KR20100135560A - Control method of brake - Google Patents

Control method of brake Download PDF

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Publication number
KR20100135560A
KR20100135560A KR1020090054016A KR20090054016A KR20100135560A KR 20100135560 A KR20100135560 A KR 20100135560A KR 1020090054016 A KR1020090054016 A KR 1020090054016A KR 20090054016 A KR20090054016 A KR 20090054016A KR 20100135560 A KR20100135560 A KR 20100135560A
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South Korea
Prior art keywords
driving
pressure
brake
car
braking
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KR1020090054016A
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Korean (ko)
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KR101316586B1 (en
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김용길
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주식회사 만도
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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
    • 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
    • B60T13/745—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 acting on a hydraulic system, e.g. a master cylinder
    • 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
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE: A brake control method is provided to circulate brake oil in case of a car receives a force to a traverse direction to form the braking pressure before brake by driver in advance, thereby maintaining stabled braking performance. CONSTITUTION: A brake control method is as follows. The traverse direction driving of a car is determined by using a car posture control device. The braking pressure is formed by circulating brake oil when a car is driven in a traverse direction. The determination of driving a car in traverse direction includes monitoring interval of a disc and a pad. The determination of driving a car in traverse direction is transmitted a measurement value from a wheel speed sensor, a steering angle sensor, a traverse acceleration sensor and a pressure sensor of a car posture control device. The determination of driving a car in a traverse direction determines whether the wheel receives force to a traverse direction while driving the car(102). The formation of driving pressure supplies braking oil necessary for forming driving pressure according to the driving a motor for hydraulic pump driving motor drive from a master cylinder to a wheel. The formation of driving pressure forms driving pressure of low pressure in advance to the wheel before driving by a driver.

Description

브레이크 제어방법{Control method of brake}Control method of brake

본 발명은 차량 자세 제어장치를 이용하여 브레이크 제어 성능을 개선하는 방법에 관한 것으로, 더욱 상세하게는 차량이 주행 중에 횡 방향으로 힘을 받더라도 브레이크의 간극을 일정하게 유지시켜 안정된 제동 성능을 유지할 수 있는 브레이크 제어방법에 관한 것이다.The present invention relates to a method for improving brake control performance by using a vehicle attitude control device, and more particularly, to maintain a stable braking performance by maintaining a constant gap of the brake even when the vehicle is subjected to a lateral direction while driving. It relates to a brake control method.

차량에 장착되는 브레이크는 주행 중인 차량을 감속 또는 정지시키거나 정지 상태를 유지하기 위해 사용되는 장치로, 통상적으로 휠과 함께 회전하는 원판형의 디스크를 양쪽에서 패드로 강하게 압박하여 제동력을 얻는 디스크 브레이크를 사용하고 있다.A brake mounted on a vehicle is a device used to decelerate or stop a driving vehicle or to maintain a stationary vehicle. A disk brake, in which a disk-shaped disk, which normally rotates with a wheel, is strongly pressed with a pad on both sides to obtain braking force. I'm using.

이러한 디스크 브레이크는 휠과 함께 회전하는 디스크와, 마스터실린더로부터 전달되는 유압에 의하여 가압하는 캘리퍼 어셈블리를 포함하고, 캘리퍼 어셈블리는 디스크와 마찰하는 패드와, 패드를 가압하는 피스톤과, 피스톤에 유압을 가하도록 브레이크액을 유출입하는 실린더가 형성된 캘리퍼 하우징을 포함하여 피스톤의 왕복운동에 따라 패드가 움직이면 회전하는 디스크와 접촉하여 디스크와 패드 사이의 마찰력으로 제동력을 얻게 된다.The disc brake includes a disk rotating with the wheel, a caliper assembly pressurized by hydraulic pressure transmitted from the master cylinder, and the caliper assembly applies a pad to friction with the disk, a piston to pressurize the pad, and a hydraulic pressure to the piston. When the pad moves according to the reciprocating motion of the piston, including a caliper housing in which a cylinder is formed to flow in and out of the brake fluid, the braking force is obtained by contacting the rotating disk with friction between the disk and the pad.

