KR101735218B1 - Apparatus and method for controlling auto hold of vechicles - Google Patents

Apparatus and method for controlling auto hold of vechicles Download PDF

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KR101735218B1
KR101735218B1 KR1020150190504A KR20150190504A KR101735218B1 KR 101735218 B1 KR101735218 B1 KR 101735218B1 KR 1020150190504 A KR1020150190504 A KR 1020150190504A KR 20150190504 A KR20150190504 A KR 20150190504A KR 101735218 B1 KR101735218 B1 KR 101735218B1
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South Korea
Prior art keywords
vehicle
value
speed
predetermined
distance
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KR1020150190504A
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Korean (ko)
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박한길
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주식회사 현대케피코
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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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • B60T8/24—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 vehicle inclination or change of direction, e.g. negotiating bends
    • 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
    • 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
    • B60T8/3205—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 acceleration
    • 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
    • B60T2201/06—Hill holder; Start aid systems on inclined road
    • 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
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/304—Acceleration sensors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The present invention relates to an automatic hold control apparatus and method for a vehicle, and more particularly, to an automatic hold control apparatus and method for a vehicle, comprising: a gear sensing unit for sensing a gear state of a vehicle; An excel detection unit for detecting whether the excel pedal is operated when the vehicle is in a traveling gear state (D-stage) or a neutral gear (N-stage) state; An inclination angle sensing unit for sensing an inclination angle of the driving road and comparing the inclination angle with a predetermined first inclination value when it is determined that the vehicle is stopped; And a control unit for controlling activation and inactivation of the auto hold based on the distance between the distance calculation unit and the preceding vehicle.

Figure R1020150190504

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic hold control apparatus for a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic hold control apparatus for a vehicle and a method thereof, and more particularly to an automatic hold control apparatus and method for a vehicle which can actively control activation / will be.

The auto-hold system includes a hydraulic solenoid valve mounted on a master cylinder, which is one of the braking devices of a general gasoline vehicle, a control unit for controlling the solenoid valve, a speed sensor for detecting the speed of the vehicle, A touch sensor for sensing the brake pedal, and a brake sensor for detecting whether or not the brake pedal is depressed.

When the brake pedal is depressed in the D-stage (drive stage) or N-stage (neutral stage) state when the vehicle is stationary or waiting for an intersection signal, it is detected by the brake sensor and the signal is sent to the control unit and the solenoid valve is operated By maintaining the fluid pressure in the master cylinder, the vehicle remains in the braking state even after the driver releases his / her foot from the brake pedal after a few seconds.

As such, the auto hold system has the advantage that the brake pressure holding function allows the driver to comfortably rest his or her feet, and to start the vehicle again without being hit by a hill or a severe slope.

It is also known that the system operates only when the vehicle is stationary, and that the system does not operate during driving or when the vehicle is running backward.

However, in the congestion zone or parking situation, there is a problem that the auto-hold system function becomes inconvenient due to a situation where the vehicle is stopped even though the vehicle is not stopped. In addition, there is a problem that when the auto-hold system is released, the vehicle becomes unstable.

In this regard, Korean Patent Laid-Open Publication No. 2010-0005764 discloses a " method for implementing an auto-hold of a hybrid fuel cell vehicle ".

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a vehicle control system and a control method thereof, in which when the distance from the preceding vehicle is short, And a method of controlling an auto hold of a vehicle in which an auto hold function is disabled when a distance between the vehicle and a preceding vehicle is long.

Another object of the present invention is to provide an automatic hold control apparatus and method for a vehicle which, when it is determined that the vehicle is running steeply in a slope section and creep travel is impossible, activates auto hold.

It is another object of the present invention to provide an apparatus and a method for controlling an auto-hold of a vehicle, in which the auto-hold is deactivated when it is determined that the vehicle has entered the parking mode.

