KR20080024651A - The control method of hydraulic brake for hybrid electric vehicle - Google Patents

The control method of hydraulic brake for hybrid electric vehicle Download PDF

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KR20080024651A
KR20080024651A KR1020060089030A KR20060089030A KR20080024651A KR 20080024651 A KR20080024651 A KR 20080024651A KR 1020060089030 A KR1020060089030 A KR 1020060089030A KR 20060089030 A KR20060089030 A KR 20060089030A KR 20080024651 A KR20080024651 A KR 20080024651A
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South Korea
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braking torque
regenerative braking
wheel
calculating
electric vehicle
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KR1020060089030A
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Korean (ko)
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박만복
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주식회사 만도
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18108—Braking
    • B60Y2300/18125—Regenerative braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A control method of a hydraulic brake for a hybrid electric vehicle is provided to minimize data delay by simplifying data exchange, prevent over brake, reduce noise, and remove strange feeling of a driver during generative braking. A control method of a hydraulic brake for a hybrid electric vehicle includes the steps of: calculating required braking force of each wheel by using vehicle information(S102); calculating primary limit regenerative braking torque, that is, the maximum regenerative braking torque at the current speed(S103); calculating secondary limit regenerative braking torque, that is, the current operable regenerative braking torque by using the vehicle information(S104); setting target hydraulic braking torque of each wheel with a value obtained by subtracting the secondary limit regenerative braking torque from the required braking force of each wheel(S105); and performing control to generate wheel pressure following the target hydraulic braking torque(S106).

Description

하이브리드 전기 차량의 유압 브레이크 제어방법{The Control Method of Hydraulic Brake for Hybrid Electric Vehicle}The control method of hydraulic brake for hybrid electric vehicle

도 1은 도 1은 종래 하이브리드 전기 차량에서 차속 대비 회생 토크 및 휠 유압 제동력의 변화를 보인 그래프.1 is a graph showing a change in regenerative torque and wheel hydraulic braking force compared to the vehicle speed in a conventional hybrid electric vehicle.

도 2는 본 발명의 실시예에 따른 전기 차량의 유압 브레이크의 제어를 위한 동작 흐름도.2 is an operation flowchart for the control of the hydraulic brake of the electric vehicle according to an embodiment of the present invention.

도 3은 본 발명의 실시예에 따른 하이브리드 전기 차량에서 차속 대비 회생 토크 및 휠 유압 제동력의 변화를 보인 그래프.3 is a graph showing a change in the regenerative torque and the wheel hydraulic braking force compared to the vehicle speed in a hybrid electric vehicle according to an embodiment of the present invention.

본 발명은 하이브리드 전기 차량의 유압 브레이크 제어방법에 관한 것으로, 특히 전기 모터를 장착한 차량에서의 회생 제동(Regenerative Braking) 시 유압제동력 확보를 위해 유압의 급격한 변동이 발생하지 않도록 일정 시간 동안 유압을 유지하도록 제어하는 방법에 관한 것이다.The present invention relates to a method of controlling a hydraulic brake of a hybrid electric vehicle, in particular, to maintain hydraulic pressure for a predetermined time so that a sudden fluctuation in the hydraulic pressure does not occur in order to secure hydraulic braking force during regenerative braking in a vehicle equipped with an electric motor. It relates to a method of controlling to.

일반적으로, 하이브리드 전기 차량은 배기가스가 없고 효율은 높지만 주행거 리가 짧은 전기자동차와 고출력이고 주행거리가 길지만 효율이 낮고 유해물질을 배출하는 소형의 내연기관을 조합해 양자의 장점만을 취합한 차량이다. 따라서 연료의 연소 반응을 이용하여 동력을 발생시키는 엔진과 상기 엔진 또는 배터리에서 공급되는 전기 동력에 의해 휠(wheel)의 구동력을 발생시키기 위한 모터를 함께 구비한다.In general, a hybrid electric vehicle combines only the advantages of a combination of an electric vehicle that has no exhaust gas and has a high efficiency but a short driving distance, and a small internal combustion engine that has a high output, a long driving distance, and a low efficiency and emits harmful substances. . Therefore, the engine is provided with a motor for generating power by using a combustion reaction of fuel and a motor for generating a driving force of a wheel by electric power supplied from the engine or the battery.

차량에서 운동에너지는 속도의 제곱에 비례하여 증가하는데, 기존의 차량은 제동 시 브레이크 마찰열의 형태로 운동에너지를 방출하게 된다. 이와는 달리 하이브리드 전기 차량은 전기모터를 발전기로 사용하여 전기에너지 형태로 변환하여 배터리에 충전한 다음 제동 시에는 회생제동 효과를 이용, 동력을 배터리로 회수해 연비의 극대화를 추구한다. In a vehicle, the kinetic energy increases in proportion to the square of the speed. Existing vehicles emit kinetic energy in the form of brake frictional heat during braking. In contrast, a hybrid electric vehicle uses an electric motor as a generator to convert electric energy into a form of electric energy and charges the battery, and then, when braking, recovers power by using a regenerative braking effect to maximize fuel efficiency.