그러나 차량의 급격한 선회, 뱅크(Bank) 노면 주행, 러프(Rough) 노면 주행으로 차량이 횡 방향으로 힘을 받는 경우 디스크와 캘리퍼의 간극이 벌어져 디스크와 패드가 밀착이 되고, 조건에 따라 피스톤이 안으로 밀려들어가는 경우가 발생하는데, 이때 액티브 제어를 하거나 운전자가 브레이크를 작동하게 되면 피스톤이 밀려들어간 부분만큼 브레이크 오일이 실린더에 채워지게 되어 휠의 압력 상승은 지연된다. 따라서 운전자가 급제동을 요구하는 경우나 차량 자세 제어장치가 작동하여 신속하여 압력을 증가시켜야 할 경우 압력 상승의 지연으로 제동거리가 길어지거나 또는 차량 자세 제어가 불안정해져 제동 성능을 감소시킨다.However, if the vehicle is forced in the lateral direction due to rapid turning of the vehicle, bank road driving, and rough road driving, the gap between the disc and the caliper is widened, and the disc and the pad are in close contact. In this case, when the active control or the driver activates the brake, the brake oil is filled in the cylinder as much as the piston is pushed in, and the pressure rise of the wheel is delayed. Therefore, when the driver requires rapid braking or when the vehicle attitude control device is operated to rapidly increase the pressure, the braking distance is increased due to the delay of the pressure increase or the vehicle attitude control becomes unstable, thereby reducing the braking performance.

본 발명은 차량 자세 제어장치를 이용하여 차량이 횡 방향으로 힘을 받는지 여부를 판단하고 차량이 횡 방향으로 힘을 받는 경우 브레이크 오일을 순환시켜 운전자에 의한 제동 전에 제동압을 미리 형성시킴으로서 안정된 제동 성능을 유지할 수 있는 브레이크 제어방법을 제시하고자 한다.The present invention uses a vehicle attitude control device to determine whether the vehicle is subjected to the force in the lateral direction, and when the vehicle is subjected to the force in the lateral direction by circulating the brake oil to form a braking pressure before braking by the driver in advance to stabilize the braking performance To propose a brake control method that can maintain the.

본 발명의 실시예는 차량 자세 제어장치를 이용하여 차량의 횡 방향 주행을 판단하고; 상기 차량의 횡 방향 주행 시 브레이크 오일을 순환시켜 제동압을 형성하는 것을 특징으로 한다.An embodiment of the present invention is to determine the transverse direction of the vehicle using the vehicle attitude control device; When the vehicle travels in the lateral direction, the brake oil is circulated to form a braking pressure.

상기 차량의 횡 방향 주행을 판단하는 것은, 상기 차량 자세 제어장치의 휠 속도센서, 조향각 센서, 횡가속도센서 및 압력센서의 측정값을 전달받아 상기 차량 의 주행 중에 휠이 횡 방향으로 힘을 받고 있는지 여부를 판단하여 디스크와 패드의 간격을 모니터링하는 것을 특징으로 한다.The driving of the vehicle in the lateral direction may include determining whether the wheel is receiving the force in the lateral direction while receiving the measured values of the wheel speed sensor, the steering angle sensor, the lateral acceleration sensor, and the pressure sensor of the vehicle attitude control device. It is characterized by monitoring the gap between the disk and the pad by determining whether or not.

상기 제동압을 형성하는 것은, 유압펌프 구동용 모터 구동에 따라 상기 제동압 형성에 필요한 상기 브레이크 오일을 마스터 실린더로부터 상기 휠에 공급하여 운전자에 의한 제동 전에 상기 휠에 저압의 제동압을 미리 형성시키는 것을 특징으로 한다.The braking pressure may be formed by supplying the brake oil necessary for the braking pressure to the wheel from the master cylinder according to the driving of the hydraulic pump driving motor to form a low braking pressure on the wheel before braking by the driver. It is characterized by.

