KR102545399B1 - Brake control apparatus and control method of brake apparatus - Google Patents

Abstract

The present invention relates to a brake signal detecting unit for detecting an input signal for operating or releasing a brake, and a first movement signal for forward or backward movement of a vehicle and a left turn or right turn for a vehicle when an input signal for brake release is detected. Object detection for detecting an object located in the traveling direction using a movement signal detector for detecting the second movement signal, an estimation unit for estimating the direction of the vehicle based on the first and second movement signals, and a sensor It relates to a brake control device including a determination unit for determining a collision risk with an object when a unit and an object are detected, and a control unit for controlling a brake to maintain operation, release delay, or release based on the object and collision risk.

Description

Brake control device and control method of brake device {BRAKE CONTROL APPARATUS AND CONTROL METHOD OF BRAKE APPARATUS}

The present invention relates to a brake device for a vehicle.

A vehicle is provided with a brake device to decelerate or stop the vehicle speed as needed in a driving state.

The brake device generates braking force by converting kinetic energy possessed by a vehicle in a driving state into thermal energy by using frictional force and dissipating heat into the atmosphere.

The brake system operates the brake cylinder mounted on the caliper by hydraulic or pneumatic pressure generated from the master cylinder according to the driver's operation of the brake pedal. will cause

Since the braking performance according to the operation of the brake pedal is one of the basic requirements for securing driver safety, an electronically controlled brake device with a hybronic unit is required as a brake device with safety and braking performance is required according to the high performance of vehicles. is being applied.

The electronically controlled brake device detects the amount of movement of the brake pedal operated by the driver through the pedal stroke sensor in the control means, calculates the required braking force, and operates the pressure control valve according to the calculated braking force to control the pressure of the fluid supplied to the wheel brakes. By adjusting, the required braking force can be generated.

However, such a brake device has a problem in that it cannot prevent an accident that may occur when the driver does not recognize the outside of the vehicle due to a blind spot or when gear engagement is incorrect due to inexperienced driving.

Against this background, an object of the present invention, in one aspect, is to provide a brake device that can operate according to the exterior of a vehicle.

In one aspect, the present invention provides a brake signal detecting unit for detecting an input signal for operating or releasing a brake, and a first movement signal for forward or backward movement of the vehicle and left turn of the vehicle when the input signal for releasing the brake is detected. Alternatively, an object located in the traveling direction is detected by using a movement signal detector for detecting the second movement signal for a right turn, an estimator for estimating the driving direction of the vehicle based on the first movement signal and the second movement signal, and a sensor. Provide a brake control device including an object detection unit that detects an object, a determination unit that determines the risk of collision with an object when an object is detected, and a control unit that controls the brake to maintain operation, release delay, or release based on the object and collision risk do.

In another aspect, the present invention provides a brake signal detection step for detecting a brake signal for operation or release of the brake and a first movement signal for forward or backward movement of the vehicle and the vehicle when the brake signal for release of the brake is detected. A movement signal detection step of detecting a second movement signal for a left turn or a right turn, an estimation step of estimating the forward direction of the vehicle based on the first movement signal and the second movement signal, and an object located in the forward direction using a sensor An object detection step for detecting an object, a determination step for determining a collision risk with an object when an object is detected, and a control step for controlling the brake to maintain operation, release delay, or release based on the object and collision risk. Of the brake device including Provides a control method.

As described above, according to the present invention, it is possible to provide a brake device that can operate depending on the outside of the vehicle.

1 is a diagram showing the configuration of a brake control device according to an embodiment of the present invention.
2 is a diagram showing an example for explaining the operation of a brake control device according to an embodiment of the present invention.
3 is a diagram showing another example for explaining the operation of a brake control device according to an embodiment of the present invention.
4 is a diagram illustrating an example for explaining an operation of a control unit according to an embodiment of the present invention.
5 is a diagram showing an example for explaining the operation of a brake control device according to another embodiment of the present invention.
6 is a flowchart illustrating a control method of a brake device according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Some embodiments of the present invention are described in detail below with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present invention. These terms are only used to distinguish the component from other components, and the nature, sequence, order, or number of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element is or may be directly connected to that other element, but intervenes between each element. It will be understood that may be "interposed", or each component may be "connected", "coupled" or "connected" through other components.

