KR19990058338A - Brake pressure distribution control - Google Patents
Brake pressure distribution control Download PDFInfo
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- KR19990058338A KR19990058338A KR1019970078438A KR19970078438A KR19990058338A KR 19990058338 A KR19990058338 A KR 19990058338A KR 1019970078438 A KR1019970078438 A KR 1019970078438A KR 19970078438 A KR19970078438 A KR 19970078438A KR 19990058338 A KR19990058338 A KR 19990058338A
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- Prior art keywords
- abs
- brake
- wheel
- control
- steering angle
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Classifications
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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
- B60T8/24—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
- B60T8/246—Change of direction
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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
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Hydraulic Control Valves For Brake Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
본 발명은 차량의 선회운전시 안쪽의 차륜을 회전축으로 이용하기 위한 브레이크 압력 배분 제어장치에 관한 것이다.The present invention relates to a brake pressure distribution control device for using the inner wheel as the rotating shaft during the turning operation of the vehicle.
그 구성은 차륜속도검출수단과 조향각 검출수단, 및 브레이크동작검출수단이 마련되고, 조향각 검출수단 및 브레이크동작검출수단으로부터의 조향각신호 및 브레이크동작신호에 의거하여 EBD제어타이밍을 검출하고, 휠 제동압력을 제어하는 제어신호를 출력하는 ABS제어부와, ABS제어부로부터의 제어신호에 의거하여 동작되는 ABS유압회로로 이루어진 브레이크 압력 배분장치에 있어서, ABS제어부는 조향각 검출수단에 의하여 선회중임이 판단되고, 브레이크동작검출수단으로부터 브레이크동작신호가 검출되어 EBD제어 동작되면, 프론트 휠중 ABS상태에 들어간 휠을 판정하는 판정수단을 구비하고, 판정수단에 의하여 ABS상태에 들어간 휠이 판정되면, 같은쪽의 리어 휠의 브레이크 제동압이 상승되도록 ABS유압회로를 제어하는 것을 특징으로 한다.The configuration is provided with wheel speed detecting means, steering angle detecting means and brake operation detecting means, and detects the EBD control timing based on the steering angle signal and the brake operating signal from the steering angle detecting means and the brake operating detecting means, and the wheel braking pressure. In the brake pressure distribution device comprising an ABS control unit for outputting a control signal for controlling the control and an ABS hydraulic circuit operated on the basis of a control signal from the ABS control unit, the ABS control unit is determined to be turning by the steering angle detection unit, and the brake When the brake operation signal is detected from the motion detection means and the EBD control operation is carried out, it is provided with determination means for determining the wheel which has entered the ABS state among the front wheels, and when the wheel having entered the ABS state is determined by the determination means, The ABS hydraulic circuit is controlled so that the brake braking pressure is increased.
따라서, 본 발명은 곡선도로 주행시 안쪽 휠의 브레이크 제동압을 상승시켜 회전축 구실을 하게 하므로서, 선회능력을 향상시킴과 동시에 차체를 안정시키는 효과가 있다.Therefore, the present invention increases the brake braking pressure of the inner wheel when driving on a curved road to serve as a rotating shaft, thereby improving turning ability and stabilizing the vehicle body.
Description
본 발명은 브레이크 압력 배분 제어장치에 관한 것으로, 더욱 상세하게는 차량의 선회운전시 안쪽의 차륜을 회전축으로 이용하기 위한 브레이크 압력 배분 제어장치에 관한 것이다.The present invention relates to a brake pressure distribution control device, and more particularly, to a brake pressure distribution control device for using the inner wheel as the rotating shaft during the turning operation of the vehicle.
일반적으로 차량이 곡선도로에 진입하게 되면 차량에 원심력이 작용하게 된다. 이러한 원심력은 고속주행시 차량을 도로로부터 이탈시키거나 전복시킨다. 따라서 운전자는 곡선도로 선회시 감속하거나, 일정속도를 유지시켜 차량의 자세를 안정시킨다. 즉, 일렉트로닉 브레이크 포스 디스트리뷰션 제어(EBD;Electronic Brake Force Distribution 이하 EBD제어라 한다)를 수행하는 차량은 운전자가 곡선도로에서 감속을 목적으로 브레이크를 작동시키면 ABS제어에 앞서 프론트 휠과 리어 휠간의 압력을 제어하여 프론트 휠이 먼저 제동되도록 한다. 이는 극한상황에서 차량이 스핀되는 것을 막아 곡선도로에서의 선회능력을 향상시키기 위한 것이다.In general, when a vehicle enters a curved road, centrifugal force is applied to the vehicle. This centrifugal force causes the vehicle to fall off or overturn the road during high speed driving. Therefore, the driver slows down when turning on a curved road or maintains a constant speed to stabilize the vehicle's attitude. In other words, a vehicle that performs electronic brake force distribution control (EBD control) is to reduce the pressure between the front and rear wheels prior to ABS control when the driver activates the brake for deceleration on a curved road. Control to brake the front wheel first. This is to improve the ability to turn on curved roads by preventing the vehicle from spinning in extreme conditions.
