KR20030018580A - The operating method of anti brake system in vehicle - Google Patents
The operating method of anti brake system in vehicle Download PDFInfo
- Publication number
- KR20030018580A KR20030018580A KR1020010052780A KR20010052780A KR20030018580A KR 20030018580 A KR20030018580 A KR 20030018580A KR 1020010052780 A KR1020010052780 A KR 1020010052780A KR 20010052780 A KR20010052780 A KR 20010052780A KR 20030018580 A KR20030018580 A KR 20030018580A
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- vehicle
- abs
- wheel
- change
- phase difference
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60T8/245—Longitudinal vehicle inclination
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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
- 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
- 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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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
본 발명은 차량용 안티브레이크시스템의 작동방법에 관한 것으로, 보다 상세하게는 평지와 경사진 언덕길을 분별하여 작동되도록 된 차량용 안티브레이크시스템의 작동방법에 관한 것이다.The present invention relates to a method for operating an anti-vehicle system for a vehicle, and more particularly, to a method for operating an anti-vehicle system for a vehicle, which is to be operated by discriminating between flat and sloped hills.
일반적으로 차량의 브레이크장치는 운전자가 차량을 정지시킬 때 차륜을 강제로 정지시키는 것으로, 이중 안티브레이크시스템(ABS라 함)은 차량의 제동시 로면과의 미끄럼으로 인한 슬립(Slip)현상을 방지하고자, 노면의 조건을 인지하여 회전되고 있는 차륜의 슬립을 방지할 수 있도록 다단계로 감속 즉, 차륜의 회전을 감속한 후 정지시켜 급작스러운 차륜의 정지에 따른 노면과의 슬립을 방지하여 차량의 거동 안정성을 향상시켜주도록 된 것이다.In general, the brake device of the vehicle is to forcibly stop the wheel when the driver stops the vehicle, and the dual anti-shake system (ABS) is to prevent slip due to sliding with the road surface when the vehicle is braked. In order to prevent the slip of the wheel which is being rotated by recognizing the condition of the road surface, the vehicle decelerates in multiple stages. That is, the wheel's rotation is decelerated and stopped to prevent slippage with the road surface caused by sudden stop of the wheel. It is intended to improve.
하지만, 이와 같은 ABS의 경우도 거친 노면이나 악로 주행 혹은 압설로등에서 제동을 하는 경우 ABS를 사용하지 않고 제동을 하는 경우에 비해 상대적으로 제동거리가 길어져 운전자의 판단하에 ABS의 작동을 차단시키는 단점이 있고 또한, 4륜 구동 차량의 경우 언덕길에서 ABS를 사용하여 제동을 할 때 제동말기에 이상작동이 발생되는 단점이 있게 된다.However, even in the case of ABS, braking on rough roads, bad roads or snow roads has a relatively long braking distance compared to braking without using ABS, which blocks ABS operation at the discretion of the driver. In addition, a four-wheel drive vehicle has a disadvantage in that abnormal operation occurs at the end of the braking when braking using ABS on the hill.
여기서, ABS가 장착된 4륜 구동 차량의 경우에는 동특성에 대한 레퍼런스(Reference)속도의 불확정성을 보상해주도록 차륜에 G센서가 구비되어진다.Here, in the case of a four-wheel drive vehicle equipped with ABS, the G sensor is provided on the wheel to compensate for the uncertainty of the reference speed for the dynamic characteristics.
이와 같은 4륜 구동 차량의 ABS 이상 작동 상태를 자세히 설명하면 도 1에 도시된 바와 같이 차량(V)이 소정의 경사각(a)을 갖는 언덕길을 올라가는 경우를 가정하면, 먼저 차량(V)이 완전히 멈추면 차량의 감속도는 -aG가 되면서 G센서의 출력값이 0(zero)이 되므로 만약, 차량(V)이 완 제동을 하는 경우 감속도는 -bG'가 되면서 상기 G 센서의 출력 값도 동일 크기로 -bG가 된다.Referring to the ABS abnormal operation state of the four-wheel drive vehicle in detail, assuming that the vehicle (V) ascending the hill road having a predetermined inclination angle (a), as shown in Figure 1, first the vehicle (V) is completely When stopping, the deceleration of the vehicle becomes -aG and the output value of the G sensor becomes 0 (zero). If the vehicle V performs complete braking, the deceleration becomes -bG 'and the output value of the G sensor is the same. The size is -bG.
이때, 차량의 실제 감속도는 -(a+b)G값이 됨은 물론이다.At this time, the actual deceleration of the vehicle is of course the value of-(a + b) G.
