KR20120051531A - Control method of automatic emergency brake system based on antilock brake system for vehicle - Google Patents

Control method of automatic emergency brake system based on antilock brake system for vehicle Download PDF

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KR20120051531A
KR20120051531A KR1020100113015A KR20100113015A KR20120051531A KR 20120051531 A KR20120051531 A KR 20120051531A KR 1020100113015 A KR1020100113015 A KR 1020100113015A KR 20100113015 A KR20100113015 A KR 20100113015A KR 20120051531 A KR20120051531 A KR 20120051531A
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South Korea
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time
driver
abs
emergency braking
braking system
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KR1020100113015A
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Korean (ko)
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KR101592600B1 (en
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박홍기
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현대자동차주식회사
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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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • B60T13/10—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 fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
    • 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
    • B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
    • B60T8/36—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 having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
    • B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
    • B60T8/362—Electromagnetic valves specially adapted for anti-lock brake and traction control systems in pneumatic 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
    • 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
    • B60W10/196—Conjoint control of vehicle sub-units of different type or different function including control of braking systems acting within the driveline, e.g. retarders
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering

Abstract

PURPOSE: A control method of an automatic emergency braking system based on an ABS(anti-lock braking system) for an automobile is provided to stop the car through operating a major brake by the order of an ECU(Electronic Control Unit) through operating a retarder based on an ABS. CONSTITUTION: A control method of an automatic emergency braking system based on ABS(anti-lock braking system) for an automobile is composed as follows. An automatic emergency braking system judges whether the state is previous to TTC(Time To Collision). In case of the state is previous to the TTC, the system warns the collision to a driver through controlling a retarder into first step. If not, the system judges whether a driver operates braking. The system judges whether the state is previous to a third time. In case of the state is previous to the third time, the system warns the emergency braking step to a driver through operating a major brake and controlling a retarder into third step. If not, the system judges whether a driver operates braking.

Description

차량용 에이비에스(ＡＢＳ) 기반의 자동비상제동시스템의 제어 방법 {CONTROL METHOD OF AUTOMATIC EMERGENCY BRAKE SYSTEM BASED ON ANTILOCK BRAKE SYSTEM FOR VEHICLE}Control method of vehicle emergency emergency braking system based on vehicle AVS {CONTROL METHOD OF AUTOMATIC EMERGENCY BRAKE SYSTEM BASED ON ANTILOCK BRAKE SYSTEM FOR VEHICLE}

본 발명은 차량용 자동비상제동시스템의 제어 방법에 관한 것으로서, 보다 상세하게는, 에이비에스(ABS)를 기반으로 리타더를 연동시킴으로써 운전자의 능동적인 제동이 힘든 경우 이씨유의 명령으로 주 브레이크를 작동시켜 제동을 할 수 있는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법에 관한 것이다.
The present invention relates to a control method of an automatic emergency braking system for a vehicle. More specifically, when the active braking of the driver is difficult by linking a retarder based on ABS, The present invention relates to a control method of an automatic emergency braking system based on ABS for a vehicle.

일반적으로, 자동비상제동시스템(AEBS, Automatic Emergency Brake System)은 크게 선행차와의 충돌 가능성이 있는 상황일 때 운전자에게 충돌 경고를 주는 충돌 경고 단계와, 충돌이 임박하거나 피할 수 없는 상황일 때 선행차와의 충돌 완화를 위해 브레이크를 제어하는 단계로 구분된다. In general, the Automatic Emergency Brake System (AEBS) is a crash warning step that gives the driver a crash warning when there is a possibility of a collision with a preceding vehicle, and a preceding warning when a crash is imminent or unavoidable. It is divided into controlling the brake to reduce the collision with the car.

그런데, 종래 자동비상제동시스템에서는 운전자가 직접 제동력을 인가해야만 하므로, 운전자가 졸음 또는 부주의의 이유로 능동적인 제동을 하기 어려운 한계가 있었다.
However, in the conventional automatic emergency braking system, since the driver must apply the braking force directly, there is a limit in that it is difficult for the driver to perform active braking for drowsiness or carelessness.

