KR20020044948A - Steering wheel responsive anti-skid brake system and control method thereof - Google Patents

Steering wheel responsive anti-skid brake system and control method thereof Download PDF

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Publication number
KR20020044948A
KR20020044948A KR1020000074218A KR20000074218A KR20020044948A KR 20020044948 A KR20020044948 A KR 20020044948A KR 1020000074218 A KR1020000074218 A KR 1020000074218A KR 20000074218 A KR20000074218 A KR 20000074218A KR 20020044948 A KR20020044948 A KR 20020044948A
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South Korea
Prior art keywords
steering wheel
braking
sensing
speed
wheel
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KR1020000074218A
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Korean (ko)
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김상래
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이계안
현대자동차주식회사
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Priority to KR1020000074218A priority Critical patent/KR20020044948A/en
Publication of KR20020044948A publication Critical patent/KR20020044948A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B60Y2400/3032—Wheel speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE: A brake system for anti skid inducing a steering wheel and control method therefore is provided to shorten braking distance maximum as occurring maximum brake force by applying operating pressure working a wheel differently when a driver senses steering angle of the steering wheel and braking is formed in the excess state of the fixed steering angle. CONSTITUTION: A brake system for anti skid inducing a steering wheel and control method therefore consists of an actuating part of brake(1) operated by a driver; speed sensor of front and rear wheels(2,2',3,3') installed in wheels(FW, RW) and measuring the speed of a car; a control part(4, ABS ECU) receiving a state signal of steering angle of the steering wheel and processing according fixed logic; a processing part(5, HCU) actuating operating cylinders of front and rear wheels(6,6',7,7') mounted in the wheels according processing judgment of the control part; a sensing apparatus(12) measuring the state of the steering angle of the steering wheel inputted in the control part. The control part judges if the vehicle brakes. The control part operates front and rear wheels as same or different operating pressure and brakes according to the case that the sensing velocity of the steering wheel measured from the sensing apparatus or sensing rotary angle are smaller and same than the fixed measure.

Description

조향 휠 감응 안티 스키드 브레이크시스템 및 그 제어방법{Steering wheel responsive anti-skid brake system and control method thereof}Steering wheel responsive anti-skid brake system and control method

본 발명은 조향 휠 감응 안티 스키드 브레이크시스템 및 그 제어방법에 관한 것으로, 보다 상세하게는 급제동시 상대적으로 제동거리를 단축할 수 있도록 된 조향 휠 감응 안티 스키드 브레이크시스템 및 그 제어방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering wheel sensitive anti skid brake system and a control method thereof, and more particularly to a steering wheel sensitive anti skid brake system and a control method thereof capable of shortening a braking distance during sudden braking.

일반적으로 차량의 안티 스키드 브레이크시스템은 차륜(FW,RW)이 목표로 하는 감속도로 감속하도록, 또는 목표로 하는 슬립율(Slip Rate)로 감속하도록, 차륜이 부여하는 제동압을 증감제어 하므로 서, 제동시에 있어서의 차륜의 록(Lock) 내지는 스키드(Skid)상태의 발생을 방지하면서 방향안정성을 상실하지 않고서 차량을 짧은 제동거리에서 정지시키는 것이다.In general, the anti-skid brake system of the vehicle increases or decreases the braking pressure applied by the wheels so that the wheels FW and RW decelerate at a target deceleration rate or decelerate at a target slip rate. This is to stop the vehicle at a short braking distance without losing directional stability while preventing the occurrence of lock or skid condition of the wheel during braking.

즉, 이와 같은 ABS 제어는 차륜의 감속도가 소정의 한계치를 초과해서 크게 되었을 때에, 혹은 차륜속도가 차제속도보다는 크게 저하하였을 때에 개시되는 것이 통상이며 도 1에 도시된 바와 같이, 운전자가 조작하는 브레이크조작부(1)와, 차륜(FW,RW)에 설치되어 차속을 측정하는 전·후륜스피드센서(2,2',3,3'), 상기 브레이크조작부(1)의 신호와 전·후륜스피드센서(2,2',3,3')의 신호를 받아 설정된 로직에 따라 처리하는 제어부(4,ABS ECU) 및 이 제어부(4)의 처리 판단에 따라 차륜(FW,RW)에 장착된 전·후륜작동실린더(6,6',7,7')를 조작하는 처리부(5,HCU)로 이루어진다.That is, such ABS control is usually started when the deceleration of the wheel becomes larger than a predetermined limit or when the wheel speed is lower than the vehicle speed. As shown in FIG. Front and rear wheel speed sensors (2, 2 ', 3, 3') installed on the brake control unit (1), wheels (FW, RW) to measure the vehicle speed, and signals of the brake control unit (1) and front and rear wheel speeds. The controller 4, ABS ECU, which receives the signals of the sensors 2, 2 ', 3, 3' and processes them according to the set logic, and the front wheels mounted on the wheels FW, RW according to the processing decision of the controller 4; And a processing unit 5, HCU for operating the rear wheel operation cylinders 6, 6 ', 7, and 7'.