1 is a diagram showing the configuration of a brake control device according to an embodiment of the present invention.

Referring to FIG. 1 , the brake control device 100 according to an embodiment of the present invention includes a brake signal detector 110 for detecting an input signal for operating or releasing a brake and an input signal for releasing the brake, The movement signal detecting unit 120 detects a first movement signal for forward or backward movement of the vehicle and a second movement signal for left turn or right turn of the vehicle, and the traveling direction of the vehicle based on the first movement signal and the second movement signal. An estimation unit 130 for estimating and an object detection unit 140 for detecting an object located in the traveling direction using a sensor, and a determination unit 150 for determining the risk of collision with an object when an object is detected, and an object , based on the risk of collision, the control unit 160 may include a control unit 160 for controlling operation maintenance, release delay, or release of the brake.

The brake signal detector 110 may detect an input signal for operation or release of the brake by using a position sensor for detecting the position of the brake pedal.

As an example, the position sensor may detect the position information of the brake pedal using a non-contact sensor based on the induction principle. The contactless sensor may be composed of a stator including a field coil, a reception coil, an evaluation electronic component, and a rotor. The rotor is formed of one or more closed conducting loops having a defined geometry.

To explain the operation in detail, the contactless sensor generates a magnetic field that induces a voltage in a receiving coil by supplying a voltage to a field coil. Accordingly, a current is induced in the induction loop of the rotor to generate an exit field, and the position of the brake pedal can be detected based on the A/C amplitude generated according to the position of the stator winding and rotor.

Accordingly, the brake signal detector 110 may detect an input signal for operation or release of the brake by comparing the detected position of the pedal with a previously known position for determining the operation of the pedal.

The brake signal detector 110 described above has been exemplified as a brake providing an input signal according to a position including a foot brake of a general vehicle, but is not limited thereto. That is, the brake signal detection unit 110 can detect an input signal for operation or release of any brake that operates as an input signal such as a button type, touch type, and voice type.

The movement signal detector 120 may detect a first movement signal for forward or backward movement of the vehicle based on a transmission.

For example, the movement signal detector 120 may detect a first movement signal for forward or backward movement of the vehicle by detecting a position of a gear rod providing an input of a transmission.

As described above, the movement signal detector 120 may detect the first movement signal based on the transmission, but is not limited thereto. That is, the movement signal detector 120 may detect the first movement signal by detecting whether the moving direction of the vehicle is forward or backward based on a wheel sensor that detects a wheel speed.

In addition, the movement signal detector 120 may detect a second movement signal for left turn or right turn of the vehicle based on a steering angle input to an electric power steering (EPS) device.

For example, the movement signal detector 120 detects the rotation of the steering device rotated by the driver, detects the yaw rate according to the rotational motion of the vehicle, or detects the movement of the rack bar to turn left or right. It is possible to detect the second movement signal for .

The estimation unit 130 estimates the traveling direction of the vehicle based on the first movement signal and the second movement signal detected by the movement signal detection unit 120 .

For example, if the first movement signal is a signal for moving forward and the second movement signal is a signal for turning left, the estimator 130 may estimate the forward direction of the vehicle as a left turn.

More specifically, when the movement signal detector 120 detects an accurate steering angle as the second movement signal, the estimator 130 can accurately detect the traveling direction of the vehicle.

The object detecting unit 140 may detect an object located in the traveling direction of the vehicle by operating at least one of an ultrasonic sensor, a radar sensor, and a vision sensor for detecting the traveling direction of the vehicle estimated by the estimating unit 130 .

