KR100828946B1 - Brake control method using vehicle's brake-signal - Google Patents

Brake control method using vehicle's brake-signal Download PDF

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Publication number
KR100828946B1
KR100828946B1 KR1020070043586A KR20070043586A KR100828946B1 KR 100828946 B1 KR100828946 B1 KR 100828946B1 KR 1020070043586 A KR1020070043586 A KR 1020070043586A KR 20070043586 A KR20070043586 A KR 20070043586A KR 100828946 B1 KR100828946 B1 KR 100828946B1
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South Korea
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brake
signal
time
braking
vehicle
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KR1020070043586A
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Korean (ko)
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이진구
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주식회사 만도
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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
    • 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
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed

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

Abstract

A brake control method for a vehicle using a brake signal is provided to improve braking performance by finishing ABS control in advance using an on signal of a brake switch when the unnecessary ABS control is executed. A brake control method for a vehicle using a brake signal comprises the steps of: setting the time measured when an executing signal of an ABS(Anti-lock Brake System) module turns on as the first time after a signal of a brake switch turns on(200,210); detecting a slightly braking condition if the first time measured is larger than the second time pre-determined(220); and increasing the pressure intensifying speed by reducing the pressure reducing amount in the brake hydraulic pressure transmitted to a wheel cylinder through control of a hydraulic modulator by the slightly braking condition(230). The brake control method also includes the steps of: detecting the emergency braking condition if the first time measured is smaller than the second time pre-determined(240); calculating road friction coefficients to detect the condition of road; detecting the slightly braking condition if the road friction coefficients calculated are higher than the road friction coefficients pre-determined(250); and increasing the pressure intensifying speed by reducing the pressure reducing amount in the brake hydraulic pressure transmitted to the wheel cylinder through control of the hydraulic modulator by the slightly braking condition(260).

Description

브레이크 신호를 이용한 차량의 제동 제어방법 {Brake Control method using vehicle's Brake-signal}Brake Control Method Using Vehicle's Brake-signal}

도 1은 본 발명이 적용되는 제동장치의 구성요소를 나타내는 블록 다이어그램이다.1 is a block diagram showing the components of a braking device to which the present invention is applied.

도 2는 본 발명의 일실시예에 따른 브레이크 신호를 이용한 차량의 제동방법을 도시한 흐름도이다.2 is a flowchart illustrating a braking method of a vehicle using a brake signal according to an exemplary embodiment of the present invention.

본 발명은 브레이크 신호를 이용한 차량의 완제동 상황에 대한 제어방법에 관한 것이다. The present invention relates to a control method for a complete braking situation of a vehicle using a brake signal.

운전자가 차량의 제동력을 증가 또는 유지하기 위해 브레이크를 조작할 때 제동 압력이 노면 상태보다 크거나, 제동 압력으로 발생하는 유압 브레이크에서의 마찰력이 타이어나 노면에서 발생하는 제동력보다 크면, 타이어가 노면에서 미끄러지는 슬립(slip) 현상이 발생한다. 이러한 슬립 현상을 방지하여 강력하고 안정된 제동력을 얻기 위한 것이 안티록 브레이크 시스템(ABS: Anti-lock Brake System)이다. When the driver operates the brake to increase or maintain the vehicle's braking force, if the braking pressure is greater than the road surface condition, or if the friction force from the hydraulic brake generated by the braking pressure is greater than the braking force generated from the tire or road surface, the tire is A slip phenomenon occurs. The anti-lock brake system (ABS) is used to prevent such slip phenomenon and obtain strong and stable braking force.

ABS장치는 제동기간 중 제동력을 노면에 충분히 전달할 수 없어서 야기되는 고착상태(Locking) 즉, 제동중 차륜은 회전하지 않아도 차량은 미끄러져 진행하게 되는 차륜의 상태를 대비한 것으로서, 제동 중 슬립율을 일정범위에서 유지시키도록 하여 차륜이 고착상태에 돌입하는 현상을 방지하며, 제동마찰계수가 높은 상태로 제동이 이루어지도록 하기 위한 장치이다.The ABS device is designed for the locking state caused by not being able to sufficiently transmit the braking force to the road surface during braking, that is, the state in which the vehicle slides while the wheel does not rotate during braking. It is a device for preventing the wheel from entering a fixed state by maintaining in a certain range, and braking is performed in a state where the braking friction coefficient is high.