따라서, 운전자가 브레이크조작부(1)를 구성하는 폐달을 밟으면 브레이크조작부(1)와 전·후륜스피드센서(2,2',3,3')의 전기 신호들을 입력받은 제어부(4)가 기 설정된 로직에 따라 신호를 처리부(5)로 보내면, 이 처리부(5)가 전·후륜작동실린더(6,6',7,7')를 조작하여 제동시에 있어서의 차륜의 록(Lock) 내지는 스키드(Skid)상태의 발생을 방지하면서 방향안정성을 상실하지 않고서 차량을 짧은 제동거리에서 정지시키게 된다.Therefore, when the driver presses the closing moon constituting the brake control unit 1, the controller 4 which receives the electrical signals of the brake control unit 1 and the front and rear wheel speed sensors 2, 2 ', 3, 3' is preset. When the signal is sent to the processing unit 5 according to the logic, the processing unit 5 operates the front and rear wheel operation cylinders 6, 6 ', 7, and 7' to lock or skid the wheel during braking. The vehicle is stopped at a short braking distance without losing the direction stability while preventing the skid condition.

즉, 도 2에 도시된 바와 같이 차량의 제동이 제동시작점(S)에서 시작되어 일정시간(t)후 정지되는 차속도(V)를 따라 고속휠속도(Va)가 감속됨과 더불어 저속휠속도(Vb)가 고속휠속도(Va)를 따라 제동거리손실분(L)을 형성하면서 파형을 그리게된다.That is, as shown in FIG. 2, the high speed wheel speed Va is decelerated along with the vehicle speed V starting from the braking start point S and stopped after a predetermined time t. Vb) draws a waveform while forming a braking distance loss L along the high wheel speed Va.

이때, 상기 처리부(5)는 제동지점인 제동시작점(S)에서 정지시까지 제어부(5)의 처리 결과 신호인 처리부입력(HCU Input)에 따라 지속적으로 제어함과 더불어 일정구간동안 전·후륜작동실린더(6,6',7,7')의 고속휠실린더의 에이비에스적정압력(Pa)과 저속힐실린더의 에이비에스적정압력(Pb)을 노면과 차량의 상태에 따라 가변 시켜주게 됨은 물론이다.At this time, the processing unit 5 continuously controls according to the processing unit input (HCU Input) which is a processing result signal of the control unit 5 from the braking start point S, which is the braking point, to the stop, and operates the front and rear wheels for a predetermined period. Of course, the ABS proper pressure Pa of the high-speed wheel cylinders of the cylinders 6, 6 ', 7 and 7' and the ABS proper pressure Pb of the low-speed hill cylinder are varied according to the road surface and the state of the vehicle. .

그러나, 이와 같이 제동과정이 차량의 속도와 노면과의 관련성만을 고려하여 제동하는 경우, 제동 여유가 있는 일반적인 상황과 직진구간에서의 제동 상황에 따른 제동 안정성에 중점을 두는 모두 차륜(FW,RW)에 작용하는 작동압력을 동일하게 하는 제어를 수행하므로 긴급상황 즉, 급제동이나 또는 조향 능력을 상실할 정도의 급조타와 같은 제동 거리의 안정성을 상실하는 경우에 차륜(FW,RW)에 작용하는 작동압력을 각각 다르게 제어하여 제동거리를 최대한 빨리 단축시키는 빠른 제동을수행하지 못하는 단점이 있게 된다.However, in this case, when the braking process takes into consideration only the relation between the speed of the vehicle and the road surface, all the wheels (FW, RW) focusing on the braking stability according to the braking situation in the general section with the braking margin and the straight section. Operation to act on wheels (FW, RW) in case of loss of stability of braking distance such as emergency braking or sudden steering to the extent that loss of steering ability is performed because control is made equal to operating pressure. There is a disadvantage in that it is impossible to perform a quick braking to shorten the braking distance as quickly as possible by controlling the pressure differently.