이어, 상기 G 센서의 출력 값이 -bG가 되면 ABS를 제어하는 ECU에서는 로직(Logic)에 따라 마치 아주 마찰이 적은 즉, 슬립(Slip)이 일어나는 도로인 것으로 판단함과 더불어 도 2에 도시된 바와 같이 차륜의 휠속도와 레퍼런스속도가 차이를 갖게 되므로 ABS 제어 ECU는 이에 적합한 로직에 따라 ABS를 제어하게 된다.Subsequently, when the output value of the G sensor becomes -bG, the ECU controlling the ABS determines that it is a road having very low friction, that is, slip, according to logic. As the wheel speed and the reference speed of the wheel are different, the ABS control ECU controls the ABS according to the appropriate logic.
그러나, 이와 같이 언덕길에서 차량(V)을 완 제동하는 경우 실제차량의 감속도와 Gtps서의 감속도 차이가 ABS의 작동을 일으키는 상황이 아님에도 불구하고 작동을 시작하여 조종 안전성에 영향을 주는 문제가 있게 된다.However, when the vehicle V is completely braked on the hill road as described above, even though the difference between the deceleration of the actual vehicle and the deceleration of the Gtps does not cause the ABS to operate, there is a problem that the operation safety is affected by starting the operation. Will be.
이에 본 발명은 상기와 같은 점을 감안하여 발명된 것으로, 도로의 조건에 따라 ABS의 작동여부를 선택하여 차량의 안정성을 항상 확보함에 그 목적이 있다.Therefore, the present invention was invented in view of the above, and an object thereof is to always ensure the stability of the vehicle by selecting whether the ABS is operated according to the conditions of the road.
상기와 같은 목적을 달성하기 위한 본 발명은, ECS제어기를 통해 시간에 따른 각 차륜의 변화 값이 설정 값을 초과하지 않으면 제동 시 ABS를 작동시키는 반면, 상기 설정 값을 초과하면 다시 위상차에 대한 변화를 판단하여 위상변화와 위상차에 따라 ABS의 작동여부를 재차 판단한 후 차량의 제동 시 ABS의 작동여부를 결정하는 것을 특징으로 한다.According to the present invention for achieving the above object, if the change value of each wheel with time does not exceed the set value through the ECS controller, the ABS is operated during braking, while if the set value exceeds the set value, the change in phase difference is again performed. After judging whether the ABS is operated again according to the phase change and the phase difference, it is characterized in that whether the operation of the ABS when braking the vehicle.
도 1은 일반적으로 경사진 언덕에 위치된 차량에 작용하는 힘의 관계도1 is a relational diagram of forces acting on a vehicle generally located on a sloped hill
도 2는 도 1에 따라 경사진 언덕길에서 안티브레이크시스템이 작동되는 것을 나타낸 선도FIG. 2 is a diagram showing that the anti-rake system is operated on a sloped hill road according to FIG.
도 3은 본 발명에 따른 차량용 안티브레이크시스템의 작동방법에 대한 순서도Figure 3 is a flow chart for the method of operation of the vehicle anti-rake system in accordance with the present invention
도 4는 안티브레이크시스템 장착 차량의 험로 주행 시 발생되는 각 차륜의 위상변화도4 is a phase change diagram of each wheel that is generated during the rough road driving of the vehicle with an anti-rake system;
도 5는 안티브레이크시스템 장착 차량의 험로 주행 시 발생되는 전·후륜의 위상차 변화도5 is a diagram showing the phase difference change of the front and rear wheels generated during the rough road driving of the vehicle equipped with the Antishake system.
<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>
a : 경사각aG : 완전멈춤차량 감속도a: inclination angle aG: deceleration of a fully stopped vehicle
bG : G센서출력값bG: G sensor output value
bG' : 완제동에 따른 차량감속도G : 중력가속도bG ': Deceleration of vehicle due to complete braking G: Gravity acceleration
W : 차륜V : 차량W: Wheel V: Vehicle
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 차량용 안티브레이크시스템의 작동방법에 대한 순서도를 도시한 것인바, 본 발명은 ECS제어기를 통해 시간에 따른 각 차륜의 변화 값이 설정 값을 초과하지 않으면 제동 시 ABS를 작동시키는 반면, 상기 설정 값을 초과하면 다시 위상차에 대한 변화를 판단하여 위상변화와 위상차에 따라 ABS의 작동여부를 재차 판단한 후 차량의 제동 시 ABS의 작동여부를 결정하게 된다.3 is a flowchart illustrating a method of operating an anti-vehicle system for a vehicle according to the present invention. The present invention operates ABS when braking when a change value of each wheel does not exceed a set value over time through an ECS controller. On the other hand, if the set value is exceeded, the change of the phase difference is again determined, and the operation of the ABS is determined again according to the phase change and the phase difference, and then the operation of the ABS is determined when the vehicle is braked.