이러한 본 발명의 실시예에 의하면, 차량 자세 제어장치의 휠 속도센서, 조향각 센서, 횡 가속도센서, 압력센서를 이용하여 차량이 횡 방향으로 힘을 받는지 여부를 판단하고 차량이 횡 방향으로 힘을 받는 경우 디스크와 캘리퍼의 간극이 벌어진 상태라고 판단하여 브레이크 오일을 자연 순환시켜 운전자에 의한 제동 전에 제동압을 미리 형성시킴으로서 디스크와 캘리퍼의 간극 조절을 위한 별도의 장치를 설치하지 않고도 브레이크의 간극을 일정하게 유지할 수 있어 일반 제동 및 액티브 제동 조건에서 브레이크의 응답 성능을 개선할 수 있다는 효과가 있다.According to this embodiment of the present invention, by using the wheel speed sensor, steering angle sensor, lateral acceleration sensor, pressure sensor of the vehicle attitude control device to determine whether the vehicle is applied in the lateral direction and the vehicle receives the force in the lateral direction In this case, it is judged that the gap between the disc and the caliper is open, and the brake oil is naturally circulated to form the braking pressure before braking by the driver. It can maintain, improving the brake's response performance under normal braking and active braking conditions.

이하, 본 발명의 일실시예를 첨부된 도면을 참조하여 설명한다.Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

도 1은 본 발명의 일실시예에 의한 브레이크 장치의 유압 회로도이다.1 is a hydraulic circuit diagram of a brake device according to an embodiment of the present invention.

도 1에서, 차량의 ABS 제동 시 운전자의 답력이 브레이크 페달(11)을 통해 부스터에 의해 배가되어 마스터 실린더(10)에 전달된다. 마스터 실린더(10)에 형성된 유압은 평소 열림 상태를 유지하는 NO밸브인 제1 및 제2트랙션 컨트롤 밸 브(29a, 29b)와 제1전자밸브들(21a~21d)을 통해 각 휠 실린더(11a~11d)로 전달된다. 각 휠 실린더(11a~11d)의 브레이크 오일이 복귀하기 위해서는 제1전자밸브들(21a~21d)을 폐쇄 제어하고 평소 닫힘 상태를 유지하는 NC밸브인 제2전자밸브들(22a~22d)을 개방하여 저압 어큐뮬레이터(25a~25b)에 브레이크 오일을 일시 저장한다. 저압 어큐뮬레이터(25a~25b)는 일정량 오일이 충전되면 유압펌프들(23a~23b) 쪽으로 브레이크 오일이 공급되도록 하는 기능을 하고, 유압펌프들(23a~23b)의 하류 측에 설치되는 고압 어큐뮬레이터들(26a~26b)은 유압펌프들(23a~23b)에서 가압된 오일이 일시 저장되면서 유압펌프(24)의 동작에 따른 맥동이 감쇠되도록 하는 기능을 한다. 차량에 따라서는 고압 어큐뮬레이터들(26a~26b)을 제거하여도 브레이크 장치의 유압 회로에는 별다른 문제가 없다. 이는 고압어큐뮬레이터(26a~26b)의 설치목적이 유압펌프(23a~23b)의 동작에 따른 맥동을 감쇠시키기 위함이기 때문이다.In FIG. 1, the driver's pedaling force is doubled by the booster through the brake pedal 11 and transmitted to the master cylinder 10 when the vehicle brakes ABS. The hydraulic pressure formed in the master cylinder 10 is each wheel cylinder 11a through the first and second traction control valves 29a and 29b and the first solenoid valves 21a to 21d, which are NO valves which are normally opened. ~ 11d). In order to return the brake oil of each wheel cylinder 11a-11d, the 1st solenoid valves 21a-21d are closed-controlled and the 2nd solenoid valves 22a-22d which are NC valves which normally maintain a closed state are opened. Brake oil is temporarily stored in the low pressure accumulators 25a to 25b. The low pressure accumulators 25a to 25b function to supply the brake oil toward the hydraulic pumps 23a to 23b when a certain amount of oil is filled, and the high pressure accumulators installed downstream of the hydraulic pumps 23a to 23b ( 26a to 26b serve to damp the pulsation caused by the operation of the hydraulic pump 24 while temporarily storing the pressurized oil in the hydraulic pumps 23a to 23b. Depending on the vehicle, even if the high pressure accumulators 26a to 26b are removed, there is no problem in the hydraulic circuit of the brake device. This is because the purpose of installing the high pressure accumulators 26a to 26b is to attenuate the pulsation caused by the operation of the hydraulic pumps 23a to 23b.

