 차륜속력을 차속에 근접시키고 다시 차륜의 회전속력이 일정치를 초과하기 전에 브레이크 압력을 증가시켜 차륜을 제동시키는, 일련의 동작을 반복하여 슬립률을 바람직한 상태로 유지시키도록 제어하는 것으로서, 파륜의 고착상태가 발생함으로 조향성상실 및 주행안정성상실의 상태가 되는 것을 사전에 방지하고 제동능력을 향상시킨다.In this system, the vehicle speed is estimated by using a wheel rotation speed sensor installed on the front and rear wheels of the vehicle, and the present slip rate and deceleration are calculated based on the estimated vehicle speed. Then, The brake pressure is decreased to decrease the brake pressure before the wheel speed is approached to the vehicle speed and the brake pressure is increased to increase the brake pressure before the rotational speed of the wheel exceeds a predetermined value to repeat the series of operations, Thereby preventing the loss of the steering loss and the loss of the driving stability by preventing the steering wheel from being stuck and improving the braking performance.

이러한 기능을 하는 제동력제어시스템은 브레이크 휠실린더의 유압을 직접조절하는 밸브기구와, 차륜의 현재속력에 대한 정보를 기초로 차량의 슬립률을 추정하고 밸브의 개폐를 제어하는 전자제어방법을 주요요소로 하며, 그 구체적 제어작동은 다음과 같다.A braking force control system that performs this function includes a valve mechanism that directly controls the hydraulic pressure of the brake wheel cylinder and an electronic control method of estimating the slip ratio of the vehicle based on information on the current speed of the wheel and controlling the opening and closing of the valve, The concrete control operation is as follows.

운전자가 제동방법을 작동시키면 차륜의 브레이크 유압이 증가하게 되므로 차륜의 속력이 급감하게 된다. 그러나 지면과의 마찰계수가 낮은 등의 경우로 차륜에 슬립률이 높아지게되며 제동력제어시스템은 작동을 시작한다.When the driver operates the braking method, the brake hydraulic pressure of the wheel is increased, so that the speed of the wheel is reduced rapidly. However, when the coefficient of friction with the ground is low, the slip rate on the wheel becomes high and the braking force control system starts to operate.

먼저 브레이크압력을 낮추어서 현재의 차륜속력을 차속에 근접시켜 슬립률을 낮추도록하고 차륜의 속력이 차속을 초과하기전에 브레이크압력을 증가시켜 차륜에 제동력을 증가시킨다. 이러한 과정은 차량의 제동이 완전히 이루어질 때까지 반복되며, 그 결과 차륜의 슬립률은 차륜과 노면간의 마찰계수가 가장 적합한 상태에서 제동이 되므로 제동거리도 줄일 수 있고, 적정마찰력을 유지하므로 조향의 안정성도 확보할 수 있다.First, the brake pressure is lowered to bring the current wheel speed close to the vehicle speed to lower the slip rate, and the braking force is increased to the wheel by increasing the brake pressure before the speed of the wheel exceeds the vehicle speed. This process is repeated until the braking of the vehicle is completed. As a result, the slip ratio of the wheel is braked when the friction coefficient between the wheel and the road surface is the most suitable, so that the braking distance can be reduced. Can be secured.

한편 차륜과 노면간의 마찰계수는 노면의 상태에 따라 변화하게 되어, 마찰계수가 큰 노면과 비교할 때 마찰계수가 작은 노면에서는 차륜의 미끄러짐이 심하므로 차륜에 약간의 제동력을 가해도 고착상태로 돌입하기 쉽다.On the other hand, the coefficient of friction between the wheel and the road surface varies depending on the condition of the road surface. Therefore, when the road surface has a small frictional coefficient as compared with the road surface having a large friction coefficient, easy.

따라서 제동력제어시스템의 제어도 마찰계수가 큰 노면에서와 작은 노면에서 그 제어방식을 달리하여, 마찰계수가 작은 노면에서의 제동압이 큰 노면에서의 제동압보다 일반적으로 작다.Therefore, the control of the braking force control system is generally smaller than the braking pressure on the road surface where the braking pressure on the road surface having a small coefficient of friction is different from that on the road surface having a large friction coefficient and on the small road surface.

이러한 이유로, 노면의 상태에 따라 마찰계수가 급격히 변화하는 점프 노면에서는 제어상태를 빠르게 변화시키지 않으면 안된다.For this reason, the control state must be rapidly changed on the jumping road surface where the coefficient of friction changes abruptly according to the state of the road surface.