종래의 ABS는 휠스피드센서(Wheel speed sensor)와 브레이크 시그날(Brake signal)만을 사용하여 별도로 운전자의 답력(Pedal Pressure) 의지를 판단할 수 있는 센서가 없기 때문에 오로지 휠슬립(Wheel Slip) 정보만을 이용하여 제동 압력을 제어하게 되었다.Conventional ABS uses only wheel slip information because there is no sensor that can determine the driver's willingness of pedal pressure by using only a wheel speed sensor and a brake signal. To control the braking pressure.

그러나, 이와 같은 종래의 ABS는 일반적으로 운전 중 많이 경험하게 되는 선회 주행중 완제동(Slightly Brake)시 차량의 하중 이동에 의해 발생하는 내측 휠 슬립이나, 비포장 노면에서 완제동시 바퀴의 불규칙 거동에 의해 발생하는 휠 슬립에 의해 ABS가 민감하게 작동할 수 있으며 작동 후에도 불필요한 과다감압으로 인해 제동 성능이 저하되는 문제점이 있었다.However, such a conventional ABS is caused by the inner wheel slip caused by the load movement of the vehicle during the lightly brake during turning, which is commonly experienced during driving, or by the irregular behavior of the wheel during the complete braking on the unpaved road surface. ABS can operate sensitively due to the wheel slip, and there is a problem that the braking performance is degraded due to unnecessary overpressure even after operation.

이러한 점을 고려하여 ABS 진입 조건에 일정 크기 이상의 마진을 두어 설계를 하거나 초기 탐색 사이클제어 동안의 정보를 이용하여 다음 제어 사이클에서 사용하는 학습제어 방법을 활용하기도 하였지만, 완제동의 경우 극 저마찰 노면이 아니라면 실제 ABS 실행이 불필요한 경우가 대부분이기 때문에 제동 성능 개선에 효과적이지 못하였다.Considering this point, we designed a system with a margin above a certain size in the ABS entry condition or used the learning control method used in the next control cycle by using the information during the initial search cycle control. If not, it is not effective to improve braking performance because most of them do not actually need ABS execution.

본 발명은 상기와 같은 문제점을 해결하기 위하여 발명한 것으로, 본 발명의 목적은 브레이크 신호를 이용하여 차량의 제동 성능을 개선하는 제어방법에 관한 것이다. The present invention has been invented to solve the above problems, an object of the present invention relates to a control method for improving the braking performance of the vehicle by using a brake signal.

전술한 목적을 달성하기 위한 본 발명에 따른 브레이크 신호를 이용한 차량의 제동 제어방법은 브레이크 스위치의 신호가 온(ON) 상태가 된 후부터 ABS 모듈의 실행 신호가 온(ON)상태가 될 때까지 측정된 시간을 제1시간으로 설정하고, 상기 측정된 제1시간이 미리 설정된 제2시간보다 크면 완제동(Slightly Brake) 상황으로 판단하고,상기 완제동 상황판단에 의하여 유압모듈레이터를 제어하여 휠 실린더로 보내지는 브레이크 액압의 감압량을 줄이고 증압속도를 빠르게 하는 것을 포함한다.The braking control method of the vehicle using the brake signal according to the present invention for achieving the above object is measured until after the signal of the brake switch is turned on (ON) until the execution signal of the ABS module is turned on (ON) Set the set time to the first time, and if the measured first time is greater than the preset second time, it is determined as a lightly brake situation, and the hydraulic modulator is controlled by the wheel braking situation to the wheel cylinder. It includes reducing the decompression amount of the brake hydraulic pressure to be sent and increasing the boosting speed.