차축에 모터가 장착된 하이브리드 전기 차량에서 회생 제동을 수행을 위해서는 유압조정장치(Hydraulic Control Unit, HCU)와 전자 브레이크 시스템(EBS)와의 데이터 교환이 필수적이다. 즉 유압조정장치(HCU)와 전자 브레이크 시스템(EBS)은 각각 회생 제동의 가능 여부에 대해서 메시지를 송부하게 되는데, 두 개의 시스템이 정상이고, 회생 제동이 가능하다고 판단되면 도 1에 도시된 바와 같은 동작을 수행하게 된다.In order to perform regenerative braking in a hybrid electric vehicle with a motor mounted on the axle, data exchange between a hydraulic control unit (HCU) and an electronic brake system (EBS) is essential. That is, the hydraulic control unit (HCU) and the electronic brake system (EBS) each send a message about whether or not the regenerative braking is possible, if the two systems are normal, and the regenerative braking is possible, as shown in FIG. Will perform the action.

도 1은 종래 하이브리드 전기 차량에서 차속 대비 회생 토크 및 휠 유압 제동력의 변화를 보인 그래프로서, 이에 도시된 바와 같이 전자 브레이크 시스템(EBS)은 유압조정장치(HCU)로부터 재 전송받은 2차 한계 회생제동 토크를 그대로 반영한 회생제동 토크를 발생시켜 제동을 하는데, 이때 반영한 2차 회생제동 토크 는 증가하자마자 감소하게 되며, 휠 유압 제동력은 감소하자마자 증가시켜야된다.1 is a graph showing a change in regenerative torque and wheel hydraulic braking force compared to a vehicle speed in a conventional hybrid electric vehicle. As shown in FIG. 1, the electronic brake system EBS is retransmitted from the hydraulic control unit HCU. The regenerative braking torque is generated by applying the torque as it is, and the second regenerative braking torque reflected is reduced as soon as it is increased, and the wheel hydraulic braking force must be increased as soon as it is decreased.

즉, 유압의 안정화를 이루지 못한 상황에서 바로 모터를 구동하여 유압을 상승시켜야 하기 때문에 노이즈 및 진동이 발생하고, 운전자에게 이질감을 주게 되는 등의 문제점이 있었다. That is, since the hydraulic pressure must be raised immediately by driving the motor in a situation where the hydraulic pressure is not stabilized, noise and vibration are generated, and there is a problem such as giving a sense of heterogeneity to the driver.

따라서, 본 발명은 상기와 같은 종래의 문제점을 해결하기 위하여 창안한 것으로, 전기 모터를 장착한 차량에서의 회생 제동(Regenerative Braking) 시 유압제동력 확보를 위해 유압의 급격한 변동이 발생하지 않도록 차량 정보를 통해 유압을 유지할 지속시간(Duration time)을 계산하고, 이 계산에 따른 지속시간 동안 유압을 유지하도록 제어하는 방법을 제공함에 그 목적이 있다.Accordingly, the present invention has been made to solve the above-mentioned conventional problems, and the vehicle information is applied so that a sudden fluctuation of the hydraulic pressure does not occur to secure the hydraulic braking force during regenerative braking in a vehicle equipped with an electric motor. It is an object of the present invention to provide a method of calculating a duration of maintenance of hydraulic pressure through the hydraulic pressure and maintaining the hydraulic pressure for the duration according to the calculation.

이와 같은 목적을 달성하기 위한 본 발명 하이브리드 전기 차량의 유압 브레이크 제어방법은, 차량 정보를 읽어 들인 후 운전자가 제동 시 상기 차량 정보를 이용, 각 휠의 요구 제동력을 계산하는 제1 단계와; 상기 제1 단계의 수행 후 현재 속도에서 최대 가능 회생제동 토크인 1차 한계 회생제동 토크를 계산하는 제2 단계와; 상기 차량 정보를 통해 현재 수행가능한 회생제동 토크인 2차 한계 회생제동 토크를 계산하는 제3 단계와; 상기 제1 단계에서 계산한 각 휠의 요구 제동력에서 상기 2차 한계 회생제동 토크를 뺀 값으로 각 휠의 목표 유압제동 토크로 설정하는 제4 단계; 및 상기 설정한 목표 유압제동 토크를 추종하는 휠 압력을 발생시키는 제어동작을 수행하는 제5 단계로 이루어진 것을 특징으로 한다.The hydraulic brake control method of the hybrid electric vehicle according to the present invention for achieving the above object comprises: a first step of reading the vehicle information and calculating the required braking force of each wheel by the driver using the vehicle information when braking; A second step of calculating a first limit regenerative braking torque, which is the maximum possible regenerative braking torque at the current speed after performing the first step; Calculating a second limit regenerative braking torque, which is a regenerative braking torque that can be currently performed through the vehicle information; A fourth step of setting the target hydraulic braking torque of each wheel by subtracting the second limit regenerative braking torque from the required braking force of each wheel calculated in the first step; And a fifth step of performing a control operation of generating wheel pressure following the set target hydraulic braking torque.