즉, 마찰계수가 높은 노면에서 낮은 노면으로 점프하게 되면, 제동력이 커서 고착상태로 돌입하기 쉬우므로 제동압을 낮추어야 하며, 반대로 마찰계수가 낮은 노면에서 높은 노면으로 점프하게 되면 제동력의 부족으로 제동거리가 길어지게될 수 있으므로 제동압을 높여야 한다.In other words, when jumping from a road surface with a high coefficient of friction to a low road surface, the braking force is large and it is likely to run into a fixed state, so the braking pressure must be lowered. On the other hand, It is necessary to increase the braking pressure.

일반적인 제동력제어시스템을 장착한 차량의 경우는 이러한 노면점프를 대비하여 노면 점프를 판단 할 수 있는 방법을 구비하고 있다.In the case of a vehicle equipped with a general braking force control system, there is provided a method of determining a road surface jump in preparation for such a road surface jump.

특히, 차륜의 제동력제어를 독립적으로 수행하는 최신의 4채널 제동력제어시스템에 있어서는 노면의 상황이 차륜마다 다르므로 각 차륜은 각각의 제어를 위한 자료를 독립적으로 사용하여 변화하는 상황에 개별적으로 대응하도록하고 있어 그 효율을 높이려 하고 있다.In particular, in a state-of-the-art four-channel braking force control system in which the braking force control of the wheel is performed independently, the road surface conditions are different for each wheel, so that each wheel independently uses the data for each control, And to increase its efficiency.

그러나, 이러한 방법의 경우, 현재 노면의 상태를 각각의 차륜별로 검지하고 이 노면별로 개별제어를 하므로, 연산을 위해서는 상대적을 오랜 시간이 소요된다는 단점이 있다.However, in this method, since the state of the current road surface is detected for each wheel and the individual control is performed for each road surface, there is a disadvantage in that it takes a relatively long time to perform the calculation.

따라서 아주 짧은 시간내에 노면상태의 변화에 대응하여야 하는 제동력제어시스템의 제어에서 상황이 발생하기 이진에 미리 상황발생을 예측하고 이에 대한 대처를 할 수 있도록 하는 방법의 개발이 요구된다.Therefore, in the control of the braking force control system which must cope with the change of the road surface state in a very short time, it is required to develop a method of anticipating the occurrence of the situation in advance and coping with it in advance.

본 발명은 전술한 요구에 따른 것으로, 자동차용 제동력제어시스템에 있어서 전륜으로 부터 판단된 노면의 점프에 대한 제어정보를 후륜의 제동력제어를 위한 정보로 사용하도록 하여 빠른 시간내에 노면점프에 대한 대처를 하도록 하는 자동차용 제동력제어시스템의 노면점프 제어방법을 제공하는 것을 기술적과제로 한다.The present invention is based on the above-described need, and it is an object of the present invention to provide a braking force control system for an automobile which uses control information on a road surface jumping judged from front wheels as information for braking force control of a rear wheel, And an object of the present invention is to provide a road surface jump control method for an automotive braking force control system.

제1도는 본 발명에 따른 제동력제어시스템의 노면점프 제어방법의 작동조건을 설명하기 위한 도면.FIG. 1 is a view for explaining operating conditions of a road surface jump control method of a braking force control system according to the present invention; FIG.

제2도는 본 발명에 따른 제동력제어시스템의 노면점프 제어방법의 구성을 보여주는 블록도이다.FIG. 2 is a block diagram showing a configuration of a road surface jump control method of a braking force control system according to the present invention.

전술한 기술적과제를 해결하기 위한 수단으로, 본 발명은 좌측전륜 휠스피드센서와, 우측전륜 휠스피드센서와, 좌측후륜 휠스피드센서와, 우측후륜 흴스피드센서와, 좌측전륜 제동력제어밸브기구와, 우측천륜 제동력제어밸브기구와, 좌측후륜제동력제어밸브기구와, 우측후륜 제동력제어밸브기구를 구비하는 자동차용 제동력제어시스템에 있어서,According to an aspect of the present invention, there is provided a vehicle front-wheel-brake control system including a left front wheel speed sensor, a front right wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, A braking force control system for an automotive vehicle, comprising a right thigh wheel braking force control valve mechanism, a left rear wheel braking force control valve mechanism, and a right rear wheel braking force control valve mechanism,