또한, 상기 측정된 제1시간이 미리 설정된 제2시간보다 작으면 급제동 상황으로 판단하고, 노면의 상태를 파악하기 위하여 노면마찰계수를 구하고, 상기 구해진 노면마찰계수가 미리 설정된 노면의 마찰계수보다 높을 경우 완제동 상황으로 판단하고, 상기 완제동 상황판단에 의하여 유압모듈레이터를 제어하여 휠 실린더로 보내지는 브레이크 액압의 감압량을 줄이고 증압속도를 빠르게 한다.In addition, when the measured first time is less than the preset second time, it is determined as a sudden braking situation, and the road friction coefficient is obtained to determine the state of the road surface, and the obtained road friction coefficient may be higher than the friction coefficient of the preset road surface. In this case, it is determined that the braking situation is completed, and the hydraulic modulator is controlled by the braking situation determination to reduce the depressurization amount of the brake hydraulic pressure that is sent to the wheel cylinder and to increase the pressure increase speed.

또한, 상기 구해진 노면마찰계수가 낮은 경우 ABS제어를 정상 수행한다.In addition, if the obtained road friction coefficient is low, ABS control is normally performed.

이하, 본 발명의 일실시예에 대하여 첨부된 도면을 참조하면서 상세히 설명한다. 도 1은 제동장치의 구성요소를 나타내는 블록 다이어그램이다. 도 1을 살펴보면, 속도 검출부(100)에서는 속도 센서(미도시)들을 이용하여 차륜의 속도와 차 량의 속도를 측정하고, 측정된 결과를 전자제어장치(ECU)(130)로 전송한다. Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. 1 is a block diagram showing components of a braking device. Referring to FIG. 1, the speed detector 100 measures a speed of a wheel and a speed of a vehicle by using speed sensors (not shown), and transmits the measured result to an electronic control unit (ECU) 130.

제동 감지부(110)에서는 운전자에 의해 브레이크 페달에 압력이 가해지면, 브레이크 페달 상단부에 있는 브레이크 스위치(미도시)가 온(ON)되는 것을 감지하고, 그 신호를 전자제어 장치(130)로 전송한다. 상기 브레이크 스위치는 운전자의 제동의지를 검출하기 위한 장치로, 운전자가 브레이크를 밝으면 스위치가 튀어나오고 브레이크를 놓으면 페달에 의해 눌려지도록 구성되어 있다. 즉 브레이크 페달의 변위에 따라 온, 오프 된다.When the brake detecting unit 110 applies pressure to the brake pedal by the driver, the brake detecting unit 110 detects that the brake switch (not shown) on the upper end of the brake pedal is turned on and transmits the signal to the electronic controller 130. do. The brake switch is a device for detecting the driver's willingness to brake, and is configured to be pushed out by the pedal when the driver turns on the brake and releases the brake. In other words, the brake pedal is turned on and off according to the displacement.

전자제어장치(130)는 제동감지부(110)에서 브레이크 스위치의 온 신호가 전송되면, 속도 검출부(100)에서 전송되는 차륜 속도와 차량 속도의 차에 해당하는 휠 슬립을 구하고, 구해진 휠 슬립의 크기가 일정치 이상이 되면 ABS 모듈을 실행시킨다. 이때, 전자제어장치(130)는 제동감지부(110)에서 전송받은 브레이크 스위치의 온 시점부터 ABS 모듈(150)이 실행되는 시점까지의 시간이 미리 설정된 시간보다 크다면 전자제어장치에서는 운전자에 의하여 완제동 제어가 입력되고 있다고 판단하여 유압모듈레이터(140)를 제어한다. 만약 완제동 제어가 아니라면 노면의 상태를 파악하기 위하여 노면 마찰계수를 구하고, 구해진 노면 마찰계수가 미리 설정된 크기보다 크다면 완제동 제어를 하기 위하여 유압모듈레이터(140)를 제어한다. The electronic controller 130 obtains the wheel slip corresponding to the difference between the wheel speed and the vehicle speed transmitted from the speed detector 100 when the on-signal of the brake switch is transmitted from the braking detection unit 110, and obtains the obtained wheel slip. If the size exceeds a certain value, run the ABS module. At this time, the electronic controller 130 may determine that the time from the on time of the brake switch received by the brake detecting unit 110 to the time when the ABS module 150 is executed is greater than a preset time, the electronic control apparatus determines by the driver. The hydraulic modulator 140 is controlled by determining that the complete braking control is being input. If not the braking control, the road surface friction coefficient is obtained to determine the state of the road surface, and if the obtained road surface friction coefficient is larger than a predetermined size, the hydraulic modulator 140 is controlled to perform the complete braking control.