그러나 종래 곡선도로에서의 브레이크 압력 배분 제어는 단순한 차속의 감소 및 차량이 스핀되는 것을 예방하므로서 선회능력을 향상시킨 것이다. 따라서, 이러한 브레이크 압력 배분 제어는 선회능력을 향상시키는데 그 한계가 있었다.However, the control of the distribution of brake pressure on a conventional curved road improves the turning capability by simply reducing the speed of the vehicle and preventing the vehicle from spinning. Therefore, such brake pressure distribution control has its limit in improving turning capability.
본 발명은 전술한 문제점을 해결하기 위하여 안출된 것으로, 그 목적은 차량이 선회중인가를 우선적으로 알아내어 EBD제어에 의하여 프론트의 한쪽 휠이 ABS제어에 들어가면 같은 쪽의 리어 휠의 브레이크 압력을 높여 회전축 구실을 하게 하므로서 원활한 선회가 가능한 브레이크 압력 배분 제어장치를 제공하는데 있다.SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. The object of the present invention is to first find out whether the vehicle is turning and to increase the brake pressure of the rear wheel of the same side when the front wheel enters the ABS control by the EBD control. The present invention provides a brake pressure distribution control device capable of turning smoothly while providing a rotation axis.
도 1은 본 발명에 따른 브레이크 압력 배분 제어장치의 블록도,1 is a block diagram of a brake pressure distribution control device according to the present invention;
도 2는 본 발명에 따른 브레이크 압력 배분 제어장치의 동작 흐름을 보인 순서도이다.Figure 2 is a flow chart showing the operation flow of the brake pressure distribution control apparatus according to the present invention.
*도면의 주요부분에 대한 부호의 설명** Description of the symbols for the main parts of the drawings *
10:ABS콘트롤러 11:인터페이스회로부 12:펄스처리회로부10: ABS controller 11: Interface circuit part 12: Pulse processing circuit part
20:EBD콘트롤러 31:브레이크동작검출부 32:조향각검출부20: EBD controller 31: Brake motion detector 32: Steering angle detector
41:솔레노이드밸브구동부 42:모터구동부 S1-S4:차륜속도센서41: solenoid valve driver 42: motor driver S1-S4: wheel speed sensor
이러한 기술적 과제를 달성하기 위한 본 발명의 구성은, 차륜속도검출수단과 조향각 검출수단, 및 브레이크동작검출수단이 마련되고, 상기 조향각 검출수단 및 상기 브레이크동작검출수단으로부터의 조향각신호 및 브레이크동작신호에 의거하여 EBD제어타이밍을 검출하고, 휠 제동압력을 제어하는 제어신호를 출력하는 ABS제어부와, 상기 ABS제어부로부터의 제어신호에 의거하여 동작되는 ABS유압회로로 이루어진 브레이크 압력 배분장치에 있어서, 상기 ABS제어부는 조향각 검출수단에 의하여 선회중임이 판단되고, 상기 브레이크동작검출수단으로부터 브레이크동작신호가 검출되어 상기 EBD제어 동작되면, 프론트 휠중 ABS상태에 들어간 휠을 판정하는 판정수단을 구비하고, 상기 판정수단에 의하여 ABS상태에 들어간 휠이 판정되면, 같은쪽의 리어 휠의 브레이크 제동압이 상승되도록 상기 ABS유압회로를 제어하는 것을 특징으로 한다.In order to achieve the above technical problem, a configuration of the present invention includes a wheel speed detecting means, a steering angle detecting means, and a brake motion detecting means, wherein the steering angle detecting means and the brake motion detecting means are adapted to the steering angle signal and the brake operating signal. A brake pressure distribution device comprising: an ABS control unit for detecting an EBD control timing and outputting a control signal for controlling a wheel braking pressure; and an ABS hydraulic circuit operated on the basis of a control signal from the ABS control unit. The control unit is provided with judging means for judging that the vehicle is turning by the steering angle detecting means, and when the brake operation signal is detected from the brake operation detecting means and the EBD control operation is performed, judging means for judging the wheel which has entered the ABS state among the front wheels; If the wheel in ABS state is determined by The ABS hydraulic circuit is controlled to increase the brake braking pressure.