상기 좌측전륜 휠스피드센서와, 우측전륜 휠스피드센서로 부터의 정보를 기초로 노면의 점프를 판단하고 노면점프에 대한 정보를 제어부로 송신하는 점프노면 판단부(10)와, 상기 좌측전륜 휠스피드센서, 우측전륜 휠스피드센서, 좌측후륜 휠스피드센서, 우측후륜 휠스피드센서로부터의 정보를 기초로 제동력제어를 위한 정보를 연산하는 연산부(12)와, 상기 점프노면 판단부로부터 노면점프가 발생하였음을 확인하면 차량의 현재속력과 차륜간 거리에 대한 정보를 기초로 후륜에서의 노면점프가 발생할 시기를 연산하여 상기 후륜의 제동력제어밸브기구를 제어하는 제어부(11)를 포함하는 것을 특징으로 하는 제동력제어시스템의 노면점프 제어방법을 제공한다.A jumping road surface determination unit (10) for judging a jumping of the road surface based on information from the left front wheel speed sensor, a right front wheel speed sensor, and transmitting information about a road jumping to a control unit; (12) for calculating information for braking force control based on information from a sensor, a front right wheel speed sensor, a left rear wheel speed sensor and a right rear wheel speed sensor, and a road surface jump And a control unit (11) for calculating a timing at which a road surface jump occurs in the rear wheels based on information on the current speed of the vehicle and the distances between the wheels, thereby controlling the braking force control valve mechanism of the rear wheels A method of controlling a road surface jump of a control system is provided.

본 발명은 차량이 제1도에 도시된 바와 같이 마찰계수가 변화하는 노면경계선을 통과 할 때 전륜의 경로를 후륜이 통과한다는 사실로 부터 시작된 것으로, 전륜이 노면 점프를 한 후, 후륜이 노면 경계에 도달하는 데 까지 걸리는 시간은 차륜간 거리(T)와 차량이 현재 속력에 따른다.The present invention is based on the fact that the rear wheel passes the path of the front wheel when the vehicle passes the road surface boundary at which the friction coefficient changes as shown in FIG. 1, and after the front wheel makes the road surface jump, The time it takes to reach the wheel depends on the wheel-to-wheel distance T and the current speed of the vehicle.

예를 들면 차량이 시속 50 (13.8m/s)로 진행중이고, 전후차륜간의 거리가 T일 때, 전륜이 지나간 자리를 후륜은초 후에 통과하게된다.For example, when the vehicle is running at a speed of 50 (13.8 m / s) per hour and the distance between front and rear wheels is T, Seconds later.

현재 당사의 차종인 아반테의 경우 차륜간 거리 T는 약 2.55m이므로 0.184초후에 후륜은 전륜이 지난 자리를 통과하게 된다.At present, Avante, our model, has a distance T between wheels of about 2.55m, so after 0.184 seconds, the rear wheel passes through the front wheel.

따라서 보통 제동력제어시스템은 샘플링시간이 5-7m sec 이므로 약 25내지 36번의 샘플링시간 이후에 뒷바퀴에도 노면의 점프가 일어날 것으로 예측할수 있다.Therefore, the normal braking force control system has a sampling time of 5-7 m sec, so that it is predicted that the road surface will jump to the rear wheel after about 25 to 36 sampling times.

이하 본 발명에 따른 제동력제어시스템의 노면점프 제어방법의 구성 및 작동상태를 첨부된 도면을 참조하여 설명하도록 한다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the construction and operation of a road surface jump control method of a braking force control system according to the present invention will be described with reference to the accompanying drawings.

좌측전륜 휠스피드센서,우측전륜 휠스피드센서, 좌측후륜 휠스피드센서,우측후륜 휠스피드센서는 각 차륜에 설치된 종래의 센서로서 차륜의 회전속력을 검출한다.The left front wheel speed sensor, the right front wheel speed sensor, the left rear wheel speed sensor, and the right rear wheel speed sensor are conventional sensors installed on each wheel to detect the rotational speed of the wheel.

전자제어방법(5)는 점프노면판단부(10), 제어부(11), 연산부(12)를 포함하도록 구성되며, 점프노면 판단부는 좌우측의 전륜으로부터의 휠 스피드를 기초로 차륜의 점프가 발생하였는 지를 여부를 연산한다. 점프의 판단을 검출하는 방식은 종래의 시스템에 따른다.The electronic control method 5 is configured to include a jumping road surface determination unit 10, a control unit 11 and an operation unit 12. The jumping road surface determination unit determines whether or not the jumping of the wheel occurs based on the wheel speeds from the left and right front wheels Or not. The manner of detecting the judgment of the jump depends on the conventional system.