In order to accomplish the above object, according to the present invention, there is provided a gear detecting apparatus for detecting a gear state of an auto-hold vehicle of a vehicle, An accelerator sensing unit for sensing whether the accelerator pedal is operated when the vehicle is in a traveling gear state (D-stage) or a neutral gear (N-stage) state; A stop detection unit for detecting whether the vehicle is stopped based on the speed of the vehicle when the Excel pedal is turned off; An inclination angle sensing unit that senses an inclination angle of the driving road and compares the inclination angle with a predetermined first inclination value when it is determined that the vehicle has stopped; A distance calculation unit for measuring a distance to the preceding vehicle when it is determined that the inclination angle of the traveling road is low; And a controller for controlling activation and inactivation of the auto-hold based on the distance from the vehicle to the front vehicle. When the vehicle is in the reverse gear (R-stage) state, A first speed comparing unit for determining that the vehicle is in a parked mode when the running speed of the vehicle is greater than a predetermined first speed value; And when the gear state of the vehicle is switched to the traveling gear or the neutral gear state in a state where the vehicle enters the parking mode, the traveling speed of the vehicle is compared with the predetermined second speed value, And a second speed comparison unit that determines that the vehicle is re-entering the driving mode in the parking mode when the vehicle is greater than the second speed value, wherein the control unit determines that the distance to the preceding vehicle is smaller than the predetermined first distance value Or when the distance to the preceding vehicle is smaller than the predetermined second distance value, the auto hold is activated, and if the distance to the preceding vehicle is larger than the predetermined first distance value, the auto hold is deactivated.

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Further, the control unit may be configured to deactivate the auto hold when the vehicle is in the reverse gear state.

Also, the predetermined first speed value is a vehicle speed value for determining whether the current vehicle enters the parking mode, and the predetermined second speed value is a vehicle speed value for determining whether the current vehicle enters the driving mode in the parking mode .

Further, the excel detecting unit detects whether the excel pedal is operated when it is determined that the vehicle is re-entered into the traveling mode in the parking mode.

And a direction sensing unit that senses a driving direction of the vehicle when the vehicle is determined to be stopped by the stop sensing unit. The control unit activates auto hold when the vehicle is determined to be running in a backward direction, And when it is determined that the vehicle is not running in the backward direction, the auto hold is deactivated.

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And a tilt angle comparing unit for comparing the tilt angle of the sensed traveling road with the predetermined first tilt value and the second tilt value when it is determined by the tilt angle sensing unit that the tilt angle of the traveling road is steep, Activates the auto hold when the detected slope angle of the running road is a predetermined slope value between the predetermined first slope value and the second slope value and sets the slope angle of the sensed running road to a value between the predetermined first slope value and the second slope value The electronic parking brake system is activated.

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According to an aspect of the present invention, there is provided an auto hold control method for a vehicle, including: sensing a gear state of a vehicle by a gear sensing unit; Detecting whether or not the Excel pedal is operated when the vehicle is in the traveling gear (D-stage) or neutral gear (N-stage) state by the Excel sensing unit; Detecting whether the vehicle is stopped based on the speed of the vehicle when the stop pedal is turned off by the stop detection unit; Detecting an inclination angle of the driving road by the inclination angle sensing unit and comparing the inclination angle with a predetermined first inclination value when it is determined that the vehicle is stopped; Measuring a distance to the preceding vehicle when it is determined by the distance calculating unit that the inclination angle of the traveling road is low; And controlling the activation and deactivation of the auto-hold based on the distance to the preceding vehicle by the control unit, wherein after the step of sensing the gear status of the vehicle, the vehicle is in the reverse gear (R- Determining that the vehicle enters a parking mode when the vehicle speed is greater than a predetermined first speed value by comparing the vehicle speed with a predetermined first speed value when the hold is inactivated; And when the vehicle is in the parking mode and the gear state of the vehicle is switched to the traveling gear or the neutral gear state, the traveling speed of the vehicle is compared with the predetermined second speed value so that the traveling speed of the vehicle is higher than the predetermined second speed value Determining whether the vehicle is re-entering the driving mode in the parking mode when the vehicle is in a large state; and after the step of detecting whether the vehicle is stopped based on the vehicle speed when the Excel pedal is turned off, And if it is determined that the vehicle is not stopped, sensing a traveling direction of the vehicle, and if it is determined that the vehicle is traveling in the backward direction after the step of sensing the traveling direction of the vehicle, If it is determined that the vehicle is not running in the backward direction, the auto-hold is deactivated by the control unit, If it is determined that the inclination angle of the running road is a steep incline after the step of comparing the inclination angle of the running road with the predetermined first inclination value, And comparing the inclination angle of the sensed traveling road with the predetermined first inclination value and the second inclination value, the inclination angle of the sensed traveling road is compared with the predetermined inclination angle, In the step of controlling the activation and deactivation of the auto-hold based on the distance from the preceding vehicle and the auto-hold is activated by the control unit when the value is a value between the value and the second inclination value, If the distance from the preceding vehicle is smaller than the first distance value or smaller than the predetermined second distance value, the auto hold is activated. If the distance from the preceding vehicle is greater than the predetermined first distance value, Characterized in that to deactivate.