이하, 본 발명에 따른 실시예를 첨부한 도면을 참조하여 상세히 설명하면 다음과 같다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명의 실시예에 따른 전기 차량의 유압 브레이크의 제어를 위한 동작 흐름도로서, 이에 도시한 바와 같이 먼저, 전자 브레이크 시스템(EBS)은 차량 정보를 읽어 들인 후 운전자가 제동 시 상기 차량 정보를 이용, 각 휠의 요구 제동력을 계산한다(S100 ~ S102). 2 is an operation flowchart for controlling the hydraulic brake of an electric vehicle according to an embodiment of the present invention. As shown in the drawing, first, the electronic brake system (EBS) reads vehicle information and then the vehicle information when the driver brakes. Calculate the required braking force of each wheel using (S100 ~ S102).

상기 단계(S102)의 수행 후, 상기 EBS는 현재 속도에서 최대 가능 회생제동 토크인 1차 한계 회생제동 토크를 계산하는데(S103), 이때, 상기 1차 한계 회생제동 토크량의 크기는 각 휠에 전달해야 하는 요구 제동력 이하로 설정한다.After performing the step (S102), the EBS calculates the first limit regenerative braking torque that is the maximum possible regenerative braking torque at the current speed (S103), wherein the magnitude of the first limit regenerative braking torque is applied to each wheel. Set below the required braking force to be transmitted.

또한, 상기 EBS에서 배터리 전력을 고려하여 먼저 최대 가능 회생제동 토크를 생성하여 유압조정장치(HCU)로 전송하기 때문에 1차적인 장애 시 안전(fail safe)을 수행하는 부수적인 효과가 발생한다.In addition, since the EBS first generates the maximum possible regenerative braking torque in consideration of the battery power and transmits it to the hydraulic control unit (HCU), a side effect of performing a fail safe in the first failure occurs.

상기 HCU는 상기 차량 정보를 통해 현재 수행가능한 회생제동 토크인 2차 한계 회생제동 토크를 계산한 다음 상기 EBS로 전송하며(S104), 이 EBS는 상기 단계(S102)에서 계산한 각 휠의 요구 제동력에서 상기 전송받은 2차 한계 회생제동 토크를 뺀 값으로 각 휠의 목표 유압제동 토크로 설정한다(S105). The HCU calculates the secondary limit regenerative braking torque, which is the regenerative braking torque that can be currently performed through the vehicle information, and then transmits the regenerative braking torque to the EBS (S104), which is the required braking force of each wheel calculated in the step S102. Subtract the second limit regenerative braking torque received from the set to the target hydraulic braking torque of each wheel (S105).

이후, 상기 EBS는 상기 설정한 목표 유압제동 토크를 추종하는 휠 압력을 발생시키는 제어동작을 수행하는데(S106), 도 3에 도시한 바와 같이 현재의 차량 속도, 예측된 시점의 차량 감속도 및 차량 속도 대비 회생제동 토크를 이용하여 지속시간을 계산하고, 이 계산된 지속시간이 일정시간 이하로 떨어지면 현재 1차 한계 회생제동 토크를 이전 2차 한계 회생제동 토크와 같도록 제한하여 2차 한계 회생제동 토크가 증가하지 못하도록 한다.Thereafter, the EBS performs a control operation for generating a wheel pressure following the set target hydraulic braking torque (S106). As shown in FIG. 3, the current vehicle speed, the vehicle deceleration at the predicted time point, and the vehicle Calculate the duration using the regenerative braking torque against the speed, and if the calculated duration falls below a certain time, limit the current primary limit regenerative braking torque to be equal to the previous secondary limit regenerative braking torque, and then limit the secondary regenerative braking. Do not allow torque to increase.

이상에서 본 발명의 구체적인 실시예를 상세히 설명하였으나, 본 발명은 이에 한정되는 것은 아니며, 이 분야의 통상의 지식을 가진 자라면 본 발명의 기술적 사상을 바탕으로 다양한 변경과 수정이 가능할 것이다.Although specific embodiments of the present invention have been described in detail above, the present invention is not limited thereto, and those skilled in the art may make various changes and modifications based on the technical idea of the present invention.