이하, 본 발명에 따른 하나의 바람직한 실시 예를 첨부된 도면을 참조하여 상세히 설명하고자 한다.Hereinafter, one preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명에 따른 브레이크 압력 배분 제어장치의 제어블록도이며, 도 2는 브레이크 압력 배분 제어장치의 동작 흐름을 도시한 순서도이다.1 is a control block diagram of a brake pressure distribution control device according to the present invention, Figure 2 is a flow chart showing the operation flow of the brake pressure distribution control device.
본 발명은 기존의 ABS구동환경에서 적용되며, ABS제어로직에 추가로 포함된다.The present invention is applied in the existing ABS driving environment, and is further included in the ABS control logic.
먼저, 도 1에 도시된 바와 같이, ABS제어장치는 차량의 각 바퀴에 장착된 차륜속도센서, 각 구동부를 제어하기 위한 ECU(Electronic Control Unit), ABS유압회로부로 이루어지고, ECU는 인터페이스회로부(11), 펄스처리회로부(12), ABS콘트롤러(10), EBD콘트롤러(20), 브레이크동작검출부(31), 조향각검출부(32), 솔레노이드밸브구동부(41), 모터구동부(42) 등을 포함하여 구성된다.First, as shown in FIG. 1, the ABS control apparatus includes a wheel speed sensor mounted on each wheel of a vehicle, an ECU (Electronic Control Unit) for controlling each driving unit, and an ABS hydraulic circuit unit, and the ECU includes an interface circuit unit ( 11), pulse processing circuit unit 12, ABS controller 10, EBD controller 20, brake operation detection unit 31, steering angle detection unit 32, solenoid valve drive unit 41, motor drive unit 42, etc. It is configured by.
차륜속도센서(S1-S4)로부터 출력되는 속도신호인 사인파는 아날로그값으로써 ABS콘트롤러(10)에서는 인식이 불가능하다. 따라서, 인터페이스회로부(11)에 의해 A/D변환된 후 펄스처리회로부(12)에서 펄스의 카운팅 및 연산이 수행되고, 그 결과가 ABS콘트롤러(10)에 입력된다. ABS콘트롤러(10)는 입력된 정보를 프로그램에 따라 연산을 수행하여, 그 판단결과에 따라 솔레노이드밸브구동부(41) 및 모터구동부(42)에 제어명령을 송달하여, 솔레노이드밸브의 개폐 및 모터의 온/오프 구동을 제어하게 된다.A sine wave, which is a speed signal output from the wheel speed sensors S1-S4, is an analog value and cannot be recognized by the ABS controller 10. Accordingly, after the A / D conversion by the interface circuit unit 11, the pulse processing circuit unit 12 performs counting and calculation of the pulse, and the result is input to the ABS controller 10. The ABS controller 10 calculates the inputted information according to the program, and transmits a control command to the solenoid valve driving unit 41 and the motor driving unit 42 according to the determination result, opening and closing the solenoid valve and turning on the motor. It controls the on / off drive.
이하, 전술한 구성부 및 도 2를 참조하여 본 발명에 따른 브레이크 압력 배분동작을 설명하고자 한다.Hereinafter, the brake pressure distribution operation according to the present invention will be described with reference to the above-described components and FIG. 2.
차량이 곡선도로에 들어서면, 운전자는 경험에 의하여 차량의 속도가 빠를 경우 감속시키고자 브레이크를 작동시키게 된다. 브레이크가 작동되면 ABS제어에 앞서 EBD제어를 먼저 수행하게 된다. EBD제어는 차량이 곡선도로를 주행하게 되면 프론트 휠의 안쪽 바퀴의 브레이크압을 상승시켜 부분적인 ABS제어를 수행하므로서, 이후 수행되는 ABS제어시 리어 휠의 제동동작보다 프론트 휠이 먼저 제동동작을 수행하도록 하는 것이다. 이는 전술한 바와 같이, 선회시 차량이 스핀되는 것을 효과적으로 막기 위함이다.When the vehicle enters a curved road, the driver activates the brake to decelerate when the vehicle is fast by experience. When the brake is activated, EBD control is executed before ABS control. The EBD control performs partial ABS control by increasing the brake pressure of the inner wheel of the front wheel when the vehicle travels on a curved road, and during the ABS control, the front wheel performs the braking operation before the braking operation of the rear wheel. To do that. This is to effectively prevent the vehicle from spinning when turning as described above.