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If it is determined that the vehicle is re-entering the driving mode in the parking mode when the traveling speed of the vehicle is greater than the predetermined second speed value, Mode, it is determined whether the excel pedal is operated.

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An auto hold control apparatus and method for a vehicle according to the present invention having the above-described structure is characterized in that the auto hold function is activated when the distance from the preceding vehicle is short in the vehicle stagnation period, It is possible to control the auto hold according to the driving situation of the vehicle by making the creep running possible when the vehicle is far away or by deactivating the auto hold function when the distance from the preceding vehicle is long.

In addition, according to the present invention, when creep running is judged to be a steep slope in the slope section, activation of auto hold is effective to prevent the vehicle from being thrown.

In addition, according to the present invention, when the vehicle is judged to enter the parking mode, the auto hold is deactivated, thereby reducing the unnecessary operation of the excel pedal, thereby preventing accidents caused by the operation of the excel pedal.

1 is a view for explaining a configuration of an auto hold control apparatus for a vehicle according to the present invention.
FIG. 2 is a view for explaining that auto hold is controlled when a vehicle ahead exists in a congestion section by an auto hold control device of a vehicle according to the present invention.
3 is a view for explaining that the auto hold is controlled when the distance from the preceding vehicle to the preceding vehicle is smaller than a predetermined second distance value by the auto hold control device of the vehicle according to the present invention.
4 is a view for explaining that the auto hold control is performed in the slope section by the auto hold control device of the vehicle according to the present invention.
5 is a flowchart for explaining a procedure for controlling auto hold when the vehicle enters the parking mode and enters the parking mode after the vehicle is in the auto hold control method according to the present invention.
6 is a flowchart for explaining a procedure for controlling auto-hold in a ramp entry and stagnation interval in the auto hold control method of a vehicle according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to facilitate a person skilled in the art to easily carry out the technical idea of the present invention. . First, in adding reference numerals to the constituent elements of the drawings, it should be noted that the same constituent elements are denoted by the same reference numerals whenever possible even if they are displayed on other drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

First, the auto hold control apparatus for a vehicle according to the present invention can actively control the activation / deactivation of the auto hold in consideration of the driving situation.

Here, the running situation of a possible vehicle after starting is summarized as follows. This is only a reference to the driving situation of a representative vehicle, but the present invention is not limited thereto.

In the case of a general operation mode, four gear steps can be typically used. First, there is a rearward gear (R-stage), a neutral gear (N-stage), and a traveling gear (D-stage) in this order from the parking gear (P- There is a case that it is stopped. Second, there is a case where the vehicle is stopped in a signal state in the traveling gear state in the order of the reverse gear (R-stage), the neutral gear (N-stage), and the traveling gear (D-stage) after turning on the starting in the parking gear. Third, there is a case where the front vehicle exists in the traveling gear state after the start of the neutral gear is turned on. Fourth, there is a case where the neutral gear is turned on and then stopped in the gear state in the traveling gear state. In such a case, the auto hold control device of the vehicle according to the present invention can activate or deactivate the auto hold by sensing the tilt angle.