즉, 이를 상세히 설명하면 먼저, 차량을 제동하기 위해 브레이크 페달을 조작하면 ECS제어기를 통해 시간에 따른 각 차륜의 변화 값이 기 설정 값을 초과하지 않으면 ABS제어ECU를 작동시켜 각 차륜의 스피드센서 값을 감지하여 ABS를 작동시키지만 만약, 변화 값이 기 설정 값을 초과하면 ABS를 작동시키지 않는 판단단계를 수행하게된다.That is, in detail, first, when the brake pedal is operated to brake the vehicle, if the change value of each wheel with time does not exceed the preset value through the ECS controller, the ABS control ECU is operated to operate the speed sensor value of each wheel. If ABS is activated by detecting the value, but the change value exceeds the preset value, the determination step is not performed.
이어, 상기 판단단계에서 차륜의 변화 값이 기 설정 값을 초과하면 다시 이 값이 각 차륜의 위상변화에 의한 것인지 위상차에 의한 것인지를 판단하는 확인단계를 수행하는데 이때, 상기 변화 값 중 차륜의 위상변화는 도 4에 도시된 바와 같이 차량(V)이 험로를 주행할 때 불규칙한 도로(R)로 인해 차륜(W)의 시간에 따른위상변화가 크게 나타나는 현상인 반면, 위상차는 도 5에 도시된 바와 같이 차량(V)이 경사진(a)도로(R)를 등판할 때 전·후 차륜(W)의 시간에 따른 위상차가 크게 나타나는 현상이다.Subsequently, when the change value of the wheel exceeds a predetermined value in the determining step, a confirmation step of determining whether the value is due to a phase change or a phase difference of each wheel is performed again. The change is a phenomenon in which the phase change with time of the wheel W is large due to the irregular road R when the vehicle V travels the rough road as shown in FIG. 4, while the phase difference is shown in FIG. 5. As described above, when the vehicle V climbs the road R on the inclined a, the phase difference according to time of the front and rear wheels W is large.
이어, 상기 확인단계에서 판단된 도로의 상태에 따라 ECS제어기가 위상변화의 경우와 위상차의 경우로 분리하여 각각에 대응되는 제동 조건을 선택한 후 ABS의 작동이 요구되면 판단단계로로 복귀되지만 ABS의 작동이 불필요하면 ABS작동을 차단하면서 일반적인 제동을 수행하게 된다.Subsequently, the ECS controller selects a braking condition corresponding to each of the phase change and the phase difference according to the state of the road determined in the checking step, and then returns to the determination step if the ABS operation is required. If the operation is unnecessary, normal braking is performed while the ABS operation is blocked.
이상 설명한 바와 같이 본 발명에 의하면, 험로를 주행할 때 불규칙한 도로로 인한 차륜의 시간에 따른 위상변화와 경사진도로를 등판할 때 전·후 차륜의 시간에 따른 위상차를 비교·판단하여 차량의 제동 시 이와 같이 판단된 도로의 조건에 따라 ABS의 작동여부를 선택하여 제동 시 차량의 안정성을 항상 확보할 수 있는 효과가 있게 된다.As described above, according to the present invention, when the vehicle is braking by comparing and determining the phase change according to the time of the wheel due to the irregular road and the slope of the front and rear wheels when climbing the inclined road when driving on the rough road According to the road condition determined as described above, it is possible to select whether to operate the ABS to ensure the stability of the vehicle at all times during braking.
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KR100828946B1 (en) * | 2007-05-04 | 2008-05-13 | 주식회사 만도 | Brake control method using vehicle's brake-signal |
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KR101283023B1 (en) * | 2011-06-10 | 2013-07-08 | 현대자동차주식회사 | Vehicle Control Method on Rough Road |
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JPH03217379A (en) * | 1990-01-19 | 1991-09-25 | Mitsubishi Motors Corp | Front air spoiler control for automobile |
JP2606396B2 (en) * | 1990-02-09 | 1997-04-30 | 三菱電機株式会社 | Anti-skid control device |
JPH06144087A (en) * | 1992-11-06 | 1994-05-24 | Nippondenso Co Ltd | Road gradient calculator and driving force controller |
JP3729919B2 (en) * | 1996-03-15 | 2005-12-21 | 株式会社日立製作所 | Brake control device |
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