유압 모듈레이터(140)는 다수의 솔레노이드 밸브와 유압펌프, 모터, 저압어큐뮬레이터 등을 가지며, 마스터실린더에서 생성된 브레이크 액압을 휠 실린더에 공급하는 역할을 한다. The hydraulic modulator 140 has a plurality of solenoid valves, hydraulic pumps, motors, low pressure accumulators, etc., and serves to supply brake hydraulic pressure generated in the master cylinder to the wheel cylinders.

ABS 모듈(150)은 유압 모듈레이터를 제어하여 휠 실린더에 공급되는 브레이크 액압을 감압시키고 증압속도를 늦게한다. The ABS module 150 controls the hydraulic modulator to reduce the brake hydraulic pressure supplied to the wheel cylinder and to slow down the boosting speed.

이하 도 2를 참조하여 본 발명의 동작을 살펴보면 다음과 같다.Hereinafter, the operation of the present invention will be described with reference to FIG. 2.

운전자에 의하여 브레이크 페달에 압력이 가해지면, 제동감지부(110)의 브레이크 스위치가 온(ON) 되고, 그 온 신호를 전제제어장치(130)로 전송한다.(200) When a pressure is applied to the brake pedal by the driver, the brake switch of the brake detecting unit 110 is turned on and transmits the on signal to the preconditioning device 130.

전자제어장치(130)에서는, 브레이크 스위치의 온 신호가 입력되면 속도 검출부(100)에서 전송된 차량의 속도와 차륜의 속도를 이용하여 휠 슬립을 구하고, 휠 슬립이 일정치 이상이 되면 ABS 모듈(150)에 온(ON)신호를 인가한다. ABS 모듈(150)은 온 신호를 입력 받아 유압 모듈레이터를 제어하여 휠 실린더로 보내지는 브레이크 액압을 감압하고 증압 속도를 늦추는 제어를 한다. (210)In the electronic controller 130, when the on signal of the brake switch is input, the wheel slip is obtained by using the speed of the vehicle and the speed of the wheel transmitted from the speed detector 100, and when the wheel slip reaches a predetermined value or more, the ABS module ( The ON signal is applied to 150. The ABS module 150 receives the ON signal and controls the hydraulic modulator to reduce the brake hydraulic pressure sent to the wheel cylinder and to slow down the boosting speed. (210)

전자제어장치(130)에서는 ABS 모듈(150)에 온신호를 인가하고 ,브레이크 스위치의 온 신호가 전송된 시점부터 ABS 모듈(150)에 온 신호가 인가될 때까지의 시간이 미리 설정된 시간보다 큰 값인지 비교한다.(220)The electronic controller 130 applies the on signal to the ABS module 150, and the time from when the on signal of the brake switch is transmitted to when the on signal is applied to the ABS module 150 is greater than a preset time. Compare to value (220)

220의 결과 측정된 시간이 미리 설정된 시간보다 크다면 전자제어장치(130)에서는 현재 차량의 제어상황을 완제동 상황으로 판단하고, 완제동 제어를 수행하기 위하여 앞서 실행된 ABS 모듈(150)에 의해 제어된 유압 모듈레이터를 제어하여 휠 실린더로 보내지는 브레이크 액압의 감압량을 줄이고 증압 속도를 빠르게 하여 ABS 모듈의 실행 시간을 단축시키킨다.(230)If the measured time as a result of 220 is greater than the preset time, the electronic control device 130 determines the current control situation of the vehicle as the braking situation, and by the ABS module 150 previously executed to perform the braking control. By controlling the controlled hydraulic modulator, the decompression amount of the brake hydraulic pressure that is sent to the wheel cylinder is reduced, and the boosting speed is increased to shorten the execution time of the ABS module.

만약, 220에서 브레이크 스위치의 온신호가 전송된 시점부터 ABS 모듈(150)에 온 신호가 인가될 때까지의 시간이 미리 설정된 시간보다 짧으면, 전자제어장 치(130)는 급제동 상황으로 판단한다. (240)If the time from when the on-signal of the brake switch is transmitted at 220 to when the on-signal is applied to the ABS module 150 is shorter than a preset time, the electronic controller 130 determines that it is a sudden braking situation. (240)

240의 판단으로 인하여 전자제어장치(130)는 현재 노면의 상태를 파악하기 위하여 노면 마찰계수를 구하고 미리 설정된 노면의 마찰계수와 비교한다.(250)In operation 240, the electronic controller 130 obtains a road surface friction coefficient and compares the road surface friction coefficient with a predetermined friction coefficient to determine the current road surface state.