이에 본 발명은 상기와 같은 점을 감안하여 발명된 것으로, 운전자가 조작하는 조향휠의 조타각을 감지하여 설정된 조타각의 범위를 초과한 상태에서 제동이 이루어질 경우 차륜에 작용하는 작동압력을 각각 다르게 적용시켜 최대한의 제동력을 발생하여 제동거리를 최대한 짧게 함에 그 목적이 있다.Accordingly, the present invention has been invented in view of the above, and when the braking is performed in a state in which the steering angle of the steering wheel operated by the driver is exceeded, the operating pressure acting on the wheels is different. The purpose is to make the braking distance as short as possible by generating the maximum braking force by applying.

상기와 같은 목적을 달성하기 위한 본 발명은, 운전자가 조작하는 브레이크조작부와 차륜에 설치되어 차속을 측정하는 전·후륜스피드센서 및 조향휠의 조타각의 상태 신호를 받아 설정된 로직에 따라 처리하는 제어부와, 이 제어부의 처리 판단에 따라 차륜에 장착된 전·후륜작동실린더를 조작하는 처리부 및 상기 제어부로 입력되는 조향휠의 조타각 상태를 측정하는 센싱수단으로 이루어진 것을 특징으로 한다.The present invention for achieving the above object, the control unit is provided on the brake control unit and the wheel for the driver to operate the control unit for receiving the state signal of the steering angle of the front and rear wheel speed sensor and steering wheel to measure the vehicle speed according to the set logic And a processing unit for operating the front and rear wheel operation cylinders mounted on the wheel according to the processing decision of the control unit, and sensing means for measuring the steering angle state of the steering wheel inputted to the control unit.

또한, 본 발명은 차량의 주행 중 발생되는 제동 신호에 의해 제어부가 차량의 제동 상황임을 판단함과 동시에 센싱수단의 조향휠속도·각도센서로부터 측정된 조향휠의 감지속도나 또는 감지회전각이 기 설정된 조건보다 작거나 같은 경우에 따라 좌·우후륜의 작동실린더을 동일한 작동압력으로 조작하여 직진제동과 같은 제동안정성을 유지하거나 좌·우후륜의 작동실린더을 각각 다른 작동압력으로 조작하면서 제동을 하게 된다.In addition, the present invention determines that the control unit brakes the vehicle according to the braking signal generated while driving the vehicle, and at the same time the sensing speed or the sensing rotation angle of the steering wheel measured from the steering wheel speed and angle sensor of the sensing means is measured. If the condition is less than or equal to the set condition, the operating cylinders of the left and right wheels are operated at the same operating pressure to maintain braking stability, such as straight braking, or the operating cylinders of the left and right wheels are operated at different operating pressures.

도 1은 종래에 따른 안티 스키드 브레이크시스템의 구성도1 is a block diagram of a conventional anti skid brake system

도 2는 종래에 따른 안티 스키드 브레이크시스템의 제어 상태도2 is a control state diagram of an anti skid brake system according to the related art

도 3은 본 발명에 따른 조향 휠 감응 안티 스키드 브레이크시스템의 구성도3 is a block diagram of a steering wheel sensitive anti skid brake system according to the present invention;

도 4는 본 발명에 따른 조향 휠 감응 안티 스키드 브레이크시스템의 제어 흐름도4 is a control flowchart of a steering wheel sensitive anti skid brake system according to the present invention.

