KR20080036307A - Braking pressure control method of brake traction control system - Google Patents
Braking pressure control method of brake traction control system Download PDFInfo
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- KR20080036307A KR20080036307A KR1020060102762A KR20060102762A KR20080036307A KR 20080036307 A KR20080036307 A KR 20080036307A KR 1020060102762 A KR1020060102762 A KR 1020060102762A KR 20060102762 A KR20060102762 A KR 20060102762A KR 20080036307 A KR20080036307 A KR 20080036307A
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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
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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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
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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
- B60T8/32—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 a speed condition, e.g. acceleration or deceleration
- B60T8/58—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 a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
도 1은 본 발명에 따른 브레이크 트랙션 콘트롤 시스템의 제동 압력 제어 방법의 순서도1 is a flowchart of a braking pressure control method of a brake traction control system according to the present invention.
도 2는 본 발명에 따른 브레이크 트랙션 콘트롤 시스템의 제동 압력 산출 제어표2 is a brake pressure calculation control table of the brake traction control system according to the present invention
도 3(가),(나)는 본 발명에 따르지 않는 경우와 따른 경우의 시험 데이터 선도Figure 3 (a), (b) is a test data diagram when not in accordance with the present invention
본 발명은 브레이크 트랙션 콘트롤 시스템에 관한 것으로, 보다 상세하게는 비대칭 노면 조건에서 과도한 제동 압력이 발생되지 않도록 하는 브레이크 트랙션 콘트롤 시스템의 제동 압력 제어 방법에 관한 것이다.The present invention relates to a brake traction control system, and more particularly, to a braking pressure control method of a brake traction control system to prevent excessive braking pressure from being generated in an asymmetric road surface condition.
일반적으로 운전자의 브레이크 페달 조작력을 배력하는 유압을 이용해 주행중인 차량을 제동하는 제동시스템은, 회전중인 차륜을 잡아 회전을 못하게 하는 단 순 방식으로 인해 차량의 주행 상태와 노면 조건에 따라 최적의 제동 성능을 구현하지 못하게 된다.In general, a braking system for braking a vehicle using hydraulic power that boosts the driver's brake pedal operation force provides an optimum braking performance according to the driving condition and road conditions of the vehicle due to a simple method of grabbing a wheel that is rotating to prevent rotation. Will not implement.
이와 같은, 단순 제동시스템의 한계를 극복하기 위해 차륜속도로부터 연산되는 슬립률에 따라 휠에 가해지는 제동압을 적절히 조절하여 바퀴의 록킹(locking)을 방지하는 안티록 브레이크 시스템(Anti lock brake system)을 사용하거나 또는, 차량의 급 발진이나 급 가속시 과대한 슬립을 방지하기 위해 엔진의 구동력을 조절하는 트랙션 콘트롤 시스템(Traction control system)을 이용하여, 차량의 안정성을 향상하게 된다.In order to overcome the limitation of the simple braking system, the anti-lock brake system prevents the wheel from locking by appropriately adjusting the braking pressure applied to the wheel according to the slip ratio calculated from the wheel speed. Or by using a traction control system that adjusts the driving force of the engine to prevent excessive slip during rapid start or rapid acceleration of the vehicle.
이러한 트랙션 콘트롤 시스템(TCS)에서 더 나아가 브레이크 트랙션 콘트롤 시스템(Brake Traction Control System; BTCS)은, 차량의 출발 시 차륜과 노면의 슬립(Slip)현상을 방지하여 차량이 원활하게 출발할 수 있도록 제어를 수행하는 방식이다.In addition to such a traction control system (TCS), the Brake Traction Control System (BTCS) prevents slippage of wheels and road surfaces at the start of the vehicle to control the vehicle so that the vehicle starts smoothly. This is how it is done.