한편, ABS 제어 중이 아닌 경우에는 제1전자밸브들(21a~21d)을 통해서 브레이크 오일이 빠져 나간다.On the other hand, when the ABS is not controlled, the brake oil is discharged through the first solenoid valves 21a to 21d.

이러한 브레이크 장치는 후술하는 제어부(50; ECU)에 의해 제1 및 제2전자밸브들(21a~21d, 22a~22d)의 개폐가 제어되어 휠(FL, RR, RL, FR) 측으로 공급되는 제동압력이 조절되도록 함과 동시에 유압펌프들(23a~23b)의 구동을 제어하여 유압라인을 따라 복귀된 유체를 각 휠 실린더들(11a~11d) 쪽으로 재 가압함으로써 단속(斷續)적인 제동이 이루어지도록 할 수 있다.The brake device is controlled to control the opening and closing of the first and second solenoid valves 21a to 21d and 22a to 22d by a controller 50 to be described later, and the brake is supplied to the wheel FL, RR, RL, and FR. By controlling the pressure and controlling the driving of the hydraulic pumps 23a to 23b, an intermittent braking is performed by repressurizing the fluid returned along the hydraulic line toward each of the wheel cylinders 11a to 11d. You can lose.

본 발명의 일실시예에 의한 차량이 횡 방향으로 힘을 받는 경우에는 제1 및 제2전자밸브(21a~21d, 22a~22d)를 개방하고 제동압 형성밸브(28a~28b)를 개방하여 마스터 실린더(10)로부터 브레이크 오일을 공급받고 제1 및 제2트랙션 컨트롤 밸브(29a~29b)를 폐쇄한 후 유압펌프(23a~23b) 구동용 모터(24)를 구동하여 제동압을 형성한다. 이렇게 형성된 제동압은 제1전자밸브(21a~21d)를 통해 각 휠 실린더(11a~11d)로 전달되어 운전자에 의한 브레이크 페달(11)의 조작 전에 각 휠(FL, RR, RL, FR)은 이미 제동 상태에 있거나 최소한 일정정도 브레이크 페달(11)을 조작하여 제동 상태로 돌입하기 직전의 상태로 되게 된다.When the vehicle according to an embodiment of the present invention receives a force in the lateral direction, the first and second solenoid valves 21a to 21d and 22a to 22d are opened, and the braking pressure forming valves 28a to 28b are opened. After the brake oil is supplied from the cylinder 10 and the first and second traction control valves 29a to 29b are closed, the brake motor is formed by driving the hydraulic pumps 23a to 23b driving motor 24. The braking pressure thus formed is transmitted to the respective wheel cylinders 11a to 11d through the first solenoid valves 21a to 21d so that the wheels FL, RR, RL, and FR are operated before the brake pedal 11 is operated by the driver. The brake pedal 11 is already in a braking state, or at least a certain degree, so that it is in a state immediately before entering the braking state.

도 2는 본 발명의 일실시예에 의한 브레이크 장치의 제어 블록도이다.2 is a control block diagram of a brake apparatus according to an embodiment of the present invention.