Next, in the case of a general parking mode, two gear stages may be typically used. First, there is a case where a reverse gear (stopped), a neutral gear, a traveling gear (traveling), a neutral gear, a reverse gear (traveling), and a traveling gear (low speed) are repeated after turning on the starting from a parking gear (or neutral gear) . Second, there is a case where the reverse gear (traveling), the neutral gear, and the traveling gear (low speed) are repeated after turning on the starting from the parking gear (or the neutral gear). That is, the vehicle enters the parking mode from the neutral gear (traveling). At this time, the auto hold control apparatus for a vehicle according to the present invention may deactivate auto hold in the parking mode as described above.

Then, if it is desired to re-enter the driving mode in the general parking mode, it may be possible to enter the parking gear (or neutral gear) in the ON state and switch to the traveling gear after entering the parking mode . At this time, the auto hold control apparatus for a vehicle according to the present invention may deactivate auto hold.

As described above, the auto hold control apparatus and method for a vehicle according to the present invention can control the automatic hold control of the vehicle in the parking mode and the auto hold operation in the ramp interval and the vehicle stagnation interval, Can be controlled.

FIG. 1 is a view for explaining a configuration of an automatic hold control apparatus for a vehicle according to the present invention. FIG. 2 is a view for explaining an automatic hold control apparatus for a vehicle according to the present invention, FIG. 3 is a view for explaining that auto hold control is performed when the distance from the preceding vehicle to the preceding vehicle is smaller than a predetermined second distance value by the auto hold control device of the vehicle according to the present invention. And FIG. 4 is a view for explaining that the auto hold control is performed in the slope section by the auto hold control device of the vehicle according to the present invention.

1 is a block diagram of an automatic hold control apparatus 100 for a vehicle according to an embodiment of the present invention. The automatic hold control apparatus 100 includes a gear sensing unit 110, a first speed comparison unit 113, a second speed comparison unit 115, A tilt angle sensing unit 140, a direction sensing unit 135, a tilt angle comparison unit 150, a distance calculation unit 160, and a control unit 170. The tilt angle sensing unit 130, the tilt angle sensing unit 140,

The gear sensing unit 110 senses the gear state of the vehicle.

The gear sensing unit 110 can sense that the vehicle is one of a traveling gear (D-stage), a neutral gear (N-stage), a reverse gear (R-stage) or a parking gear (P-stage) state. Here, when the vehicle is in the reverse gear state, the control unit 170 turns off auto-hold.

The first speed comparator 113 determines whether a vehicle speed has occurred when the vehicle is in the reverse gear (R-stage) state. That is, the first speed comparator 113 compares the vehicle speed with a predetermined first speed value. At this time, the predetermined first speed value may be set to 0 as a vehicle speed value for determining whether the current vehicle has entered the parking mode.

The first speed comparison unit 113 determines that the vehicle enters the parking mode when the speed of the vehicle is greater than the predetermined first speed value as a result of the comparison, 1 speed value, the vehicle can be judged as either a traveling gear, a neutral gear or a parking gear state.

The second speed comparison unit 115 compares the speed of the vehicle with the traveling gear or the neutral gear state when the vehicle is in the parking mode and when the driver releases the parking mode of the vehicle and wants to travel again, Speed and a predetermined second speed value. At this time, the predetermined second speed value is a vehicle speed value for determining whether the present vehicle re-enters the driving mode in the parking mode.

The second speed comparison unit 115 determines that the vehicle is in a state in which the vehicle has reentered the traveling mode in the parking mode when the traveling speed of the vehicle is greater than the predetermined second speed value, It is determined that the vehicle is in the parking mode state when the vehicle speed is smaller than the predetermined second speed value. At this time, if it is determined that the vehicle is in the parking mode, the auto hold is maintained in the OFF state, and if the vehicle re-enters the driving mode in the parking mode, the auto hold control in the normal driving situation is performed.

When the vehicle is in a traveling gear or a neutral gear, the excel sensor 120 senses whether the excel pedal is operated.