이를 위해 브레이크 트랙션 콘트롤 시스템 방식의 전형적인 유압 회로는, 트랙션 콘트롤 시스템의 유압 회로에서 마스터 실린더의 출구측 유로와 유압펌프의 입구측 유로를 연결하는 우회 유로을 구비하며, 상기 우회 유로에는 왕복형 유압밸브가 설치되고, 상기 마스터 실린더의 출구측과 고압어큐뮬레이터의 출구측을 연결하는 유로에는 평소 열린 상태를 유지하는 트랙션 컨트롤 용 솔레노이드 밸브가 설치되며, 상기 고압어큐뮬레이터의 출구측에서 마스터 실린더의 출구측을 연통시키는 우회 유로에는 릴리프 밸브를 설치한 구성을 갖게 된다.To this end, a typical hydraulic circuit of the brake traction control system has a bypass flow path connecting the outlet flow path of the master cylinder and the inlet flow path of the hydraulic pump in the hydraulic circuit of the traction control system, and the bypass flow path includes a reciprocating hydraulic valve. The flow path connecting the outlet side of the master cylinder and the outlet side of the high-pressure accumulator is provided with a traction control solenoid valve for maintaining an open state, and the outlet side of the high-pressure accumulator communicates with the outlet side of the master cylinder. The bypass flow passage has a configuration in which a relief valve is provided.
이에 따라 브레이크 트랙션 콘트롤 시스템 방식은 특수한 노면 조건인 빙판 길과 같은 미끄러운 노면에서 차량의 제동력을 제어하여 최대의 구동력을 얻도록 해, 특히 언덕길 같은 곳의 미끄러운 노면에서 트랙션 콘트롤 시스템을 이용한 제어를 보다 정밀하게 수행할 수 있게 한다.Accordingly, the brake traction control system method controls the vehicle's braking force on slippery roads such as ice roads, which are special road conditions, to obtain the maximum driving force, and more precisely controls the traction control system on slippery roads such as hills. Make it work.
그러나, 이러한 브레이크 트랙션 콘트롤 시스템 방식을 사용하더라도, 차량의 중심을 기준으로 좌측과 우측의 노면상태가 다른 비대칭 노면을 갖는 언덕과 같은 오르막길에서 휠에 과도한 제동압력이 가해지면, 바퀴가 굴러가기 어려운 정도에 다다라 차동 기어에서는 엔진의 구동토크가 제동력이 걸리지 않은 반대편 구동 바퀴로 보내, 결국 한쪽 바퀴는 돌지 않고 반대편만 구동하게 되어 상당히 불안정한 제어가 되면서, 차동 기어의 이러한 작용으로 인해 헌팅 현상(Hunting Effect, 제동압력이 좌우로 번갈아 가해지는 현상)이 발생되어져 차량의 불안정성을 오히려 가중시키는 현상을 가져오게 된다.However, even when such a brake traction control system is used, it is difficult for the wheel to roll when an excessive braking pressure is applied to the wheel on an uphill road such as a hill having an asymmetric road surface with different left and right road surfaces based on the center of the vehicle. In the differential gear, the engine's driving torque is sent to the opposite driving wheels without braking force, so that one wheel does not turn and only drives the other side, resulting in highly unstable control. A phenomenon in which the braking pressure is alternately applied from side to side) is generated, resulting in an increase in vehicle instability.
이에 본 발명은 상기와 같은 점을 감안하여 발명된 것으로, 언덕길과 같은 비대칭 노면에서 브레이크 트랙션 콘트롤 시스템 작동 시, 바퀴가 굴러가기 어려운 정도로 휠에 과도한 제동압력이 가해지지 않도록 해, 구동력을 분배 제어하는 차동 기어에 의한 헌팅 현상을 방지하여 안정적인 주행 상태를 유지하도록 함에 그 목적이 있다.Accordingly, the present invention has been made in view of the above, and when the brake traction control system is operated on an asymmetrical road surface such as a hill road, it is possible to prevent excessive braking pressure from being applied to the wheel so that the driving force is distributed and controlled. The purpose is to prevent the hunting phenomenon by the differential gear to maintain a stable running state.