도 5는 본 발명에 따른 조향 휠 감응 안티 스키드 브레이크시스템의 제어상태도5 is a control state diagram of a steering wheel sensitive anti skid brake system according to the present invention;

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

1 : 브레이크조작부2,2' : 전륜스피드센서1: Brake control unit 2,2 ': Front wheel speed sensor

3,3' : 후륜스피드센서4 : 제어부3,3 ': Rear wheel speed sensor 4: Control unit

5 : 처리부6,6' : 전륜작동실린더5: Processing part 6,6 ': Front wheel operation cylinder

7,7' : 후륜작동실린더10 : 조향휠샤프트7,7 ': rear wheel cylinder 10: steering wheel shaft

11 : 회전휠11: rotating wheel

12 : 센싱수단13 : 조향휠속도센서12: sensing means 13: steering wheel speed sensor

14 : 조향휠각도센서15 : 증폭기14 steering wheel angle sensor 15 amplifier

이하 본 발명의 실시예를 첨부된 예시도면을 참조로 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 3은 본 발명에 따른 조향 휠 감응 안티 스키드 브레이크시스템의 구성도를 도시한 것인바, 본 발명은 운전자가 조작하는 브레이크조작부(1)와, 차륜(FW,RW)에 설치되어 차속을 측정하는 전·후륜스피드센서(2,2',3,3'), 상기 브레이크조작부(1)와 전·후륜스피드센서(2,2',3,3')및 조향휠의 조타각의 상태 신호를 받아 설정된 로직에 따라 처리하는 제어부(4,ABS ECU), 이 제어부(4)의 처리 판단에 따라 차륜(FW,RW)에 장착된 전·후륜작동실린더(6,6',7,7')를 조작하는 처리부(5,HCU) 및 상기 제어부(4)로 입력되는 조향휠의 조타각 상태를 측정하는 센싱수단(12)으로 이루어진다.Figure 3 shows the configuration of the steering wheel-sensitive anti-skid brake system according to the present invention, the present invention is installed on the brake control unit 1 and the wheels (FW, RW) that the driver operates to measure the vehicle speed Status signals of steering angles of the front and rear wheel speed sensors 2, 2 ', 3 and 3', the brake control unit 1 and the front and rear wheel speed sensors 2, 2 ', 3 and 3' and the steering wheel The control unit 4, ABS ECU, which processes according to the received logic, and the front / rear wheel operation cylinders 6, 6 ', 7, 7' mounted on the wheels FW, RW according to the processing decision of the control unit 4; It consists of a processing unit (5, HCU) for operating the sensing means 12 for measuring the steering angle state of the steering wheel input to the control unit (4).

여기서, 상기 센싱수단(12)은 조향휠샤프트(10)에 장착되어 조향휠 조작에 따라 함께 회전되는 회전휠(11)과, 이 회전휠(11)의 회전 속도를 감지하여 전기 신호를 발생하는 조향휠각도센서(13), 차체에 장착되어 조향휠의 조타각에 따라 상응하는 전압 값을 증·감하는 스트레인(Strain)타입의 조향휠각도센서(14) 및 이들 센서(13,14)에서 발생된 전기 신호를 전압으로 변환·증폭하여 제어부(4)로 입력하는 증폭기(15)로 이루어진다.Here, the sensing means 12 is mounted on the steering wheel shaft 10 to rotate with the steering wheel 11 and the steering wheel 11, and to detect the rotational speed of the rotary wheel 11 to generate an electrical signal Steering wheel angle sensor (13), in the strain-type steering wheel angle sensor (14) and mounted on the vehicle body to increase or decrease the corresponding voltage value according to the steering angle of the steering wheel, and these sensors (13, 14) The amplifier 15 converts and amplifies the generated electrical signal into a voltage and inputs it to the controller 4.

이때, 상기 조향휠속도·각도센서(13,14)는 조향휠이 중앙에 위치된 상태와 정지된 상태일 때 발생되는 신호를 0으로 설정하여 시계방향이나 반시계방향으로 회전되는 조향휠에 따라 그 값을 플러스(+)나 마이너스(-)로 설정하게 됨은 물론이다.At this time, the steering wheel speed and angle sensor (13,14) is set according to the steering wheel rotated clockwise or counterclockwise by setting the signal generated when the steering wheel is located in the center and the stationary state to 0 Of course, the value is set to plus (+) or minus (-).

이하 본 발명의 작동을 상세히 설명한다.Hereinafter, the operation of the present invention will be described in detail.