이상에서 설명한 바와 같이 본 발명 하이브리드 전기 차량의 유압 브레이크 제어방법은, 데이터의 교환을 간단하게 하여 데이터 지연을 최소화하고, 과제동(over brake)을 방지하며, 노이즈를 감소시키고, 회생 제동시에 운전자에게 주는 이질감이 없어지는 등의 효과가 있다.As described above, the hydraulic brake control method of the hybrid electric vehicle of the present invention simplifies the exchange of data to minimize data delay, prevent over brake, reduce noise, and provide the driver with regenerative braking. The effect is that the heterogeneity disappears.

Claims (4)

차량 정보를 읽어 들인 후 운전자가 제동 시 상기 차량 정보를 이용, 각 휠의 요구 제동력을 계산하는 제1 단계와; A first step of reading the vehicle information and calculating the required braking force of each wheel by the driver using the vehicle information when braking; 상기 제1 단계의 수행 후 현재 속도에서 최대 가능 회생제동 토크인 1차 한계 회생제동 토크를 계산하는 제2 단계와; A second step of calculating a first limit regenerative braking torque, which is the maximum possible regenerative braking torque at the current speed after performing the first step; 상기 차량 정보를 통해 현재 수행가능한 회생제동 토크인 2차 한계 회생제동 토크를 계산하는 제3 단계와; Calculating a second limit regenerative braking torque, which is a regenerative braking torque that can be currently performed through the vehicle information; 상기 제1 단계에서 계산한 각 휠의 요구 제동력에서 상기 2차 한계 회생제동 토크를 뺀 값으로 각 휠의 목표 유압제동 토크로 설정하는 제4 단계; 및 A fourth step of setting the target hydraulic braking torque of each wheel by subtracting the second limit regenerative braking torque from the required braking force of each wheel calculated in the first step; And 상기 설정한 목표 유압제동 토크를 추종하는 휠 압력을 발생시키는 제어동작을 수행하는 제5 단계로 이루어진 것을 특징으로 하는 하이브리드 전기 차량의 유압 브레이크 제어방법.And a fifth step of performing a control operation of generating wheel pressure following the set target hydraulic braking torque. 제1항에 있어서, 상기 제2 단계는 The method of claim 1, wherein the second step 1차 한계 회생제동 토크량의 크기는 각 휠에 전달해야 하는 요구 제동력 이하로 설정하는 것을 특징으로 하는 하이브리드 전기 차량의 유압 브레이크 제어방법.A method of controlling a hydraulic brake of a hybrid electric vehicle, characterized in that the magnitude of the primary limit regenerative braking torque is set to less than a required braking force to be transmitted to each wheel. 제1항에 있어서, 상기 제5 단계는 The method of claim 1, wherein the fifth step 현재의 차량 속도, 예측된 시점의 차량 감속도 및 차량 속도 대비 회생제동 토크를 이용하여 지속시간을 계산하는 단계를 포함하는 것을 특징으로 하는 하이브리드 전기 차량의 유압 브레이크 제어방법.And calculating a duration using a current vehicle speed, a vehicle deceleration at a predicted time point, and a regenerative braking torque relative to the vehicle speed. 제1항에 있어서, 상기 제5 단계는 The method of claim 1, wherein the fifth step 상기 지속시간이 일정시간 이하로 떨어지면 현재 1차 한계 회생제동 토크를 이전 2차 한계 회생제동 토크와 같도록 제한하는 단계를 포함하는 것을 특징으로 하는 하이브리드 전기 차량의 유압 브레이크 제어방법.And limiting the current primary limit regenerative braking torque to be equal to the previous secondary limit regenerative braking torque when the duration falls below a predetermined time.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10377244B2 (en) 2016-11-22 2019-08-13 Hyundai Motor Company Braking control method in regenerative braking cooperative control
DE102019203785A1 (en) 2018-03-29 2019-10-02 Hyundai Mobis Co., Ltd. BRAKING DEVICE AND BRAKE CONTROL PROCEDURE FOR VEHICLES
US10974602B2 (en) 2018-07-11 2021-04-13 Hyundai Mobis Co., Ltd. Brake apparatus for vehicles

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10377244B2 (en) 2016-11-22 2019-08-13 Hyundai Motor Company Braking control method in regenerative braking cooperative control
DE102019203785A1 (en) 2018-03-29 2019-10-02 Hyundai Mobis Co., Ltd. BRAKING DEVICE AND BRAKE CONTROL PROCEDURE FOR VEHICLES
US11014439B2 (en) 2018-03-29 2021-05-25 Hyundai Mobis Co., Ltd. Braking apparatus and braking control method for vehicle
US10974602B2 (en) 2018-07-11 2021-04-13 Hyundai Mobis Co., Ltd. Brake apparatus for vehicles

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