상기와 같은 목적을 달성하기 위한 본 발명은, 주행중인 차량 바퀴의 슬립 율과 휠 가속도에 의해 슬립(Slip)이 판단되면 TCS(트랙션 콘트롤 시스템)제어를 시작하고, 슬립이 해소되면 TCS 제어 수행을 중지해 초기화하는 단계; The present invention for achieving the above object, if the slip (Slip) is determined by the slip rate and the wheel acceleration of the running vehicle wheels start the TCS (traction control system) control, if the slip is resolved to perform the TCS control Stopping and initializing;
TCS 제어 수행 중 지속적으로 측정된 제동 압력 크기에 따라 TCS 제어를 지속하거나, 제동압력의 상승기울기를 조정하는 TCS 제어를 수행하기 위해 펌프 모터와 밸브의 작동시간과 더불어 펌프의 단위시간당 토출량과 휠 실린더의 체적을 계산하여, 현재 휠에 가해지는 제동 압력 크기를 산출하는 단계;In order to maintain TCS control according to the continuously measured braking pressure magnitude during TCS control or to perform TCS control to adjust the rising slope of the braking pressure, the pump motor and valve operating time, the discharge amount per unit time of the pump and the wheel cylinder Calculating a volume of braking pressure to calculate a magnitude of braking pressure applied to the current wheel;
제동 압력 증가율을 측정하도록 판단 시점부터 펌프 모터와 밸브의 작동시간을 카운트(Count)하는 단계;Counting the operating time of the pump motor and the valve from the determination point to measure the braking pressure increase rate;
휠에 가해지는 제동 압력이 과도하게 증가함에 따라 발생되는 휠 불안정성 여부를 판단하여, 필요 시 제동 압력 기울기를 조정해 휠 불안정성을 약화시키는 단계;Determining wheel instability caused by excessive increase in braking pressure applied to the wheel, and adjusting the braking pressure gradient as necessary to weaken the wheel instability;
휠 불안정성에 따른 제동 압력 기울기를 조정해 휠 불안정성이 해소될 때까지 모터와 밸브를 동시에 제어하고, 휠 불안정성 해소 시 주행중인 차량의 차량속도를 측정하면서 바퀴의 슬립(Slip)발생 여부에 따라 필요 시 TCS 제어를 반복 수행해주는 단계; 로 수행되는 것을 특징으로 한다.Adjust the braking pressure gradient according to wheel instability to control motor and valve at the same time until wheel instability is resolved.If necessary, measure the vehicle speed of the running vehicle when wheel instability is resolved. Repeatedly performing TCS control; Characterized in that performed.
이때 상기 휠 불안정성 해소를 위한 제어가 반복 수행될 때, 반복되는 제어 과정에서 최적의 제동 압력을 맞추기 위해서 이전 제어 사이클(Cycle)에 비해 보다 작은 증압 기울기로 제동 압력을 제어하는 것을 특징으로 한다.In this case, when the control for eliminating the instability of the wheel is repeatedly performed, the braking pressure is controlled with a smaller boost gradient than the previous control cycle (Cycle) in order to adjust the optimum braking pressure in the repeated control process.
이하 본 발명의 실시예를 첨부된 예시도면을 참조로 상세히 설명한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명에 따른 브레이크 트랙션 콘트롤 시스템의 제동 압력 제어 방법의 순서도를 도시한 것인바, 본 발명에 따른 브레이크 트랙션 콘트롤 시스템의 작동 제어는 주행중인 차량의 바퀴에서 슬립(Slip)이 발생되는지 여부를 판단해, 슬립 발생인 경우 트랙션 콘트롤 시스템(이하 TCS라 함)을 작동시키게 된다.Figure 1 shows a flow chart of the braking pressure control method of the brake traction control system according to the present invention, the operation control of the brake traction control system according to the present invention whether the slip (Slip) is generated in the wheel of the driving vehicle In case of slip, the traction control system (hereinafter referred to as TCS) is activated.
이때, 상기 TCS 제어를 시작하는 슬립(Slip)의 판단은 측정 바퀴의 슬립 율(Slip Ratio, (바퀴속도-차량속도)/바퀴속도)과 휠 가속도에 의해 결정된다.At this time, the determination of the slip to start the TCS control is determined by the slip ratio (wheel speed-vehicle speed) / wheel speed of the measurement wheel and the wheel acceleration.
이와 같이 휠 슬립이 일정임계값 이상이 되어 바퀴가 미끄러진다고 판단됨에 따라 TCS 제어를 수행하는 과정에서, 지속적인 제동 압력 크기를 측정해 제동압력이 일정수준에 다다르면 그 이후부터 제동압력의 상승기울기를 조정하는 TCS 제어를 수행하게 된다.As it is determined that the wheel slips because the wheel slip exceeds the predetermined threshold value as described above, in the process of performing the TCS control, when the braking pressure reaches a predetermined level by continuously measuring the magnitude of the braking pressure, the rising slope of the braking pressure is adjusted thereafter. TCS control is performed.