When the vehicle is switched from the reverse gear to the traveling mode (when the vehicle re-enters the traveling mode in the parking mode), the Excel sensing unit 120 detects whether the Excel pedal is operated.

The stop detection unit 130 detects whether the vehicle is stopped based on the speed of the vehicle when the Excel pedal is turned off.

The direction detecting unit 135 senses the running direction of the vehicle when it is determined that the vehicle is not stopped.

When it is determined that the vehicle is stopped, the tilt angle sensing unit 140 detects the tilt angle of the road and compares the tilt angle with a predetermined first tilt value. At this time, when the inclination angle of the traveling road is smaller than the predetermined first inclination value, it is judged that the sensed traveling road is in a low inclination and a flat state, and the vehicle is in a state capable of creep traveling. If the inclination angle of the traveling road is larger than the predetermined first inclination value It is judged that the detected traveling road is a steep slope and the vehicle is in a state in which creep running is impossible.

The inclination angle comparator 150 compares the inclination angle of the sensed traveling road with the predetermined first inclination value and the second inclination value when it is determined that the inclination angle of the traveling road is a steep gradient. In this case, the first inclination value is a value for determining a low inclination, and the second inclination value is a value for determining that it is a steep incline.

If it is determined that the inclination angle of the traveling road is low, the distance calculation unit 160 measures the distance from the preceding vehicle.

The control unit 170 turns off auto hold when the vehicle is in the reverse gear state to enter the parking mode by the gear sensing unit 110. [

If the direction sensing unit 135 determines that the vehicle is running in the backward direction, the control unit 170 activates auto hold in a state in which the vehicle is being pushed backward.

In addition, the controller 170 controls the activation and deactivation of auto hold based on the distance from the preceding vehicle. That is, when the distance to the preceding vehicle is smaller than the predetermined first distance value or the distance to the preceding vehicle is smaller than the predetermined second distance value in the low slope interval by the distance calculating unit 160 Activate auto hold. In addition, the controller 170 deactivates the auto-hold if the distance to the preceding vehicle is greater than the predetermined first distance value in the low-slope interval by the distance calculator 160. [ The first distance value is a value for determining whether the preceding vehicle is nearby, and the second distance value is a value for determining whether the preceding vehicle is far away, that is, when the vehicle is in a signal waiting state without the preceding vehicle.

The control unit 170 determines that the inclination angle of the road is greater than the first inclination value and the second inclination angle of the road that is detected by the inclination angle comparison unit 150 by the inclination angle comparison unit 150, If the inclination angle is a value between the inclination values, the auto-hold is activated. If the inclination angle of the sensed traveling road is not a predetermined inclination value between the first inclination value and the second inclination value, .

2, the control unit 170 activates (maintains) auto hold when the distance from the preceding vehicle to the preceding vehicle is smaller than a preset distance value, If it is bigger, disable (release) auto hold.

In addition, as shown in FIG. 3, the controller 170 activates (maintains) auto hold when the vehicle is in a signal standby state in which there is no preceding vehicle in the vehicle congestion section.

In addition, as shown in FIG. 4, the controller 170 activates (maintains) auto hold when the current slope value is greater than a predetermined first slope value in the slope interval.

5 and 6 are diagrams for explaining a procedure of an auto hold control method for a vehicle according to the present invention.

5 and 6, the auto hold control method for a vehicle according to the present invention uses the above-described auto hold control device for a vehicle, and a repeated description will be omitted.

First, it is determined whether the vehicle is in the reverse gear (R-stage) state (S100).

Next, when the vehicle is in the reverse gear state, the auto hold is turned off (S105).

Next, when the vehicle is in the reverse gear state, the current speed of the vehicle is sensed (S110).

Next, the detected speed of the vehicle is compared with a predetermined first speed value (S120). If it is determined in step S120 that the driving speed of the vehicle is greater than the predetermined first speed value, it is determined that the vehicle enters the parking mode. If the comparison result indicates that the vehicle is traveling at a speed lower than the preset first speed value , It can be determined that the vehicle is either a traveling gear, a neutral gear, or a parking gear.