More specifically, the object detecting unit 140 is located in the estimated traveling direction of the vehicle by setting the area corresponding to the traveling direction of the vehicle estimated by the estimating unit 130 as a Region Of Interest (ROI). object can be detected.

When an object located in the traveling direction of the vehicle is detected by the object detection unit 140, the determination unit 150 determines the risk of collision with the object.

For example, the determination unit 150 may determine the risk of collision based on the distance to the object detected by the object detection unit 140 or the collision time with the object. To this end, the object detecting unit 140 may further detect the relative speed of the sensed object and further detect the collision time with the object based on the distance and relative speed with the sensed object.

Accordingly, the determination unit 150 may determine the risk of collision by comparing the distance or collision time to the detected object with a preset critical distance or critical time. For example, if the distance to the detected object is smaller than the critical distance or the collision time with the detected object is shorter than the critical time, the determination unit 150 may determine that there is a risk of collision.

The control unit 160 may control the brake to be maintained, release delayed, or released based on the object detected by the object detection unit 140 and the collision risk determined by the determination unit 150 .

For example, when the object detection unit 140 detects a fixed object as an object and the determination unit 150 determines that there is a risk of collision, the control unit 160 may control the brake to be maintained.

Since the position of the fixed object is fixed regardless of time, it may collide with the vehicle moving forward or backward at any time. Thus, even if an input signal for releasing the brake is input from the driver, the control unit 160 maintains the operation of the brake, thereby preventing a collision.

For another example, when the object detecting unit 140 detects a movable object as an object and the determination unit 150 determines that there is a risk of collision, the control unit 160 may control the brake release delay. .

Since the position of the movable object changes according to the time of day, a vehicle traveling forward or backward may collide at one time, but may not collide at another time. Therefore, even if an input signal for brake release is input from the driver, the control unit 160 delays brake release, thereby preventing a collision.

Accordingly, the brake control device according to another embodiment of the present invention further includes a notification device providing visual, auditory, or tactile notification, and the control unit may control the notification device to operate. That is, the brake control device according to another embodiment of the present invention may induce the movable object to move and deviate from the traveling direction of the vehicle by operating the notification device.

The brake device of the present invention, which can operate as described above, can prevent accidents that may occur due to the driver not recognizing an object outside the vehicle or inexperienced in operating the gear.

The brake device of the present invention, which can operate as described above, will be described in detail based on FIGS. 2 to 5 below.

2 is a diagram showing an example for explaining the operation of a brake control device according to an embodiment of the present invention.

2 illustrates an example in which a brake control device according to an embodiment of the present invention is installed and operated in a vehicle.

Referring to FIG. 2 , the brake signal detector 110 may detect an input signal for operation or release of the brake based on the position of the brake pedal (S1).

In step S1, when an input signal for release of the brake is detected, a signal is generated (S2), and the movement signal detector 120 detects a first movement signal for forward or backward movement of the vehicle from the transmission (S3), and steering A second movement signal for left turn or right turn is sensed from the device (S4).

When steps S2, S3, and S4 are performed, the estimator 130 estimates the traveling direction of the vehicle based on the input first and second movement signals (S5). Thereafter, the estimator 130 generates signals S6a, S6b, S6c, or S6d so that the sensor 141a, 141b, 143c, or 143d for detecting an external object operates according to the estimated driving direction of the vehicle. Objects located in the direction of travel can be detected. In FIG. 2 , the object detection unit according to an embodiment of the present invention may operate as a detection sensor 141a, 141b, 143c or 143d.

In general, sensors 141a and 141b may be ultrasonic sensors, and sensors 143c and 143d may be radar sensors.

For a first example, when the estimator 130 estimates the moving direction of the vehicle as forward, a signal S6a is generated so that the sensor 141a operates as an object detection unit to detect an object located in the front.

For a second example, when the estimator 130 estimates the traveling direction of the vehicle as backward, a signal S6b is generated to operate the sensor 141b as an object detector to detect an object located in the rear.