본 발명은 이러한 선회시 EBD제어에 의하여 프론트의 어느 하나의 휠이 ABS제어에 들어가게 되면, 이와 같은 쪽의 리어 휠의 브레이크 압을 상승시켜 선회시 안쪽의 휠이 회전중심 역할을 하도록 하여 선회능력을 향상시키는데 그 특징이 있다.According to the present invention, when any one wheel of the front enters the ABS control by the EBD control during the turning, the brake pressure of the rear wheel is increased so that the inner wheel acts as the center of rotation during the turning. It is characteristic to improve.
먼저, ABS장치가 장착된 차량은 ABS콘트롤러(10)에서 차륜속도센서(S1-S4)로부터 속도신호를 검출받아 차륜속도 및 차체속도를 계산한다(S21). 계산된 차륜속도 및 차체속도에 의거해서 ABS콘트롤러(10)는 각 휠의 슬립을 계산한다(S22). 이러한 계산모듈은 공지기술로서 다양한 실험식에 의하여 그 계산결과를 얻을 수 있다.First, the vehicle equipped with the ABS device receives the speed signal from the wheel speed sensor (S1-S4) in the ABS controller 10 to calculate the wheel speed and the body speed (S21). Based on the calculated wheel speed and the body speed, the ABS controller 10 calculates slip of each wheel (S22). Such a calculation module is a well-known technique, and the calculation result can be obtained by various empirical formulas.
그리고 ABS콘트롤러(10)는 조향각 검출부(32), 또는 안쪽바퀴와 바깥쪽 바퀴의 회전비 등을 통하여 현재 차량이 선회중인가를 판단한다(S23).In addition, the ABS controller 10 determines whether the vehicle is currently turning based on the steering angle detector 32 or the rotation ratio between the inner wheel and the outer wheel (S23).
이후, 차량이 선회운전중 이라고 판단되고, 브레이크동작검출부(31)로부터 동작신호가 검출되면, ABS콘트롤러(10)는 EBD콘트롤러(20)에 신호를 출력하여 ABS제어에 앞서 EBD콘트롤러에 의한 제어를 수행한다. 즉, EBD콘트롤러는 솔레노이드밸브구동부(41) 및 모터구동부(42)를 제어하여 휠 실린더의 제동압을 상승시킴으로서 제동동작을 취하고, 이후 차륜속도센서(S1-S4)로부터 속도 신호를 검출받아 휠이 잠김(ROCK)상태이면 솔레노이드밸브를 개방시켜 휠 실린더의 제동압을 저하시킨다. 이후, 이러한 제동압의 상승 및 저하를 반복하므로서 잘알려진 ABS제어를 수행하게 된다. EBD제어로 프론트 휠이 ABS에 들어가게 되면 ABS콘트롤러(10)는 현재 프론트 휠 중 어느 한 휠이 ABS상태인가를 판단한다(S24). 이는 차륜속도센서(S1-S4)로부터 검출된 속도신호 또는 모터 및 솔레노이드밸브의 구동신호에 의하여 판단할 수 있다.Then, when it is determined that the vehicle is in the turning operation, and the operation signal is detected from the brake operation detection unit 31, the ABS controller 10 outputs a signal to the EBD controller 20 to control the control by the EBD controller prior to the ABS control. Perform. That is, the EBD controller performs the braking operation by increasing the braking pressure of the wheel cylinder by controlling the solenoid valve driving unit 41 and the motor driving unit 42, and then detecting the speed signal from the wheel speed sensors S1-S4. In the locked state, the solenoid valve is opened to reduce the braking pressure of the wheel cylinder. After this, the braking pressure is repeatedly raised and lowered to perform a well-known ABS control. When the front wheel enters the ABS by the EBD control, the ABS controller 10 determines whether one of the current front wheels is in the ABS state (S24). This may be determined by the speed signal detected from the wheel speed sensors S1-S4 or the drive signals of the motor and the solenoid valve.