Next, in step S120, it is determined whether the vehicle is in a traveling gear (D-stage) or neutral gear (N-stage) state in step S130 if the vehicle speed is greater than a predetermined first speed value.

Next, when the vehicle is in the traveling gear or neutral gear state, the current driving speed of the vehicle is sensed (S140).

Next, the detected speed of the driving vehicle is compared with a predetermined second speed value (S150). If it is determined in step S150 that the driving speed of the vehicle is greater than a preset second speed value, it is determined that the vehicle has entered the driving mode again in the parking mode, It is determined that the vehicle is in the parking mode.

Next, in step S160, it is determined whether the vehicle is in the traveling gear state or the neutral gear state when the vehicle is not in the reverse gear state after step S100, and the traveling speed of the vehicle is less than the preset first speed value after step S110. If it is determined in step S160 that the vehicle is not in the traveling gear or neutral gear state, the process proceeds to step S290 in FIG.

Next, in step S150, if the vehicle speed is greater than a predetermined second speed value, or if the vehicle is in the traveling gear or neutral gear state in step S160, . After step S210, if the Excel pedal is on, the process moves to step S290.

Next, when the accelerator pedal is turned off after step S210, the vehicle speed is sensed (S220). In step S220, not only when the vehicle is in the traveling gear state or the neutral gear state, but also when the vehicle is switched from the reverse gear to the traveling gear so that the accelerator pedal is turned off, the traveling speed of the vehicle is sensed.

Next, it is determined whether the vehicle is stopped based on the detected vehicle speed (S230).

Next, if it is determined that the vehicle has stopped, the direction of travel of the vehicle is sensed (S233). If it is determined in step S233 that the vehicle is traveling in the backward direction, the process proceeds to step S290.

Next, if it is determined that the vehicle is not stopped, the inclination angle of the traveling road is sensed (S240).

Next, the detected inclination angle of the running road is compared with a predetermined first inclination value (S250). If it is determined in step S250 that the sensed traveling road has a low gradient, the vehicle is in a state in which creep traveling is possible, and if it is determined that the sensed traveling road is steep, the vehicle is in a state in which creep traveling is impossible.

Next, in step S250, if the detected inclination angle of the running road is smaller than the preset first inclination value, the distance to the preceding vehicle is measured (S260). If it is determined that the inclination angle of the running road is lower than the predetermined first inclination value, the distance between the running vehicle and the preceding vehicle is measured using the sonar sensor.

Next, in step S260, the distance to the preceding vehicle and the predetermined first distance value and the second distance value are compared (S270).

Next, in step S270, if the distance to the preceding vehicle is smaller than the preset first distance value or the distance to the preceding vehicle is greater than the preset second distance value, auto hold is activated (S280). If the distance to the preceding vehicle is smaller than the predetermined first distance value in step S270 and the distance to the preceding vehicle is greater than the predetermined second distance value,

Next, in step S270, if the distance to the preceding vehicle is greater than the predetermined first distance value, the auto-hold is deactivated (S290).

If it is determined in step S250 that the detected inclination angle of the road is greater than the predetermined inclination angle, the controller 20 compares the inclination angle of the sensed traveling road with the predetermined first inclination value and the second inclination value (S253).

If it is determined in step S253 that the detected inclination angle is a value between the predetermined first inclination value and the predetermined second inclination value, the process proceeds to step S280. If the inclination angle of the sensed traveling road is equal to the predetermined first inclination value If it is not a value between the second inclination values, it is determined that the inclination angle is a very large inclination, and the electronic parking brake system is activated (S300).

As described above, the automatic hold control apparatus and method for a vehicle according to the present invention activates the auto hold function when the distance from the preceding vehicle is short in the vehicle stagnation period, and when the distance from the preceding vehicle becomes long after the auto hold is activated, When the vehicle is running or when the distance from the preceding vehicle is long, the auto hold function is deactivated, so that the auto hold can be actively controlled according to the driving situation of the vehicle.

