KR20100121899A - Regenerated braking system of electro hydraulic brake - Google Patents

Regenerated braking system of electro hydraulic brake Download PDF

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Publication number
KR20100121899A
KR20100121899A KR1020090040821A KR20090040821A KR20100121899A KR 20100121899 A KR20100121899 A KR 20100121899A KR 1020090040821 A KR1020090040821 A KR 1020090040821A KR 20090040821 A KR20090040821 A KR 20090040821A KR 20100121899 A KR20100121899 A KR 20100121899A
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KR
South Korea
Prior art keywords
sensor
pedal stroke
master pressure
value
regenerative braking
Prior art date
Application number
KR1020090040821A
Other languages
Korean (ko)
Inventor
김상묵
Original Assignee
주식회사 만도
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 만도 filed Critical 주식회사 만도
Priority to KR1020090040821A priority Critical patent/KR20100121899A/en
Publication of KR20100121899A publication Critical patent/KR20100121899A/en

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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
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force 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
    • B60Y2400/30—Sensors
    • B60Y2400/306—Pressure sensors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE: A regenerated braking system of an electro hydraulic brake is provided to prevent the failure of software such as the malfunction of a valve by using a pedal stroke sensor and a pressure sensor. CONSTITUTION: A regenerated braking system of electro hydraulic brake includes a pedal stroke sensor(12), a master pressure sensor(16), and a controller(18). The pedal stroke sensor measures pedal stroke from brake pedal operation in regenerated braking. The master pressure sensor measure master pressure from the brake pedal operation. A controller uses the measured value from the pedal stroke sensor and the master pressure sensor and calculates the estimation value of one sensor according to the other.

Description

Regenerated braking system of electro hydraulic brake

The present invention relates to a regenerative braking system for an electronically controlled brake. More particularly, the brake pedal is turned off due to a software failure such as a valve operation error or a hardware failure such as a valve failure during hydraulic control of the electronically controlled brake. It relates to a regenerative braking system of an electronically controlled brake to prevent the damage.

The existing ABS (ANTI-LOCK BRAKE SYSTEM), TCS (TRACTION CONTROL SYSTEM), and ESP (ELECTRONIC STABILITY PROGRAM) systems, which are used as braking systems, simply use the brake light signal (BLS) signal of the brake pedal with on / off function. By determining the driver's braking intention and determining the required braking amount using the master pressure sensor value or the like, the brake pedal stroke sensor (hereinafter referred to as a pedal stroke sensor) is not used.

Recently, a regenerative braking system has been developed to increase energy efficiency by reducing some of the kinetic energy of the wheel, which is emitted as thermal energy during braking, to electric energy by using a motor mounted on the drive shaft of the vehicle and reusing it during driving. It became.

Currently, the regenerative braking system has an EHB (Electro-Hydraulic Brake) and a hydraulic booster type brake in which the flow path between the brake pedal and the brake wheel is separated through the pedal simulator function, and an electronically controlled brake in which the flow path between the brake pedal and the brake wheel is not separated. Is being developed.

The regenerative braking system in the form of Electro-Hydraulic Brake (EHB) and Hydraulic Booster has a separate flow path between the brake pedal and the brake wheel. When the driver operates the brake pedal, the driver's willingness to brake the brake pedal from the pedal simulator is It receives and uses the pedal stroke sensor to calculate the required braking amount of the driver and adjusts the pressure of each wheel according to the calculated required braking amount.

However, in the electronically controlled brake where the flow path between the brake pedal and the brake wheel is not separated, the wheel pressure is controlled by using a valve (NO / NC valve), and regenerative braking control is performed by forming a differential pressure between the master pressure and the wheel pressure. In this case, a function is required to prevent the brake pedal from turning off, which may be caused by a software failure such as a valve operation error or a hardware failure such as a valve failure during valve control for regenerative braking control.

The present invention can prevent the brake pedal from turning off due to a software failure such as a valve operation error or a hardware failure such as a valve failure during valve control for regenerative braking control using the measured values of the pedal stroke sensor and the master pressure sensor. A regenerative braking system for electronically controlled brakes is presented.

Embodiment of the present invention includes a pedal stroke sensor for measuring the pedal stroke by the operation of the brake pedal when regenerative braking; A master pressure sensor for measuring a master pressure by operating the brake pedal; And a control unit for calculating the estimated value of the relative sensor according to the measured values of the pedal stroke sensor and the master pressure sensor, and comparing the estimated value of each sensor with the measured value of each sensor to control the regenerative braking.

The control unit estimates the master pressure value using the measured value of the pedal stroke sensor, and estimates the pedal stroke value using the measured value of the master pressure sensor.