그리고 S24에서 프론트 휠이 ABS상태이면, 프론트 왼쪽 휠이 ABS상태인가를 판단한다(S25). 이는 프론트 휠중 어느 휠이 ABS제어인가를 판단하여, 이후 리어 휠을 제어하기 위함이다.If the front wheel is in the ABS state in S24, it is determined whether the front left wheel is in the ABS state (S25). This is to determine which of the front wheels is ABS control, and then control the rear wheels.
S25에서 프론트 왼쪽 휠이 ABS상태로 판단되면 이는 차량이 왼쪽으로 선회함을 뜻하는 것으로, ABS콘트롤러(10)는 리어 왼쪽 휠의 브레이크 제동압을 증가시킨다. 즉, 솔레노이드밸브구동부(41) 및 모터구동부(42)에 제어신호를 출력하여 솔레노이드밸브 및 모터를 제어하므로서 휠 실린더의 제동압을 상승시킨다. 또한, 리어 오른쪽 휠은 EBD제어를 유지시킨다. 따라서, 이미 ABS상태에 놓여 있는 프론트의 왼쪽 휠과 새로 제동압이 상승된 리어 외쪽 휠이 제동동작을 하게 되므로서, 선회시 왼쪽 휠이 오른쪽 휠보다 더 늦게 회전함으로서 왼쪽 휠 즉, 안쪽 휠이 회전중심 역할을 하여 차량의 선회를 안정적으로 가져갈 수 있게 된다.If it is determined in S25 that the front left wheel is in the ABS state, this means that the vehicle is turning to the left side, and the ABS controller 10 increases the brake braking pressure of the rear left wheel. That is, the braking pressure of the wheel cylinder is increased by outputting control signals to the solenoid valve driving unit 41 and the motor driving unit 42 to control the solenoid valve and the motor. In addition, the rear right wheel maintains EBD control. Therefore, the left wheel of the front, which is already in the ABS state, and the rear outer wheel of the newly increased braking pressure are braked, so that the left wheel, that is, the inner wheel rotates when the left wheel rotates later than the right wheel when turning. By playing a central role, the vehicle's turn can be stabilized.
또한, S25에서 왼쪽 휠이 ABS상태가 아닌 것으로 판단되면, 이는 프론트의 오른쪽 휠이 ABS상태에 있는 것이다. 이는 차량이 오른쪽으로 선회함을 뜻한다. 따라서, ABS콘트롤러(10)는 리어 오른쪽 휠의 브레이크 제동압을 증가시킨다. 즉, 솔레노이드밸브구동부(41) 및 모터구동부(42)에 제어신호를 출력하여 솔레노이드밸브 및 모터를 제어하므로서 휠 실린더의 제동압을 상승시킨다. 또한, 리어 왼쪽 휠은 EBD제어를 유지시킨다. 따라서, 이미 ABS상태에 놓여 있는 프론트의 오른쪽 휠과 새로 제동압이 상승된 리어 오른쪽 휠이 제동동작을 하게 되므로서, 선회시 오른쪽 휠이 왼쪽 휠보다 더 늦게 회전함으로서 오른쪽 휠 즉, 안쪽 휠이 회전중심 역할을 하여 차량의 선회를 안정적으로 가져갈 수 있게 된다.In addition, if it is determined in S25 that the left wheel is not in the ABS state, this means that the front right wheel is in the ABS state. This means that the car is turning to the right. Thus, the ABS controller 10 increases the brake braking pressure of the rear right wheel. That is, the braking pressure of the wheel cylinder is increased by outputting control signals to the solenoid valve driving unit 41 and the motor driving unit 42 to control the solenoid valve and the motor. The rear left wheel also maintains EBD control. Therefore, the front right wheel, which is already in the ABS state, and the rear right wheel with a new braking pressure, are braked, and the right wheel, that is, the inner wheel rotates by turning the right wheel later than the left wheel when turning. By playing a central role, the vehicle's turn can be stabilized.
이상에서 상세히 설명한 바와 같이 본 발명에 의하면, 차량이 곡선도로를 주행하게 되면 안쪽 휠의 브레이크 제동압을 상승시켜 회전축 구실을 하게 하므로서, 선회능력을 향상시킴과 동시에 차체를 안정시킬 수 있게 된다.As described in detail above, according to the present invention, when the vehicle travels on a curved road, the brake braking pressure of the inner wheel is increased to serve as a rotating shaft, thereby improving turning ability and stabilizing the vehicle body.
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