따라서, 본 발명의 목적은 에이비에스(ABS)를 기반으로 리타더를 연동시킴으로써 운전자의 능동적인 제동이 힘든 경우 이씨유의 명령으로 주 브레이크를 작동시켜 제동을 할 수 있는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법을 제공하는 것이다. Accordingly, an object of the present invention is to provide a vehicle-based ABS (ABS) -based braking system by operating the main brakes by the command of Lee C U when the active braking of the driver is difficult by linking the retarder based on the ABS (ABS) It is to provide a control method of an automatic emergency braking system.

상기 목적은 본 발명의 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법에 따라, (a) 선행차와 충돌할 때까지의 제1 시간(TTC, Time to Collision) 이전인지 판단하여, 그렇다면 리타더를 제1 단으로 제어하여 운전자에게 충돌 경고 단계임을 인지시키고 그렇지 않다면 운전자가 능동적인 제동을 하였는지 판단하는 단계와; (b) 선행차와 충돌할 때까지의 제3 시간(제3 시간 < 제1 시간) 이전인지 판단하여, 그렇다면 리타더를 제3 단으로 제어하는 동시에 이씨유(ECU)의 명령으로 주 브레이크(foot brake)를 작동시켜 운전자에게 긴급 제동 단계임을 인지시키고 그렇지 않다면 운전자가 능동적인 제동을 하였는지 판단하는 단계에 의해 달성된다.According to the control method of the vehicle ABS based automatic emergency braking system of the present invention, (a) by determining whether the first time (TTC, Time to Collision) before the collision with the preceding vehicle, If so, controlling the retarder to the first stage to recognize the driver as a collision warning step; otherwise, determining whether the driver has actively braked; (b) determine if it is before the third time (third time <first time) until it collides with the preceding vehicle, and if so, control the retarder to the third stage and at the same time command the main brake (ECU); This is accomplished by activating a foot brake to recognize the driver as an emergency braking phase and to determine if the driver has active braking.

여기서, 에이비에스(ABS) 제어 라인의 에어 챔버 및 압력 조절 밸브 사이에 프론트 솔레노이드 및 리어 솔레노이드를 더 포함하여, 상기 (b) 단계에서 이씨유의 명령에 의해 상기 프론트 솔레노이드 및 상기 리어 솔레노이드에 상기 에어 챔버의 에어가 공급되어 개방됨으로써 주 브레이크가 작동되는 것이 바람직하다.Here, further comprising a front solenoid and a rear solenoid between the air chamber and the pressure control valve of the ABS control line, the air chamber to the front solenoid and the rear solenoid by the command of the Lee C in step (b) It is preferable that the main brake is operated by supplying and opening air.

또한, (c) 상기 (b) 단계 전, 선행차와 충돌할 때까지의 제2 시간(제3 시간 < 제2 시간 < 제1 시간) 이전인지 판단하여, 그렇다면 리타더를 제2 단으로 제어하는 동시에 엔진 출력을 제한하여 상기 (a) 단계보다 긴급한 상황임을 경고하고 그렇지 않다면 운전자가 능동적인 제동을 하였는지 판단하는 단계를 더 포함하는 것이 좋다. Further, (c) before step (b), it is determined whether or not before the second time (third time <second time <first time) until the collision with the preceding vehicle, and if so, the retarder is controlled to the second stage. At the same time, it is preferable to further include the step of limiting the engine output to warn that the situation is more urgent than the step (a), and to determine whether the driver has actively braked.

상기 (a), (b), (c) 단계에서, 운전자가 능동적인 제동을 한 경우 자동비상제동시스템의 기능을 해제하는 것이 바람직하다.In the above steps (a), (b), (c), it is preferable to deactivate the automatic emergency braking system when the driver makes an active braking.

한편, (d) 상기 (b) 단계에서 리타더가 제3 단으로 제어되는 동시에 이씨유(ECU)의 명령으로 주 브레이크(foot brake)가 작동된 후, 운전자가 능동적인 제동을 하지 않았는지 판단하는 단계와; (e) 상기 (d) 단계에서, 운전자가 능동적인 제동을 하였다면 운전자의 능동적인 제동력이 자동비상제동시스템의 제동력보다 큰지 판단하여, 그렇다면 자동비상제동시스템의 기능을 해제하는 것이 바람직하다.
On the other hand, (d) it is determined whether the driver has not actively braked after the retarder is controlled to the third stage in step (b) and the foot brake is operated by the command of the ECU. Making a step; (e) In step (d), if the driver has made active braking, it is preferable to determine whether the driver's active braking force is greater than that of the automatic emergency braking system, and if so, deactivating the automatic emergency braking system.