도 2에서, 휠 속도센서(40)는 각각의 휠(FL, RR, RL, FR)에 마련되어 휠(FL, RR, RL, FR)의 속도를 각각 검출하고 검출된 측정값을 제어부(48)에 전달한다.In FIG. 2, the wheel speed sensor 40 is provided in each of the wheels FL, RR, RL, and FR to detect the speed of the wheels FL, RR, RL, and FR, respectively, and the controller 48 controls the detected measured values. To pass on.

조향각 센서(42)는 핸들의 조향 샤프트에 마련되어 운전자의 핸들 조작에 따른 조향각 및 조향각속도를 검출하고 검출된 측정값을 제어부(48)에 전달한다.The steering angle sensor 42 is provided on the steering shaft of the handle to detect the steering angle and the steering angle speed according to the steering wheel operation of the driver and transmit the detected measurement value to the controller 48.

횡가속도센서(44)는 차량의 횡가속도(Ax)를 검출하여 검출된 측정값을 제어부(48)에 전달하고, 압력센서(46)는 각각의 휠(FL, RR, RL, FR)에 마련되어 각 휠(FL, RR, RL, FR)에 인가되는 실제 제동압력을 검출하고 검출된 측정값을 제어부(48)에 전달한다.The lateral acceleration sensor 44 detects the lateral acceleration Ax of the vehicle and transmits the detected measurement value to the controller 48, and the pressure sensor 46 is provided at each wheel FL, RR, RL, FR. The actual braking pressure applied to each wheel FL, RR, RL, and FR is detected and the detected measured value is transmitted to the controller 48.

제어부(48)는 휠 속도센서(40), 조향각 센서(42), 횡가속도센서(44), 압력센서(46)로부터 검출된 측정값을 전달받아 휠(FL, RR, RL, FR)이 횡 방향으로 힘을 받고 있는지 여부를 판단하고, 휠(FL, RR, RL, FR)이 횡 방향으로 힘을 받는 경우 브레이크 오일을 순환시켜 운전자에 의한 브레이크 페달(11)의 조작 전에 제동압을 미리 형성시킴으로서 브레이크의 간극을 일정하게 유지하여 일반 제동 및 액티브 제동 조건에서 차량의 자세를 안정적으로 유지시키는 (ESP;Electronic Stability Program) 제어유닛이다.The controller 48 receives the measured values detected from the wheel speed sensor 40, the steering angle sensor 42, the lateral acceleration sensor 44, and the pressure sensor 46 so that the wheels FL, RR, RL, and FR are laterally lateral. The brake oil is circulated, and if the wheels FL, RR, RL, and FR are forced in the lateral direction, the brake oil is circulated to pre-form a braking pressure before the driver operates the brake pedal 11. It is an electronic stability program (ESP) control unit that maintains the vehicle's posture stably under normal braking and active braking conditions by maintaining a constant brake gap.

이하, 상기와 같이 구성된 브레이크 제어방법의 동작과정 및 작용효과를 설명한다.Hereinafter, an operation process and an operation effect of the brake control method configured as described above will be described.

도 3은 본 발명의 일실시예에 의한 브레이크 제어방법을 나타낸 동작 순서도이다.3 is a flowchart illustrating a brake control method according to an embodiment of the present invention.

도 3에서, 차량이 주행을 시작하면 제어부(48)는 차량 자세 제어장치에 포함된 휠 속도센서(40), 조향각 센서(42), 횡가속도센서(44), 압력센서(46)로부터 각 센서의 측정값을 전달받는다(100).In FIG. 3, when the vehicle starts to run, the controller 48 controls each sensor from the wheel speed sensor 40, the steering angle sensor 42, the lateral acceleration sensor 44, and the pressure sensor 46 included in the vehicle attitude control device. Received the measured value of (100).