The controller sets an effective range of each sensor estimated value, and when the sensor measured value is out of the valid range of each sensor estimated value, the controller determines that the brake pedal is turned off to stop the regenerative braking or apply the regenerative braking force. It is characterized by increasing.

The controller determines that the brake pedal is turned off when the measured value of the pedal stroke sensor is outside the effective range of the estimated pedal stroke and the measured value of the master pressure sensor is outside the effective range of the master pressure estimated. It is done.

According to this embodiment of the present invention, the regenerative braking system of the electronically controlled brake is equipped with a pedal stroke sensor and a master pressure sensor capable of measuring the displacement of the brake pedal, thereby utilizing the mathematical relationship between the pedal stroke amount and the master pressure amount. It is possible to prevent the brake pedal from turning off due to a software failure such as a valve operation error or a hardware failure such as a valve failure during valve control for braking control.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing a regenerative braking system of an electronically controlled brake according to an embodiment of the present invention.

In Figure 1, the regenerative braking system according to an embodiment of the present invention by the operation of the pedal stroke sensor 12 and the brake pedal 10 for detecting the amount of operation of the brake pedal 10, that is, the required braking amount of the driver. A master pressure sensor 16 for detecting the pressure of the master cylinder 14 which supplies brake hydraulic pressure to cause brake operation, a master cylinder 14 which is changed according to the driver's braking intention, a pedal stroke sensor 12 and a master Regulates regenerative braking by estimating the master pressure and pedal stroke values using the measured values of the pressure sensor 16 and determining whether the measured values of the sensors 12 and 16 are within the effective range of the estimated values of the respective sensors 12 and 16. The control unit 18 to perform the operation, and the braking unit 20 for applying the braking pressure of each wheel (FR, FL, RR, RL) under the control of the control unit 18.

The controller 18 estimates the master pressure value using the pedal stroke measurement value detected by the pedal stroke sensor 12 capable of measuring the displacement amount of the brake pedal 10, and also by the master pressure sensor 16. The pedal stroke value is estimated using the sensed master pressure measurement. This is in accordance with the relationship between the pedal stroke and the master pressure shown in FIG.

The brake unit 20 may control each wheel FR, FL, RR according to a control signal of the controller 18 in an electronically controlled brake in which a flow path between the brake pedal 10 and each of the wheels FR, FL, RR, and RL is not separated. And a plurality of valves [24; normally open (NO) / normally provided at the inlet side and the outlet side of each wheel (FR, FL, RR, RL) cylinder for inflow or outflow of brake hydraulic pressure supplied to the cylinder. Closed (NC) valve] is driven to perform regenerative braking.

As can be seen in FIG. 2, the pedal stroke and the master pressure have a constant relationship with a hysteresis loop so that the master pressure value and the pedal stroke value are estimated using the measured values of the pedal stroke sensor 12 and the master pressure sensor 16. You can do it.

If a software failure such as a valve 24 operation error or a hardware failure such as a valve failure occurs, the pedal stroke increases and the master pressure decreases, out of the relation range shown in FIG. 2. Therefore, the control unit 18 may detect the off phenomenon of the brake pedal 10 by using the relational expression of FIG. 2, and in this case, the control to secure the braking stability is achieved by increasing the regenerative braking stop or increasing the regenerative braking force. .

In addition, the regenerative braking system according to an embodiment of the present invention includes wheel pressure sensors 30a to 30d for detecting an actual braking pressure applied to each wheel FR, FL, RR, and RL.

Hereinafter, an operation process and an operation effect of the regenerative braking system of the electronically controlled brake configured as described above will be described.

3 is a flowchart illustrating a regenerative braking method of an electronically controlled brake according to an embodiment of the present invention.

In FIG. 3, when the driver operates the brake pedal 10, the pedal stroke sensor 12 installed on the brake pedal 10 measures the pedal stroke value according to the stroke distance of the brake pedal 10 to the controller 18. And the master pressure value according to the hydraulic pressure generated in the master cylinder 14 according to the operation of the brake pedal 10 in the master pressure sensor 16 installed on the master cylinder 14 side and transmitted to the controller 18. (100).

Accordingly, the controller 18 uses the pedal stroke measurement 12 and the master pressure measurement 16 transmitted from the pedal stroke sensor 12 and the master pressure sensor 16 capable of measuring the displacement amount of the brake pedal 10 to determine the master pressure value. And pedal stroke values are estimated (102).

As shown in FIG. 2, the master pressure value and the pedal stroke value have a constant relationship in the form of a hysteresis loop, so that the controller 18 uses the measured values of the pedal stroke sensor 12 and the master pressure sensor 16 to master. The pressure value and the pedal stroke value can be estimated.