For a third example, if the estimator 130 estimates the driving direction of the vehicle as a reverse left turn, a S6c signal may be generated to operate the sensor 143c as an object detector to detect an object located in the left rear.

For a fourth example, if the estimator 130 estimates the forward direction of the vehicle as reverse and right turn, it may detect an object located in the right rear by generating a S6d signal and operating sensor 143d as an object detector.

As described above, when the 141a sensor, the 141b sensor, the 143c sensor, or the 143d sensor operates according to the step S6a, step S6b, step S6c, or step S6d, respectively, and the object is detected (respectively S7a, S7b, S7c, or S7d), the determination unit ( 150) determines the risk of collision (S8).

The collision risk may be a risk based on a distance to the detected object or a collision time with the detected object.

Thereafter, the control unit 160 may operate the brake according to the determined risk of collision (S9).

For example, when the sensor 141a, sensor 141b, sensor 143c, or sensor 143d detects a fixed object and the determination unit 150 determines the risk of collision, the control unit 160 may control the brake to remain in operation. . That is, maintaining the operation of the brake may mean that the vehicle stops by operating the brake even if the driver controls depression of the brake pedal.

For another example, when the 141a sensor, 141b sensor, 143c sensor, or 143d sensor detects a movable object and the determination unit 150 determines the risk of collision, the control unit 160 may control the brake release delay. there is. That is, the delayed release of the brake may mean that even if the driver controls the depression of the brake pedal, the brake operates for a predetermined time and the vehicle stops, and the brake operation is released and the vehicle moves after the predetermined time has elapsed.

3 is a diagram showing another example for explaining the operation of a brake control device according to an embodiment of the present invention.

Referring to FIG. 3 , the brake signal detection unit of the brake control device according to an embodiment of the present invention may detect an input signal for brake operation or release input by a driver (S300).

The input signal for operating or releasing the brake may be a signal according to pressing or releasing the foot brake pedal, but is not limited thereto. That is, it may be a signal when the driver manipulates an input device or a touch device other than the foot brake pedal.

Thereafter, the movement signal detector checks whether an input signal for releasing the brake is detected in step S300 (S310).

Accordingly, if it is confirmed that the input signal for releasing the brake is detected (YES), the movement signal detector detects the first movement signal for forward or backward movement of the vehicle and the second movement signal for left turn or right turn of the vehicle (S320). ).

For example, the movement signal detector may detect a first movement signal for determining forward or backward movement of the vehicle according to a state of the transmission or an output value of a wheel speed sensor.

For another example, the movement signal detector may detect a second movement signal for left turn or right turn of the vehicle according to an output value of a steering angle sensor or an output value of a yaw sensor.

Thereafter, the estimator may estimate the traveling direction of the vehicle based on the first movement signal and the second movement signal detected in step S320 (S330).

Accordingly, the estimator may estimate left turn forward, right turn forward, left turn backward, or right turn backward as the traveling direction.

Next, the object detection unit may detect an object located in the traveling direction of the vehicle estimated in step S330 (S340).

For example, if left turn forward is estimated as the forward direction in step S330, the object detection unit may detect an object located in the left turn forward direction by using a sensor for monitoring the left turn forward.

Thereafter, the determination unit determines whether an object is detected in step S340 (S350).

If it is confirmed that the object is detected in step S350 (YES), the determination unit determines the risk of collision with the detected object (S360).

For example, the determination unit may determine the risk of collision based on the distance to the object or the collision time with the object.

Thereafter, the control unit may control the brake to be operated, released delayed, or released based on the object detected in step S340 and the result determined in step S360 (S370).

Step S370 will be described in detail with reference to FIG. 4 .

4 is a diagram illustrating an example for explaining an operation of a control unit according to an embodiment of the present invention.

Referring to FIG. 4 , the control unit checks whether the determination unit has determined that a collision risk exists (S371).