Further, according to the present invention, when creep travel is judged to be a steep slope in the slope section, activation of the auto hold can prevent the vehicle from being thrown.

In addition, according to the present invention, if it is determined that the vehicle has entered the parking mode, the auto hold is deactivated, thereby reducing the unnecessary operation of the excel pedal, thereby preventing an accident caused by an operation error of the excel pedal.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but many variations and modifications may be made without departing from the scope of the present invention. It will be understood that the invention may be practiced.

100: Vehicle auto hold control device
110:
113: first speed comparing section
115: second speed comparison section
120:
130:
135: Direction sensing unit
140:
150:
160: Distance calculation unit
170:

Claims (18)

A gear sensing unit for sensing a gear state of the vehicle;
An accelerator sensing unit for sensing whether the accelerator pedal is operated when the vehicle is in a traveling gear state (D-stage) or a neutral gear (N-stage) state;
A stop detection unit for detecting whether the vehicle is stopped based on the speed of the vehicle when the Excel pedal is turned off;
An inclination angle sensing unit that senses an inclination angle of the driving road and compares the inclination angle with a predetermined first inclination value when it is determined that the vehicle has stopped;
A distance calculation unit for measuring a distance to the preceding vehicle when it is determined that the inclination angle of the traveling road is low; And
And a control unit for controlling activation and inactivation of auto hold based on the distance from the preceding vehicle,
If the vehicle is in the reverse gear (R-stage) state, the vehicle speed is compared with the predetermined first speed value. If the vehicle speed is greater than the predetermined first speed value, the vehicle enters the parking mode A first speed comparing unit for comparing the first speed and the second speed; And
When the gear state of the vehicle is switched to the traveling gear or the neutral gear state in a state where the vehicle enters the parking mode, the traveling speed of the vehicle is compared with the predetermined second speed value, And a second speed comparison unit for determining that the vehicle is re-entering the driving mode in the parking mode when the speed is greater than the speed value,
Wherein the controller activates the auto hold when the distance to the preceding vehicle is smaller than a predetermined first distance value or the distance to the preceding vehicle is smaller than a preset second distance value, Value, the control unit deactivates auto hold. delete delete The method according to claim 1,
Wherein the control unit deactivates auto hold when the vehicle is in the reverse gear state. The method according to claim 1,
Wherein the predetermined first speed value is a vehicle speed value for determining whether the current vehicle enters the parking mode and the predetermined second speed value is a vehicle speed value for determining whether the current vehicle enters the driving mode in the parking mode. Auto hold control device. The method according to claim 1,
Wherein the excel detecting unit detects whether or not the excel pedal is operated when it is determined that the vehicle has reentered the driving mode in the parking mode. The method according to claim 1,
And a direction sensing unit for sensing a traveling direction of the vehicle when the vehicle is determined to be stopped by the stop sensing unit,
Wherein the control unit activates the auto hold when the vehicle is judged to be running in the backward direction and deactivates the auto hold if the vehicle is judged not to be running in the backward direction. delete delete The method according to claim 1,
And an inclination angle comparator for comparing the inclination angle of the sensed traveling road with a predetermined first inclination value and a second inclination value when it is determined by the inclination angle sensing unit that the inclination angle of the traveling road is steeply inclined,
The control unit activates auto hold when the sensed slope angle of the road is a predetermined slope value between the first slope value and the second slope value, and when the slope angle of the sensed driving road is between the predetermined first slope value and the second slope value , The electronic parking brake system is activated. delete Sensing a gear state of the vehicle by the gear sensing unit;
Detecting whether or not the Excel pedal is operated when the vehicle is in the traveling gear (D-stage) or neutral gear (N-stage) state by the Excel sensing unit;
Detecting whether the vehicle is stopped based on the speed of the vehicle when the stop pedal is turned off by the stop detection unit;