이때, 측정되는 제동압력이 일정수준에 다다르지 않은 상태에서 슬립 현상이 해소되면 TCS 제어를 종료하게 된다.At this time, if the slip phenomenon is eliminated while the measured braking pressure does not reach a predetermined level, the TCS control is terminated.
또한, 측정된 제동압력이 일정수준에 다다른다는 것은, 가해진 제동 압력으로 인해 바퀴가 멈추기(Locking) 전까지로서, 브레이크 사양에 따라 달리 산출되어진다.In addition, the measured braking pressure reaching a certain level is calculated differently according to the brake specification until the wheel is locked due to the applied braking pressure.
이어 제동압력의 상승기울기를 조정하는 TCS 제어를 수행하게 되면, 우선적으로 펌프 모터와 밸브의 작동시간과 더불어 펌프의 단위시간당 토출량과 휠 실린더의 체적을 계산하여, 현재 휠에 가해지는 제동 압력 크기를 산출한다.Subsequently, when the TCS control is performed to adjust the rising slope of the braking pressure, the amount of braking pressure applied to the current wheel is calculated by first calculating the discharge amount per unit time of the pump and the volume of the wheel cylinder, together with the operation time of the pump motor and the valve. Calculate.
이와 같이 산출된 휠의 제동 압력 크기가 일정수준에 다다를 위험성이 있으면서 지속적인 증가를 가져오는 경우, 판단 시점부터 펌프 모터와 밸브의 작동시간 을 카운트(Count)하여 제동 압력 증가율을 측정하게 된다.In this case, if the calculated braking pressure of the wheel reaches a certain level and causes a continuous increase, the braking pressure increase rate is measured by counting the operating time of the pump motor and the valve from the judgment point.
이때, 제동 압력 증가율은 과도한 제동압력에 다다르기 전에 최적의 구동력을 얻을 수 있는 시점까지만 증압이 되도록 제어하며, 이를 위한 압력예측 방법은 일례로 ON-OFF 제어방식인 밸브의 ON 시간을 측정한 다음, 일정압력(차동기어에 의해 구동력이 옮겨지지 않을 만큼)까지는 일반적인 제어를 수행하는 반면, 그 시점 이후부터는 압력 유지의 시간을 늘려 증압 기울기를 조절하는 방식으로 수행되어진다.At this time, the braking pressure increase rate is controlled so that the pressure increases only until the optimum driving force can be obtained before the excessive braking pressure is reached. For this, the pressure prediction method measures the ON time of the valve, which is an ON-OFF control method. In addition, general control is performed up to a certain pressure (so that the driving force is not transferred by the differential gear), whereas after that point, the control is performed in such a manner as to increase the pressure retention time and adjust the pressure gradient.
이어 휠에 가해지는 제동 압력이 과도하게 증가함에 따라 발생되는 휠 불안정성 여부를 판단하여, 필요 시 제동 압력 기울기를 조정해 휠 불안정성을 약화시키게 된다.Subsequently, it is determined whether the wheel instability caused by excessive increase in the braking pressure applied to the wheel is adjusted, and if necessary, the wheel instability is reduced by adjusting the brake pressure inclination.
이때, 휠 불안정성에 대한 판단은 구동륜에 가해지는 제동압력이 과다한 경우 휠 감속도가 급속히 커지는 현상을 통해 알 수 있으며, 이는 일정 제동 압력이상에서 휠 감속도가 커질 때 구동륜이 불안정한 상태이므로 휠 불안정성에 대한 판단을 하게 된다.At this time, the determination of the wheel instability can be seen through the phenomenon that the wheel deceleration rapidly increases when the braking pressure applied to the driving wheel is excessive. This is because the driving wheel is unstable when the wheel deceleration becomes large above a certain braking pressure. Will be judged.
또한, 휠 불안정성에 따른 제동 압력 기울기 조정은 도 2에 도시된 바와 같이, 슬립율의 크기(소, 중, 대)와 휠 가속도(감속, 등속도, 가속)등을 서로 조합하여 산출하게 되며, 예를 들어 슬립율이 큰 값(대)이면서 휠 가속 상태이면 슬립율이 증가 상태이므로 이에 맞추어 증압 기울기를 낮추어준다.In addition, the braking pressure inclination adjustment according to the wheel instability is calculated by combining the magnitude of the slip ratio (small, medium, large) and the wheel acceleration (deceleration, constant velocity, acceleration), etc., as shown in FIG. For example, if the slip ratio is a large value (large) and the wheel acceleration state is increased, the slip ratio is increased, thereby lowering the boost gradient accordingly.