If the judgment unit determines that there is no risk of collision in step S371 (NO), the control unit can control the brake to be released (S372). Accordingly, when the driver generates an input signal for releasing the brake, the brake is released and the vehicle can move.

In contrast, if the determination unit determines that there is a risk of collision in step S371 (YES), the control unit determines whether a fixed object is detected by the object detection unit (S373). The fixed object may include a facility installed on a road.

If it is confirmed that the fixed object is detected in step S373 (YES), the control unit may control the brake to be maintained (S374). Therefore, even if the driver generates an input signal for releasing the brake, the brake operation is maintained and the vehicle can be stopped.

In contrast, if the fixed object is not detected in step S373 (NO), the control unit may control the brake release delay (S375). Therefore, even if the driver generates an input signal for releasing the brake, the brake operation is maintained for a predetermined period of time, so that the vehicle can be stopped for a predetermined period of time. After the predetermined time has elapsed, the brake is released and the vehicle can move.

That is, by operating the brake control device according to an embodiment of the present invention as shown in FIGS. 3 and 4 , an accident that may occur due to a driver not recognizing an object outside the vehicle or inexperienced in operating a gear can be prevented.

5 is a diagram showing an example for explaining the operation of a brake control device according to another embodiment of the present invention.

Referring to FIG. 5, the brake signal detector detects an input signal for operating or releasing the brake input by the driver (S300), and the movement signal detector checks whether an input signal for brake release is detected in step S300 (S310). ).

Accordingly, if it is confirmed that the input signal for releasing the brake is detected (YES), the movement signal detector detects the first movement signal for forward or backward movement of the vehicle and the second movement signal for left turn or right turn of the vehicle (S320). ), the estimation unit estimates the traveling direction of the vehicle based on the first movement signal and the second movement signal detected in step S320 (S330), and the object detection unit detects an object located in the traveling direction of the vehicle estimated in step S330. Do (S340).

Thereafter, the determination unit determines whether an object is detected in step S340 (S350).

If it is confirmed that the object is detected in step S350 (YES), the determination unit determines the risk of collision with the detected object (S360).

Thereafter, if the control unit determines that there is a risk of collision in step S360, it can control the notification device to operate (S500). The notification device may be a device capable of providing a visual, auditory, or tactile notification to the driver or the outside of the vehicle.

In addition, the control unit may control the brake to be maintained, release delayed, or released based on the object detected in step S340 and the result determined in step S360 (S370).

As shown in FIG. 5 , according to the brake control device according to another embodiment of the present invention, the driver may be notified of an unintentional gear engagement state due to an inability to recognize an object outside the vehicle or an inexperienced gear operation. Accordingly, possible accidents can be prevented. In addition, an accident can be prevented by moving an object located in the direction of travel of the vehicle.

Hereinafter, a control method of the brake device, which is an operation of controlling the brake control device described with reference to FIGS. 1 to 5, will be briefly described.

6 is a flowchart illustrating a control method of a brake device according to an embodiment of the present invention.

Referring to FIG. 6 , the control method of a brake control device according to an embodiment of the present invention includes a brake signal detection step (S600) of detecting an input signal for operation or release of a brake and when an input signal for release is detected, A movement signal detection step (S610) of detecting a first movement signal for forward or backward movement of the vehicle and a second movement signal for left turn or right turn of the vehicle and the traveling direction of the vehicle based on the first movement signal and the second movement signal. An estimation step (S620) of estimating an object, an object detection step (S630) of detecting an object located in the traveling direction using a sensor, and a determination step (S640) of determining the risk of collision with an object when an object is detected, and an object , a control step (S650) of controlling the brake to maintain operation, delay release, or release the brake based on the risk of collision.

In the brake signal detection step (S600), an input signal for operation or release of the brake may be detected using a position sensor for detecting the position of the brake pedal.