본 발명에 따른 조향 휠 감응 안티 스키드 브레이크시스템의 제어 흐름도를나타낸 도 4에 도시된 바와 같이, 차량의 주행 중 발생되는 제동 신호에 의해 제어부(4)가 차량의 제동 상황임을 판단함과 동시에 조향휠의 회전속도에 대한 감지속도(V')나 또는 조타각에 대한 감지회전각(a'°)을 검출하는 센싱수단(12)의 신호에 따라 제동 타입을 판단하게 된다.As shown in FIG. 4, which shows a control flowchart of a steering wheel-sensitive anti skid brake system according to the present invention, the steering wheel 4 determines that the vehicle is in a braking state by a braking signal generated while driving the vehicle. The braking type is determined according to a signal of the sensing means 12 that detects the sensing speed V 'with respect to the rotational speed or the sensing rotational angle a' with respect to the steering angle.

이어, 상기 센싱수단(12)의 조향휠속도·각도센서(13,14)로부터 측정된 감지속도(V')나 또는 감지회전각(a'°)이 기 설정된 조건보다 모두 작거나 같은 경우 긴급한 제동상황이 아닌 상태로 판단하여 좌·우후륜(RW)의 후륜작동실린더(7,7')을 동일한 작동압력으로 조작하여 직진제동과 같은 제동안정성을 유지하면서 제동을 하게 된다.Subsequently, if the sensing speed V 'or the sensing rotation angle a' ° measured by the steering wheel speed and angle sensors 13 and 14 of the sensing means 12 are all less than or equal to a preset condition, it is urgent. In the non-braking situation, the rear wheel operating cylinders 7 and 7 'of the left and right rear wheels RW are operated at the same operating pressure, and the braking is performed while maintaining the same stability as the straight braking.

한편, 상기 센싱수단(12)의 조향휠속도·각도센서(13,14)로부터 측정된 감지속도(V')나 또는 감지회전각(a'°)이 기 설정된 조건보다 모두 크면. 이들 감지속도(V')와 감지회전각(a'°)이 동시에 기 설정된 조건보다 모두 큰 값이 아닌 감지속도(V')나 또는 감지회전각(a'°)중 한 값이 기 설정된 조건보다 큰 경우에는 차량이 완만히 선회하면서 제동되는 상태로 판단하여 좌·우후륜(RW)의 후륜작동실린더(7,7')을 동일한 작동압력으로 조작하여 직진제동과 같은 제동안정성을 유지하면서 제동을 하게 된다.On the other hand, if the sensing speed (V ') or the sensing rotation angle (a' °) measured from the steering wheel speed, angle sensors (13, 14) of the sensing means 12 are both greater than a preset condition. When the sensing speed (V ') and the sensing rotation angle (a' °) are not all greater than the preset condition, one of the sensing speed (V ') or the sensing rotation angle (a' °) is a preset condition. If it is larger, it is judged that the vehicle is braking while turning slowly, and the rear wheel operation cylinders (7, 7 ') of the left and right rear wheels (RW) are operated at the same operating pressure to maintain braking while maintaining the same stability as the straight braking. Done.

그리고, 상기 감지속도(V')와 감지회전각(a'°)이 동시에 기 설정된 조건보다 모두 큰 값인 상태가 되면 긴급상황에 따른 차량의 제동 상태라 판단하여 좌·우후륜(RW)의 후륜작동실린더(7,7')을 선회 방향에 따라 각각 상이한 작동압력으로 조작하여 제동압력을 최대화시켜 제동거리를 짧게 하여 제동을 하게 된다.In addition, when the sensing speed V 'and the sensing rotation angle a' ° are both greater than preset conditions, the vehicle determines the braking state of the vehicle according to an emergency and determines the rear wheel of the left and right rear wheels. The operating cylinders 7 and 7 'are operated at different operating pressures according to the turning direction to maximize the braking pressure to shorten the braking distance to perform braking.

즉, 이와 같은 조향휠의 조작이 과도한 상태에 따른 긴급제동타입을 수행하게 되면 도 5에 도시된 바와 같이, 차량의 제동이 제동시작점(S)에서 시작되어 일정시간(t)후 정지되는 차속도(V)를 따라 고속휠속도(Va')와 저속휠속도(Vb')가 그 제동 압력이 파형을 그리면서 추종되므로 제동거리손실분(L')이 저술한 종래에 비해 상대적으로 축소되어 빠른 제동이 이루어지게 된다.That is, when the steering wheel operation is performed in such an emergency braking type according to an excessive state, as shown in FIG. 5, the vehicle speed starts at the braking start point S and stops after a predetermined time t. Since the braking pressure is followed by the waveform of the high speed wheel speed Va 'and the low speed wheel speed Vb' along (V), the braking distance loss L 'is relatively reduced compared to the conventional method described in the present invention. This is done.