따라서, 제어부(48)는 휠 속도센서(40), 조향각 센서(42), 횡가속도센서(44), 압력센서(46)로부터 전달된 측정값을 이용하여 휠(FL, RR, RL, FR)이 횡 방향으로 힘을 받고 있는지 여부를 판단한다(102).Accordingly, the controller 48 uses the wheels FL, RR, RL, and FR by using the measured values transmitted from the wheel speed sensor 40, the steering angle sensor 42, the lateral acceleration sensor 44, and the pressure sensor 46. It is determined whether or not the force is applied in the transverse direction (102).

차량의 급격한 선회 주행(차선 변경 주행 포함)이나 뱅크 노면 주행 또는 러프 노면 주행 중에는 휠 속도센서(40), 조향각 센서(42), 횡가속도센서(44), 압력센서(46)의 측정값이 급격히 변화하므로 제어부(48)는 이 측정값들을 전달받아 미리 정해진 기준값들과 비교하여 휠(FL, RR, RL, FR)이 횡 방향으로 힘을 받고 있는지 여부를 판단하는 것이다.During rapid turning of the vehicle (including lane change driving), bank road driving, or rough road driving, the measured values of the wheel speed sensor 40, the steering angle sensor 42, the lateral acceleration sensor 44, and the pressure sensor 46 are abruptly changed. As a result, the control unit 48 receives the measured values and compares the measured values with predetermined reference values to determine whether the wheels FL, RR, RL, and FR are receiving a force in the lateral direction.

단계 102의 판단 결과, 휠(FL, RR, RL, FR)이 횡 방향으로 힘을 받는 주행을 하는 경우, 디스크와 캘리퍼의 간극이 벌어지거나 브레이크 피스톤이 실린 더(11a~11d) 방향으로 밀려들어가는 경우가 발생하게 된다. 이때 액티브 제어를 하거나 운전자가 브레이크를 작동하게 되면 브레이크 피스톤이 밀려들어간 부분만큼 브레이크 오일이 휠 실린더(11a~11d)에 채워지게 되고 이로 인하여 휠(FL, RR, RL, FR)의 압력 상승은 지연될 수 있다.If the wheel FL, RR, RL, FR is driven in the transverse direction, the gap between the disc and the caliper is opened or the brake piston is pushed toward the cylinders 11a to 11d. There is a case. At this time, when active control or the driver activates the brake, the brake oil is filled in the wheel cylinders 11a to 11d as much as the brake piston is pushed in, which causes the pressure rise of the wheels FL, RR, RL, FR to be delayed. Can be.

이를 방지하기 위해 제어부(48)는 차량이 횡 방향으로 힘을 받게 되어 디스크와 캘리퍼의 간극이 벌어진 상태라고 판단되면 디스크와 캘리퍼의 간극을 최적화하기 위한 제동압 제어를 수행한다.To prevent this, the controller 48 performs a braking pressure control to optimize the gap between the disc and the caliper when the vehicle is subjected to the force in the lateral direction and the gap between the disc and the caliper is opened.

제어부(48)에서 제동압 제어를 수행하기 위해서는 제동압 제어 가능조건인지를 판단해야 하는데, 이는 차량 자세 제어장치가 ABS 제어 중이거나 사용 가능한 조건(고장 및 통신 여부 또는 기준속도 이상 등)인지를 판단하는 것으로, 본 발명의 일실시예에서는 제동압 제어 가능 조건이라고 가정하여 설명한다.In order to perform the braking pressure control in the controller 48, it is determined whether the braking pressure control is possible, which determines whether the vehicle attitude control device is under ABS control or available conditions (failure and communication or higher than the reference speed). In the embodiment of the present invention, it is assumed that the braking pressure can be controlled.