As an example, the position sensor may detect the position information of the brake pedal using a non-contact sensor based on the induction principle. The contactless sensor may be composed of a stator including a field coil, a reception coil, an evaluation electronic component, and a rotor. The rotor is formed of one or more closed conducting loops having a defined geometry.

To explain the operation in detail, the contactless sensor generates a magnetic field that induces a voltage in a receiving coil by supplying a voltage to a field coil. Accordingly, a current is induced in the induction loop of the rotor to generate an exit field, and the position of the brake pedal can be detected based on the A/C amplitude generated according to the position of the stator winding and rotor.

Accordingly, in the step of detecting the brake signal (S600), an input signal for operation or release of the brake may be detected by comparing the detected position of the pedal with a previously known position for determining the operation of the pedal.

In the above-described brake signal detection step (S600), a brake providing an input signal according to a position including a foot brake of a general vehicle has been exemplified, but is not limited thereto. That is, in the brake signal detection step (S600), an input signal for operation or release of any brake that operates as an input signal such as a button type, touch type, or voice type may be detected.

In the movement signal detection step (S610), a first movement signal for forward or backward movement of the vehicle may be detected based on the transmission.

For example, in the movement signal sensing step ( S610 ), a first movement signal for forward or backward movement of the vehicle may be detected by detecting a position of a gear rod providing an input of a transmission.

As described above, the movement signal detection step (S610) may detect the first movement signal based on the transmission, but is not limited thereto. That is, in the movement signal sensing step (S610), a first movement signal may be detected by detecting whether the moving direction of the vehicle is forward or backward based on a wheel sensor for detecting a wheel speed.

In addition, in the movement signal detection step (S610), a second movement signal for a left turn or a right turn of the vehicle may be detected based on a steering angle input to an electric power steering (EPS) device.

For example, the movement signal detection step (S610) detects the rotation of the steering device rotated by the driver, detects the yaw rate according to the rotational motion of the vehicle, or detects the movement of the rack bar to turn left or right. It is possible to detect the second movement signal for .

In the estimation step (S620), the moving direction of the vehicle is estimated based on the first movement signal and the second movement signal detected in the movement signal detection step (S610).

For example, if the first movement signal is a signal for forward movement and the second movement signal is a signal for a left turn, the estimating step (S620) may estimate the driving direction of the vehicle as a forward left turn.

More specifically, when the movement signal sensing step (S610) detects an accurate steering angle as the second movement signal, the estimating step (S620) can accurately detect the traveling direction of the vehicle.

In the object detection step (S630), an object located in the traveling direction of the vehicle may be detected by operating at least one of an ultrasonic sensor, a radar sensor, and a vision sensor for detecting the traveling direction of the vehicle estimated in the estimation step (S620).

In more detail, the object detection step (S630) is located in the estimated traveling direction of the vehicle by setting the area corresponding to the traveling direction of the vehicle estimated in the estimation step (S620) as a Region Of Interest (ROI). object can be detected.

When an object located in the traveling direction of the vehicle is detected in the object detection step (S630), the determination step (S640) determines the risk of collision with the object.

For example, in the determination step (S640), the collision risk may be determined based on the distance to the object or the collision time with the object detected in the object detection step (S630). To this end, in the object sensing step (S630), the relative speed of the detected object may be further detected, and a collision time with the object may be further detected based on the distance and relative speed with the detected object.

Accordingly, in the determination step (S640), the collision risk may be determined by comparing each of the distance or collision time with the detected object with a preset critical distance or critical time. For example, if the distance to the detected object is smaller than the threshold distance or the collision time with the detected object is shorter than the threshold time, it may be determined that there is a risk of collision in step S640.

In the control step (S650), the brake may be controlled to maintain operation, release delay, or release the brake based on the object detected in the object detection step (S630) and the collision risk determined in the determination step (S640).

For example, if the object detection step (S630) detects a fixed object as an object and the determination step (S640) determines that there is a risk of collision, the control step (S650) may control the brake to be operated.