250의 결과 측정된 노면의 마찰계수가 미리 설정된 노면의 마찰계수보다 높다면 전자제어장치(130)는 ABS 모듈의 실행이 불필요하다고 판단하여 230과 같은 완제동 제어를 수행한다.(260)If the measured frictional coefficient of the road surface is higher than the predetermined frictional coefficient of the road surface, the electronic controller 130 determines that the ABS module is not necessary to perform the complete braking control such as 230.

만약, 250의 결과 측정된 노면의 마찰계수가 미리 설정된 노면의 마찰계수보다 높다면 ABS 제어가 필요한 것으로 판단하여 ABS 모듈의 실행을 정상작동 시킨다.(270)If the friction coefficient of the road surface measured as a result of 250 is higher than the predetermined friction coefficient of the road surface, it is determined that ABS control is necessary and the ABS module is normally operated.

이상에서 상세히 설명한 바와 같이, 본 발명은 ABS 제어가 필요없는 상황에서 ABS 제어가 실행되었을 때, 브레이크 스위치의 온(ON)신호를 이용하여 ABS 제어를 조기 종료시킴에 따라 불필요한 제동성능 저하를 막을 수 있다. As described in detail above, when the ABS control is executed in a situation where the ABS control is not necessary, unnecessary braking performance can be prevented by early termination of the ABS control using the ON signal of the brake switch. have.

Claims (3)

브레이크 스위치의 신호가 온(ON) 상태가 된 후부터 ABS 모듈의 실행 신호가 온(ON)상태가 될 때까지 측정된 시간을 제1시간으로 설정하고,After the brake switch signal is turned ON, the measured time from the ABS module execution signal to the ON state is set to the first time. 상기 측정된 제1시간이 미리 설정된 제2시간보다 크면 완제동(Slightly Brake) 상황으로 판단하고,When the measured first time is greater than the preset second time, it is determined as a brightly brake situation, 상기 완제동 상황판단에 의하여 유압모듈레이터를 제어하여 휠 실린더로 보내지는 브레이크 액압의 감압량을 줄이고 증압속도를 빠르게 하는 브레이크 신호를 이용한 차량의 제동 제어방법.The braking control method of the vehicle using the brake signal to control the hydraulic modulator by the braking situation determination to reduce the amount of decompression of the brake hydraulic pressure to be sent to the wheel cylinder and to increase the pressure increase speed. 제1항에 있어서,The method of claim 1, 상기 측정된 제1시간이 미리 설정된 제2시간보다 작으면 급제동 상황으로 판단하고,If the measured first time is less than the second preset time, it is determined as a sudden braking situation, 노면의 상태를 파악하기 위하여 노면마찰계수를 구하고,In order to grasp the state of the road surface road coefficient of friction, 상기 구해진 노면마찰계수가 미리 설정된 노면의 마찰계수보다 높을 경우 완제동 상황으로 판단하고,If the obtained road friction coefficient is higher than the predetermined friction coefficient of the road surface is determined as a complete braking situation, 상기 완제동 상황판단에 의하여 유압모듈레이터를 제어하여 휠 실린더로 보내지는 브레이크 액압의 감압량을 줄이고 증압속도를 빠르게 하는 브레이크 신호를 이용한 차량의 제동 제어방법. The braking control method of the vehicle using the brake signal to control the hydraulic modulator by the braking situation determination to reduce the amount of decompression of the brake hydraulic pressure to be sent to the wheel cylinder and to increase the pressure increase speed. 제2항에 있어서,The method of claim 2, 상기 구해진 노면마찰계수가 낮은 경우 ABS제어를 정상 수행하는 브레이크 신호를 이용한 차량의 제동 제어방법. And a braking control method for a vehicle using a brake signal to normally perform ABS control when the obtained road friction coefficient is low.
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