또한, 상기 처리부(5)는 전술한 종래의 경우와 같이 제동지점인 제동시작점(S)에서 정지시까지 제어부(5)의 처리 결과 신호인 처리부입력(HCU Input)에 따라 지속적으로 제어함과 더불어 일정구간동안 전·후륜작동실린더(6,6',7,7')의 고속휠실린더의 에이비에스적정압력(Pa)과 저속힐실린더의 에이비에스적정압력(Pb)을 노면과 차량의 상태에 따라 가변 시켜주게 됨은 물론이다.In addition, the processing unit 5 continuously controls according to the processing unit input (HCU Input) which is a processing result signal of the control unit 5 until the stop from the braking start point S, which is the braking point, as in the conventional case described above. During certain periods, the ABS proper pressure (Pa) of the high-speed wheel cylinders of the front and rear wheel operated cylinders (6,6 ', 7, and 7') and the ABS proper pressure (Pb) of the low-speed hill cylinder are Of course, it will be variable.

이상 설명한 바와 같이 본 발명에 의하면, 차량의 주행 중 발생되는 제동 신호에 의해 제어부가 차량의 제동 상황임을 판단함과 동시에 센싱수단의 조향휠속도·각도센서로부터 측정된 조향휠의 감지속도나 또는 감지회전각이 기 설정된 조건보다 작거나 같은 경우에 따라 좌·우후륜의 작동실린더을 동일한 작동압력으로 조작하여 직진제동과 같은 제동안정성을 유지하거나 좌·우후륜의 작동실린더을 각각 다른 작동압력으로 조작하면서 제동을 하게 되므로, 타이어와 노면의 마찰력이 가장 큰 약 8-30%인 슬립(Slip)율을 갖는 상황에서 최대한의 제동력을 발생하여 제동거리를 최대한 짧게 하는 효과가 있게 된다.As described above, according to the present invention, the control unit determines the braking state of the vehicle by the braking signal generated while the vehicle is running, and at the same time, the sensing speed or the sensing speed of the steering wheel measured from the steering wheel speed and angle sensor of the sensing means. If the angle of rotation is less than or equal to the preset condition, operate the operating cylinders of the left and right wheels at the same operating pressure to maintain the same stability as the straight braking, or operate the operating cylinders of the left and right wheels at different operating pressures. Since the frictional force between the tire and the road surface has the highest slip ratio of about 8-30%, the maximum braking force is generated to minimize the braking distance.

Claims (3)