Since the position of the fixed object is fixed regardless of time, it may collide with the vehicle moving forward or backward at any time. Therefore, even if an input signal for releasing the brake is input from the driver, the control step (S650) maintains the operation of the brake, thereby preventing a collision.

For another example, if the object detection step (S630) detects a movable object as an object and the determination step (S640) determines that there is a risk of collision, the control step (S650) may control the brake release delay. there is.

Since the position of the movable object changes according to the time of day, a vehicle traveling forward or backward may collide at one time, but may not collide at another time. Therefore, even if an input signal for brake release is input from the driver, the control unit 160 delays brake release, thereby preventing a collision.

Accordingly, the control method of the brake control device according to another embodiment of the present invention may further include a notification device providing visual, auditory, or tactile notification, and the control step may control the notification device to operate. That is, in the method for controlling the brake control device according to another embodiment of the present invention, by operating the notification device, the movable object may be induced to move and deviate from the traveling direction of the vehicle.

According to the control method of the brake device of the present invention, which can operate as described above, accidents that may occur due to the driver's failure to recognize an object outside the vehicle or poor gear operation can be prevented.

In addition to this, the control method of the brake device of the present invention can perform all of the operations performed by the brake control device of the present invention described with reference to FIGS. 1 to 5 .

The above description and accompanying drawings are merely illustrative of the technical idea of the present invention, and those skilled in the art can combine the configuration within the scope not departing from the essential characteristics of the present invention. , various modifications and variations such as separation, substitution and alteration will be possible. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (8)

a brake signal detector for detecting an input signal for brake operation or release;
a movement signal detector detecting a first movement signal for forward or backward movement of the vehicle and a second movement signal for left turn or right turn of the vehicle when the input signal for the release is detected;
an estimation unit for estimating a traveling direction of the vehicle based on the first movement signal and the second movement signal;
an object detection unit for detecting an object located in the traveling direction using a detection sensor;
a determination unit for determining a risk of collision with the object when the object is sensed; and
A control unit for controlling the brake to maintain operation, release delay, or release based on the object and the risk of collision;
When a fixed object is detected as the object and the risk of collision is determined, the control unit controls the maintenance of the operation so that the brake is operated,
When a movable object is detected as the object and the collision risk is determined, the control unit maintains the brake operation for a predetermined time even if the driver's brake release signal is input, and when the predetermined time elapses, the brake is released and the vehicle A brake control device that performs control of the release delay so that the brake can move. delete delete According to claim 1,
The object detection unit,
A brake control device for detecting an object located in the traveling direction by setting a region of interest (ROI) based on the traveling direction. According to claim 1,
The judge,
A brake control device for determining the collision risk based on a distance to the object or a collision time with the object. According to claim 1,
The detection sensor is at least one of an ultrasonic sensor, a radar sensor, and a vision sensor. According to claim 1,
Further comprising a notification device providing a visual, auditory or tactile notification,
The control unit,
Brake control device for controlling the notification device to operate when the risk of collision is detected. A brake signal sensing step of detecting a brake signal for operation or release of the brake;
a movement signal sensing step of detecting a first movement signal for forward or backward movement of the vehicle and a second movement signal for left turn or right turn of the vehicle when the brake signal for release is detected;
an estimation step of estimating a traveling direction of the vehicle based on the first movement signal and the second movement signal;
an object detection step of detecting an object located in the traveling direction using a detection sensor;
a determination step of determining a risk of collision with the object when the object is sensed; and
And a control step of controlling the brake to maintain operation, release delay, or release based on the object and the collision risk,
In the control step, when a fixed object is detected as the object and the risk of collision is determined, control of the operation maintenance is performed so that the brake is operated,
When a movable object is detected as the object and the risk of collision is determined, even if the driver's brake release signal is input, the brake operation is maintained for a predetermined time, and the brake is released after the predetermined time elapses so that the vehicle can move A control method of a brake device for controlling the release delay.

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