In more detail, the control unit 18 uses the equations [1] to [equation 3] representing the relationship between the pedal stroke sensor 12 and the master pressure sensor 16 to calculate the master pressure estimate and the pedal stroke estimate as follows. Calculate

Y = f (X) ..... [Equation 1]

Where Y is the master pressure measurement and X is the pedal stroke measurement.

[Equation 2] and [Equation 3] representing the master pressure estimation value and the pedal stroke estimation value from [Equation 1] are as follows.

y1 = f (X) ..... [Equation 2]

x1 = f-1 (Y) ..... [Equation 3]

Here, y1 is a master pressure estimate using a pedal stroke measurement and x1 is a pedal stroke estimate using a master pressure measurement.

Thereafter, the controller 18 checks whether or not the pedal stroke measurement value and the master pressure measurement value exist within an effective range of the calculated master pressure estimate value and the pedal stroke estimate value. Determine 104 (104).

If the measured values of the sensors 12 and 16 exceed the threshold, the safety device function is used to check whether a software failure such as a valve 24 operation error or a hardware failure such as a valve failure occurs.

The effective range of the master pressure estimate and the pedal stroke estimate is based on the respective sensor 12 and 16 estimates, that is, the pedal stroke estimate x1 and the master pressure estimate y1. Section not added).

For example, verify that the master pressure measurement (Y) is within the effective range (threshold1) of the master pressure estimate (y1) as follows.

y1-threshold1 ≤ Y ≤ y1 + threshold1

Further, it is checked whether the pedal stroke measured value X is within the effective range threshold2 of the pedal stroke estimated value x1 as follows.

x1-threshold2 ≤ X ≤ x1 + threshold2

As a result of the determination of step 104, if each sensor measurement value is within the estimated effective range, the controller 18 continues to control regenerative braking (106).

On the other hand, when the determination result of step 104, each sensor measurement value is out of the estimated effective range, that is, when the estimated values by each sensor (12, 16) during the regenerative braking control is out of the effective range (threshold1 or threshold2) control unit 18 Determination of the brake pedal 10 as an off phenomenon stops the regenerative braking or increases the regenerative braking force to secure the braking stability (108).

1 is a control block diagram showing a regenerative braking system of an electronically controlled brake according to an embodiment of the present invention.

2 is a graph showing the relationship between the pedal stroke and the master pressure in the regenerative braking system of the electronically controlled brake according to an embodiment of the present invention.

3 is a flowchart illustrating a regenerative braking method of an electronically controlled brake according to an embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

10 brake pedal 12 pedal stroke sensor

14: master cylinder 16: master pressure sensor

18: control unit 20: braking unit

24: valve 30a ~ 30d: wheel pressure sensor

Claims (4)

A pedal stroke sensor which measures a pedal stroke by operating a brake pedal during regenerative braking; A master pressure sensor for measuring a master pressure by operating the brake pedal; A control unit for calculating an estimated value of a relative sensor according to the measured values of the pedal stroke sensor and the master pressure sensor, and comparing the estimated value of each sensor with the measured value of each sensor to control the regenerative braking. Regenerative braking system. The method of claim 1, And the controller estimates the master pressure value using the measured value of the pedal stroke sensor and estimates the pedal stroke value using the measured value of the master pressure sensor. The method of claim 2, The controller sets an effective range of each sensor estimated value, and when the sensor measured value is out of the valid range of each sensor estimated value, the controller determines that the brake pedal is turned off to stop the regenerative braking or apply the regenerative braking force. Regenerative braking system for increased electronically controlled brakes. The method of claim 3, The controller may be configured to determine that the brake pedal is turned off when the measured value of the pedal stroke sensor is outside the effective range of the pedal stroke estimate value and the measured value of the master pressure sensor is outside the effective range of the master pressure estimate value. Regenerative braking system of brakes.
KR1020090040821A 2009-05-11 2009-05-11 Regenerated braking system of electro hydraulic brake KR20100121899A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020090040821A KR20100121899A (en) 2009-05-11 2009-05-11 Regenerated braking system of electro hydraulic brake

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020090040821A KR20100121899A (en) 2009-05-11 2009-05-11 Regenerated braking system of electro hydraulic brake

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KR20100121899A true KR20100121899A (en) 2010-11-19

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KR1020090040821A KR20100121899A (en) 2009-05-11 2009-05-11 Regenerated braking system of electro hydraulic brake

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190042911A (en) * 2017-10-17 2019-04-25 주식회사 만도 Vehicle failure discrimination apparatus and vehicle failure discrimination method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190042911A (en) * 2017-10-17 2019-04-25 주식회사 만도 Vehicle failure discrimination apparatus and vehicle failure discrimination method

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