이어 휠 불안정성에 따른 제동 압력 기울기를 조정 예를 들어, 증압 기울기를 낮추는 방향으로 제어가 되는 경우, 모터와 밸브에 대한 작동을 제동 압력이 줄 어들도록 제어해 휠 불안정성이 해소되면, 주행중인 차량의 차량속도를 측정하면서 바퀴의 슬립(Slip)발생 여부를 감지해 필요 시 TCS 제어를 반복 수행해주게 된다.Then, when the brake inclination is adjusted according to the wheel instability, for example, when the control is performed in a direction of lowering the boost inclination, the operation of the motor and the valve is controlled to reduce the braking pressure so that the wheel instability is eliminated. While measuring the vehicle speed, it detects whether the wheel slips and repeats the TCS control if necessary.
한편, 이와 같은 증압 기울기를 낮추면서 제동 압력을 맞추는 제어가 반복 수행되는 경우, 지속적으로 측정되는 정보를 통해 슬립율의 크기(소, 중, 대)와 휠 가속도(감속, 등속도, 가속)등을 통해 증압 기울기 조절 값을 산출해 제어를 수행하게 되며, 이때 반복되는 제어 과정에서는 최적의 제동 압력을 맞추기 위해서 이전 제어 사이클(Cycle)에 비해 보다 작은 증압 기울기로 제동 압력을 제어하게 되며, 이는 휠의 불안정성을 감소하고 보다 편안함(Comfort)을 주기 위함이다.On the other hand, if the control to adjust the braking pressure while lowering the boost slope is repeated, the magnitude of the slip ratio (small, medium, large) and the wheel acceleration (deceleration, constant velocity, acceleration), etc. are continuously measured based on the measured information. The control is performed by calculating the boost slope adjustment value through the control process, and in the repeated control process, the brake pressure is controlled with a smaller boost slope than the previous control cycle (Cycle) to adjust the optimum brake pressure. This is to reduce instability and to give more comfort.
이와 같이 주행중인 차량의 슬립(Slip) 발생 시 TCS을 작동시켜 제어를 수행하고, 이와 같은 TCS를 수행하는 과정에서 지속적인 제동 압력 크기를 측정해 제동압력이 일정수준에 다다르면, 그 이후부터 제동압력의 상승기울기를 조정하는 TCS 제어를 수행함에 따라, TCS제어 만 수행하는 도3(가)에 비해 본 발명을 나타낸 도3(나)에서 알 수 있는 것 같이 차동기어로 인해 발생되는 헌팅 현상이 방지된다.In this way, when the slip of the running vehicle occurs, the TCS is operated to perform the control.In the process of performing the TCS, the braking pressure reaches a predetermined level by measuring the magnitude of the continuous braking pressure. By performing the TCS control to adjust the rising slope, the hunting phenomenon caused by the differential gear is prevented, as can be seen from FIG. 3 (b) showing the present invention, as compared to FIG. 3 (a) which performs only the TCS control. .
이상 설명한 바와 같이 본 발명에 의하면, 슬립(Slip)제어를 위한 트랙션 콘트롤 시스템(TCS) 제어를 수행하는 과정에서 지속적으로 측정되는 제동압력의 크기에 따라, 제동압력의 상승기울기를 조정하는 TCS 제어를 수행해 언덕과 같은 오르막길에서 휠에 과도한 제동압력이 가해지면서 발생되는 헌팅 현상을 방지는 물론 승차감도 증진할 수 있는 효과가 있다.As described above, according to the present invention, according to the magnitude of the braking pressure continuously measured in the course of performing the traction control system (TCS) control for slip control, TCS control for adjusting the rising slope of the braking pressure is performed. This prevents hunting phenomenon caused by excessive braking pressure applied to the wheel on an uphill road, such as hills, and has the effect of improving ride comfort.
또한, 본 발명은 제동압력의 상승기울기를 조정하는 TCS 제어를 수행함에 따라 헌팅 현상이 방지되므로, 특히 미끄러운 언덕길에서 가속성능 향상할 수 있는 효과가 있다. In addition, the present invention is to prevent the hunting phenomenon by performing the TCS control to adjust the rising slope of the braking pressure, there is an effect that can improve the acceleration performance, especially on slippery hills.
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