운전자가 조작하는 브레이크조작부(1)와, 차륜(FW,RW)에 설치되어 차속을 측정하는 전·후륜스피드센서(2,2',3,3'), 상기 브레이크조작부(1)와 전·후륜스피드센서(2,2',3,3')및 조향휠의 조타각의 상태 신호를 받아 설정된 로직에 따라 처리하는 제어부(4,ABS ECU), 이 제어부(4)의 처리 판단에 따라 차륜(FW,RW)에 장착된 전·후륜작동실린더(6,6',7,7')를 조작하는 처리부(5,HCU) 및 상기 제어부(4)로 입력되는 조향휠의 조타각 상태를 측정하는 센싱수단(12)으로 이루어진 조향 휠 감응 안티 스키드 브레이크시스템.The brake control unit 1 operated by the driver, the front and rear wheel speed sensors 2, 2 ', 3, 3' installed on the wheels FW and RW and the vehicle speed measurement, and the brake operation unit 1 and the front and rear A control unit (4, ABS ECU) that receives the state signals of the steering wheel angles (2, 2 ', 3, 3') and steering wheel and processes them according to the set logic, and the wheel according to the processing decision of the control unit (4). Measures the steering angle of the steering wheel input to the processing unit 5, HCU and the control unit 4 for operating the front and rear wheel operation cylinders 6, 6 ', 7, and 7' mounted on the FW and RW. Steering wheel-sensitive anti skid brake system consisting of sensing means (12). 제 1항에 있어서,상기 센싱수단(12)은 조향휠샤프트(10)에 장착되어 조향휠 조작에 따라 함께 회전되는 회전휠(11)과, 이 회전휠(11)의 회전 속도를 감지하여 전기 신호를 발생하는 조향휠각도센서(13), 차체에 장착되어 조향휠의 조타각에 따라 상응하는 전압 값을 증·감하는 스트레인타입의 조향휠각도센서(14) 및 이들 센서(13,14)에서 발생된 전기 신호를 전압으로 변환·증폭하여 제어부(4)로 입력하는 증폭기(15)로 이루어진 것을 특징으로 하는 조향 휠 감응 안티 스키드 브레이크시스템.According to claim 1, The sensing means 12 is mounted on the steering wheel shaft 10 and the rotary wheel 11 is rotated together in accordance with the steering wheel operation, and the rotational speed of the rotary wheel 11 by sensing the electric Steering wheel angle sensor 13 for generating a signal, strain type steering wheel angle sensor 14 mounted on the vehicle body and increasing or decreasing a corresponding voltage value according to the steering angle of the steering wheel, and these sensors 13 and 14 A steering wheel sensitive anti skid brake system, comprising: an amplifier (15) for converting and amplifying an electrical signal generated by the voltage into a voltage and inputting it to the controller (4). 차량의 주행 중 발생되는 제동 신호에 의해 제어부(4)가 차량의 제동 상황임을 판단함과 동시에 센싱수단(12)의 조향휠속도·각도센서(13,14)로부터 측정된 조향휠의 감지속도(V')나 또는 감지회전각(a'°)이 기 설정된 조건보다 모두 작거나 같은 경우 긴급한 제동상황이 아닌 상태로 판단하여 좌·우후륜(RW)의 후륜작동실린더(7,7')을 동일한 작동압력으로 조작하여 직진제동과 같은 제동안정성을 유지하면서 제동을 하는 직진제동단계와,The control unit 4 determines the braking situation of the vehicle by the braking signal generated while the vehicle is running, and at the same time detects the steering wheel speed measured from the steering wheel speed and angle sensors 13 and 14 of the sensing means 12 ( V ') or if the sensing rotation angle (a' °) is less than or equal to the preset condition, it is determined that it is not an emergency braking situation and the rear wheel operating cylinders (7, 7 ') of the left and right wheels (RW) are determined. A straight braking step for braking while maintaining the same braking quality as the straight braking by operating at the same operating pressure; 상기 직진제동단계에서 센싱수단(12)의 조향휠속도·각도센서(13,14)로부터 측정된 감지속도(V')나 또는 감지회전각(a'°)이 기 설정된 조건보다 크지만 감지속도(V')나 또는 감지회전각(a'°)중 한 값만이 기 설정된 조건보다 큰 경우에는 차량이 완만히 선회하면서 제동되는 상태로 판단하여 좌·우후륜(RW)의 후륜작동실린더(7,7')을 동일한 작동압력으로 조작하여 직진제동과 같은 제동안정성을 유지하면서 제동을 하는 선회제동단계 및Although the sensing speed V 'or the sensing rotation angle a' ° measured by the steering wheel speed / angle sensors 13 and 14 of the sensing means 12 in the straight braking step is greater than a preset condition, the sensing speed is increased. If only one of (V ') or the sensing rotation angle (a' °) is larger than the preset condition, the vehicle is judged to be braking while turning slowly and the rear wheel operating cylinders (7, 7 ') turning braking step for braking while maintaining the same braking quality as straight braking by operating at the same operating pressure; 상기 선회제동단계에서 감지속도(V')와 감지회전각(a'°)이 동시에 기 설정된 조건보다 모두 큰 값인 상태가 되면 긴급상황에 따른 차량의 제동 상태라 판단하여 좌·우후륜(RW)의 후륜작동실린더(7,7')을 선회 방향에 따라 각각 상이한 작동압력으로 조작하여 제동압력을 최대화시켜 제동거리를 짧게 하여 제동을 하는 긴급제동단계로In the turning braking step, when the sensing speed V 'and the sensing rotation angle a' ° are both greater than the preset condition, it is determined that the vehicle is in braking according to an emergency situation. The rear wheel operation cylinders 7 and 7 'are operated at different operating pressures according to the turning direction to maximize the braking pressure and to shorten the braking distance. 이루어진 조향 휠 감응 안티 스키드 브레이크시스템 제어방법.Steering wheel sensitive anti skid brake system control method.
KR1020000074218A 2000-12-07 2000-12-07 Steering wheel responsive anti-skid brake system and control method thereof KR20020044948A (en)

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