Detecting an inclination angle of the driving road by the inclination angle sensing unit and comparing the inclination angle with a predetermined first inclination value when it is determined that the vehicle is stopped;
Measuring a distance to the preceding vehicle when it is determined by the distance calculating unit that the inclination angle of the traveling road is low; And
Controlling the activation and deactivation of the auto hold based on the distance from the preceding vehicle by the control unit; , ≪ / RTI &
After the step of detecting the gear state of the vehicle,
When the vehicle is in the reverse gear (R-step) state and the auto hold is inactivated, the vehicle is compared with the vehicle running speed and the predetermined first speed value. If the vehicle running speed is greater than the predetermined first speed value, Mode is entered; And
When the vehicle is in the parking mode and the gear state of the vehicle is switched to the traveling gear or the neutral gear state, the traveling speed of the vehicle is compared with the predetermined second speed value so that the traveling speed of the vehicle is greater than the predetermined second speed value Determining that the vehicle is re-entering the driving mode in the parking mode,
After the step of detecting whether the vehicle is stopped based on the running speed of the vehicle when the Excel pedal is turned off,
If it is determined that the vehicle is not stopped, sensing a traveling direction of the vehicle,
After the step of detecting the running direction of the vehicle,
When it is determined that the vehicle is running in the backward direction, the control unit deactivates auto hold when the auto hold is activated and it is determined that the vehicle is not running in the backward direction,
If it is determined that the vehicle has stopped, detecting the inclination angle of the running road and comparing the inclination angle with a predetermined first inclination value,
And comparing the inclination angle of the sensed traveling road with a predetermined first inclination value and a second inclination value when it is determined that the inclination angle of the traveling road is steeply inclined,
After the step of comparing the inclination angle of the sensed running road with the predetermined first inclination value and the second inclination value,
When the detected inclination angle of the running road is a value between the predetermined first inclination value and the second inclination value, auto-hold is activated by the control section,
In the step of controlling whether the auto hold is active or inactive based on the distance from the preceding vehicle,
When the distance to the preceding vehicle is smaller than the preset first distance value or the distance from the preceding vehicle is smaller than the preset second distance value, the auto hold is activated. If the distance to the preceding vehicle is larger than the preset first distance value Wherein the auto hold control means deactivates auto hold. delete delete 13. The method of claim 12,
If it is determined that the vehicle is re-entering the driving mode in the parking mode when the vehicle speed is greater than the predetermined second speed value,
Wherein the excel detecting unit detects whether the excel pedal is operated when it is determined that the vehicle has entered the driving mode in the parking mode. delete delete delete
KR1020150190504A 2015-12-30 2015-12-30 Apparatus and method for controlling auto hold of vechicles KR101735218B1 (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190050239A (en) 2017-11-02 2019-05-10 현대자동차주식회사 Apparatus for controlling hold of awd vehicle and method thereof
KR20190072228A (en) * 2017-12-15 2019-06-25 현대자동차주식회사 Auto braking control method and vehicle which the method is applied to
KR20190097829A (en) * 2018-02-13 2019-08-21 주식회사 만도 Apparatus for prevention of vehilce roll-back and control method thereof
CN110370949A (en) * 2019-08-09 2019-10-25 爱驰汽车有限公司 Automatic parking method, system, equipment and storage medium based on low speed crawling

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190050239A (en) 2017-11-02 2019-05-10 현대자동차주식회사 Apparatus for controlling hold of awd vehicle and method thereof
KR20190072228A (en) * 2017-12-15 2019-06-25 현대자동차주식회사 Auto braking control method and vehicle which the method is applied to
KR102383249B1 (en) 2017-12-15 2022-04-05 현대자동차 주식회사 Auto braking control method and vehicle which the method is applied to
KR20190097829A (en) * 2018-02-13 2019-08-21 주식회사 만도 Apparatus for prevention of vehilce roll-back and control method thereof
KR102062379B1 (en) * 2018-02-13 2020-02-11 주식회사 만도 Apparatus for prevention of vehilce roll-back and control method thereof
CN110370949A (en) * 2019-08-09 2019-10-25 爱驰汽车有限公司 Automatic parking method, system, equipment and storage medium based on low speed crawling

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