먼저, 제어부(48)는 제1 및 제2전자밸브(21a~21d, 22a~22d)를 개방시키는데 평소 열림 상태를 유지하는 NO밸브인 제1전자밸브(21a~21d)는 구동하지 않고 평소 닫힘 상태를 유지하는 NC밸브인 제2전자밸브(22a~22d)를 구동시킨다(104).First, the controller 48 opens the first and second solenoid valves 21a to 21d and 22a to 22d, and the first solenoid valves 21a to 21d, which are NO valves which are normally opened, are normally closed without being driven. The second solenoid valves 22a to 22d, which are NC valves maintaining the state, are driven (104).

또한, 제어부(48)는 제동압 형성밸브(28a~28b)를 개방하여 마스터 실린더(10)로부터 브레이크 오일을 공급받고(106) 제1 및 제2트랙션 컨트롤 밸브(29a~29b)를 폐쇄한 후(108) 유압펌프(23a~23b) 구동용 모터(24)를 구동하여 모터(24) 구동에 따른 브레이크 오일이 제2전자밸브(22a~22d) 쪽에 있는 Orifice를 통과하면서 휠(FL, RR, RL, FR)에 저압의 제동압을 형성한다(110). 이렇게 형성된 제동압은 제2전자밸브(22a~22d)를 통해 각 휠 실린더(11a~11d)로 전달되어 운전자 에 의한 브레이크 페달(11)의 조작 전에 각 휠(FL, RR, RL, FR)은 이미 제동 상태에 있거나 최소한 일정정도 브레이크 페달(11)을 조작하여 제동 상태로 돌입하기 직전의 상태로 되어 디스크와 캘리퍼의 간극 조절을 위한 별도의 장치를 설치하지 않고도 디스크 브레이크의 간극을 일정하게 유지함으로서 일반 제동 및 액티브 제동 조건(특히 ABS 제어와 같이 급한 압력의 증가가 필요한 경우나 ESC 같은 제어 응답성을 요구하는 기능)에서 브레이크 장치의 응답 성능을 개선할 수 있게 된다.In addition, the control unit 48 receives the brake oil from the master cylinder 10 by opening the brake pressure forming valves 28a to 28b (106), and closes the first and second traction control valves 29a to 29b. (108) The hydraulic motor (23a ~ 23b) driving motor 24 to drive the brake oil according to the motor 24 driving through the orifice on the side of the second solenoid valve (22a ~ 22d) wheel (FL, RR, A low pressure braking pressure is formed at RL, FR) (110). The braking pressure thus formed is transmitted to the respective wheel cylinders 11a to 11d through the second solenoid valves 22a to 22d so that the wheels FL, RR, RL, and FR are operated before the brake pedal 11 is operated by the driver. It is already in the braking state or at least a certain amount of time just before entering the braking state by operating the brake pedal, so that the gap of the disc brake is kept constant without installing a separate device for adjusting the gap between the disc and the caliper. This improves the brake system's responsiveness under normal braking and active braking conditions (especially when a sudden increase in pressure, such as ABS control, or control response, such as ESC) is required.

이후, 정해진 일정시간이 경과하면(112) 디스크와 패드의 간격이 최적화된 상태이므로 제어부(48)는 제동압 형성을 종료하고 운전자의 제동이나 액티브 제동 시 차량의 제동거리를 줄이면서도 차량 자세 제어를 안정되게 유지할 수 있게 된다.Then, when a predetermined time elapses (112), the gap between the disk and the pad is optimized, so that the controller 48 ends the braking pressure formation and reduces the braking distance of the vehicle during braking or active braking of the driver while controlling vehicle attitude. It can be kept stable.

도 1은 본 발명의 일실시예에 의한 브레이크 장치의 유압 회로도이다.1 is a hydraulic circuit diagram of a brake device according to an embodiment of the present invention.

도 2는 본 발명의 일실시예에 의한 브레이크 장치의 제어 블록도이다.2 is a control block diagram of a brake apparatus according to an embodiment of the present invention.

도 3은 본 발명의 일실시예에 의한 브레이크 제어방법을 나타낸 동작 순서도이다.3 is a flowchart illustrating a brake control method according to an embodiment of the present invention.

* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

10 : 마스터 실린더 11 : 브레이크 페달10: master cylinder 11: brake pedal

21a~21d : 제1전자밸브 22a~22d : 제2전자밸브21a to 21d: first solenoid valve 22a to 22d: second solenoid valve

23a, 23b : 유압펌프 24 : 모터23a, 23b: hydraulic pump 24: motor

28a, 28b : 제동압 형성밸브 29a, 29b : 트랙션 컨트롤 밸브28a, 28b: braking pressure forming valve 29a, 29b: traction control valve

40 : 휠 속도센서 42 : 조향각 센서40: wheel speed sensor 42: steering angle sensor

44 : 횡가속도센서 46 : 압력센서44: lateral acceleration sensor 46: pressure sensor

48 : 제어부48: control unit

Claims (3)

차량 자세 제어장치를 이용하여 차량의 횡 방향 주행을 판단하고;Determining the transverse direction of the vehicle using the vehicle attitude control device; 상기 차량의 횡 방향 주행 시 브레이크 오일을 순환시켜 제동압을 형성하는 브레이크 제어방법.Brake control method for forming a braking pressure by circulating the brake oil when the vehicle travels in the lateral direction. 제1항에 있어서,The method of claim 1, 상기 차량의 횡 방향 주행을 판단하는 것은,Determining the transverse direction of the vehicle, 상기 차량 자세 제어장치의 휠 속도센서, 조향각 센서, 횡가속도센서 및 압력센서로부터 측정값을 전달받아 상기 차량의 주행 중에 휠이 횡 방향으로 힘을 받고 있는지 여부를 판단하여 디스크와 패드의 간격을 모니터링하는 브레이크 제어방법.Monitors the gap between the disk and the pad by determining whether the wheel is receiving the force in the lateral direction while receiving the measured values from the wheel speed sensor, the steering angle sensor, the lateral acceleration sensor and the pressure sensor of the vehicle attitude control device. Brake control method. 제2항에 있어서,The method of claim 2, 상기 제동압을 형성하는 것은,Forming the braking pressure, 유압펌프 구동용 모터 구동에 따라 상기 제동압 형성에 필요한 상기 브레이크 오일을 마스터 실린더로부터 상기 휠에 공급하여 운전자에 의한 제동 전에 상기 휠에 저압의 제동압을 미리 형성시키는 브레이크 제어방법.A brake control method for supplying the brake oil necessary for the braking pressure generation from the master cylinder to the wheel according to the driving of a hydraulic pump driving motor to form a low pressure braking pressure on the wheel before braking by a driver.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101294125B1 (en) * 2011-09-29 2013-08-16 주식회사 만도 Integrated electronic control system and method thereof
KR20170040570A (en) * 2015-10-05 2017-04-13 현대모비스 주식회사 Method for removing accumulator residual pressure of ESC system in electric four-wheel drive vehicle
CN109916551A (en) * 2019-03-28 2019-06-21 吉林大学 A kind of braking quality detection method, device and electronic equipment

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JP3089914B2 (en) * 1993-09-29 2000-09-18 日産自動車株式会社 Vehicle attitude control device
KR100521169B1 (en) * 2002-12-27 2005-10-12 현대자동차주식회사 A method for controlling rollover of vehicle
JP4390051B2 (en) * 2004-02-13 2009-12-24 トヨタ自動車株式会社 Vehicle braking / driving force control device
KR101024498B1 (en) * 2005-12-13 2011-03-31 주식회사 만도 Detection method for lift off in a vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101294125B1 (en) * 2011-09-29 2013-08-16 주식회사 만도 Integrated electronic control system and method thereof
KR20170040570A (en) * 2015-10-05 2017-04-13 현대모비스 주식회사 Method for removing accumulator residual pressure of ESC system in electric four-wheel drive vehicle
CN109916551A (en) * 2019-03-28 2019-06-21 吉林大学 A kind of braking quality detection method, device and electronic equipment

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