전자제어방법의 연산부(12)는 종래의 슬립률연산 차속추정등의 연산이외에, 사전에 입력된 차륜간 거리값을 현재의 차속으로 나누어서 후륜에 노면 점프가 발생할 시간을 연산한다.The calculating unit 12 of the electronic control method divides the previously-input inter-wheel distance value into the current vehicle speed, and calculates the time at which the road surface jump occurs in the rear wheel, in addition to the conventional calculation of the slip rate calculation vehicle speed.

제어부(11)는 종래의 제동력제어를 위한 기능이외에 전술한 점프노면 판단부(10)로부터 노면이 점프 되었음을 알리는 신호가 입력되면 연산부로부터 연산된 값을 기초로 후륜에 노면 점프가 시작될 시간이 경과하면 점프노면의 상태에 따라 후륜에 대한 제동력제어를 행한다.When a signal indicating that the road surface has been jumped is inputted from the above-described jumping road surface judging unit 10 in addition to the function for controlling the conventional braking force, the control unit 11, based on the value calculated from the calculating unit, And performs braking force control on the rear wheels according to the state of the jumping road surface.

좌우측 전륜 및 후륜의 제동력제어밸브(6)(7)(8)(9)는 종래의 제어밸브기구로서, 전자제어방법의 제어명령에 따라 밸브기구를 여닫아 각 차륜의 제동력을 제어한다.The braking force control valves 6, 7, 8, and 9 of the left and right front and rear wheels are conventional control valve mechanisms that control the braking force of each wheel by closing the valve mechanism according to the control command of the electronic control method.

전술한 제동력제어시스템의 노면점프 제어방법의 제공에 의해 차륜의 제동시 노면의 점프가 있는 경우 전륜에서의 판단결과를 후륜에 적용하여 노면의 점프를 대비한 제어를 하므로서 제동력제어시스템의 제어효과를 향상시켜, 제동거리를 줄이고 제동시 조향안정성을 높이도록 한다.By providing the road surface jump control method of the braking force control system described above, when the road surface is jumping during braking of the wheel, the determination result of the front wheel is applied to the rear wheel to control the jumping of the road surface in preparation for the control effect of the braking force control system Thereby reducing the braking distance and improving the steering stability during braking.

본 발명은 자동차의 제동력제어시스템에 관한 것으로, 노면의 마찰계수가 급변하는 점프 노면상태에 대하여 전륜으로 부터의 제어정보를 후륜으로 전송하여 후륜의 제동력제어를 위한 정보로 사용하도록 하여 제동시에 제동효과를 높이기 위한 제동력제어시스템의 노면점프 제어방법을 제공하는 것을 목적으로 한다.BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a braking force control system for an automobile, in which control information from a front wheel is transmitted to a rear wheel in response to a jumping road surface state in which a friction coefficient of the road surface changes rapidly, And to provide a road surface jump control method for a braking force control system for raising the road surface.

Claims (1)

ABS ECU가 정착되어 차량의 전륜과 후륜을 각각 제어하는 자동차용 제동력 제어 시스템의 노면 점프 제어 방법에 있어서, 상기한 전륜이 노면 점프를 판단하면 상기한 판단 정보를 제어부에 전달하는 단계와, 상기한 제어부에 정보 전달 후 현재 차속과 전후 차륜 사이의 거리에 따라 후륜이 상기한 노면 점프에 도달하는 시기를 연산하는 단계와, 상기한 시기 연산 후 후륜의 노면 점프에 따른 제어를 준비하는 단계를 포함함을 특징으로 하는 자동차용 제동력 제어 시스템의 노면 점프 제어 방법.A road surface jump control method for a braking force control system for an automobile in which an ABS ECU is fixed to control a front wheel and a rear wheel of a vehicle, respectively, the method comprising: transmitting the judgment information to a control unit when the front wheel judges a road surface jump; Calculating a time when the rear wheel reaches the road surface jump in accordance with the distance between the current vehicle speed and the front and rear wheels after transferring the information to the control unit, and preparing the control according to the road surface jump of the rear wheel after the timing calculation And a control unit for controlling the braking force of the braking force control system.
KR1019960054279A 1996-11-15 1996-11-15 Abs KR100254339B1 (en)

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