이상 설명한 바와 같이, 본 발명에 따르면, 에이비에스(ABS)를 기반으로 리타더를 연동시킴으로써 운전자의 능동적인 제동이 힘든 경우 이씨유의 명령으로 주 브레이크를 작동시켜 제동을 할 수 있는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법이 제공된다.
As described above, according to the present invention, if the active brake is difficult for the driver by linking the retarder based on the ABS (ABS) vehicle ABS that can be braked by operating the main brakes by the command of the Lee C U (ABS) The control method of the automatic emergency braking system based on the above is provided.

도 1은 본 발명에 따른 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법의 원리를 간단히 나타낸 개략도.
도 2는 본 발명에 따른 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 흐름도.
도 3은 도 2에서 이씨유(ECU)의 명령으로 주 브레이크가 작동되는 원리를 설명하기 위한 도면.Figure 1 is a schematic diagram showing the principle of the control method of the vehicle ABS based automatic emergency braking system according to the present invention.
2 is a control flowchart of the vehicle ABS based automatic emergency braking system according to the present invention.
3 is a view for explaining the principle that the main brake is operated by the command of the ECU in FIG.

이하에서는 첨부도면을 참조하여 본 발명에 대해 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 따른 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법은, 도 1에 도시된 바와 같이, 크게 충돌 경고 단계와 긴급 제동 단계로 구분한다.As shown in FIG. 1, the control method of the vehicle ABS based auto emergency braking system according to the present invention is divided into a collision warning step and an emergency braking step.

충돌 경고 단계는 선행차와 충돌 가능성이 있는 경우 운전자에게 음성적 또는 시각적인 효과로 인지시켜 운전자가 능동적인 제동을 하도록 유도하는 동시에 리타더(retarder) 및 엔진을 제어하여 제동을 하고, 긴급 제동 단계는 충돌 경고 이후의 단계로서 선행차와의 충돌이 임박해 있는 경우 리타더 및 주 브레이크를 제어하여 제동력을 최대한 크게 함으로써 선행차와의 충돌을 완화시킨다.If there is a possibility of collision with the preceding vehicle, the collision warning step recognizes the driver with a voice or visual effect to induce the driver to actively brake, while controlling the retarder and the engine to brake. If the collision with the preceding vehicle is imminent after the collision warning, the collision with the preceding vehicle is alleviated by controlling the retarder and the main brake to maximize the braking force.

이를 위한 제어 흐름도는 도 2에 도시된 바와 같다.The control flow for this is as shown in FIG.

먼저, 선행차와 충돌할 때까지의 시간(TTC, Time To Collision)이 1.6초(s) 미만인지 판단하여(S0), 그렇다면 선행차와 충돌할 때까지의 시간이 제1 시간(1.3초(s)) 이전인지 판단하고(S1), 그렇지 않다면 자동비상제동시스템의 기능을 해제한다(S4). First, it is determined whether the time until collision with the preceding vehicle (TTC) is less than 1.6 seconds (s) (S0), and if so, the time until the collision with the preceding vehicle is the first time (1.3 seconds ( s)) determine whether it is before (S1), otherwise disable the function of the automatic emergency braking system (S4).

상기 (S1) 단계에서 선행차와 충돌할 때까지의 시간이 제1 시간(1.3초(s)) 이전이면 리타더를 1단으로 제어하여 제동함으로써 운전자에게 충돌 경보 단계임을 인지시키고(S2), 그렇지 않다면 운전자가 상황을 감지하여 조향을 하거나 브레이크 페달을 밟는 등의 능동적인 제동을 하였는지 판단한다(S3). 이 때, (S3) 단계에서 운전자가 능동적인 제동을 한 경우에는 자동비상제동시스템의 기능을 해제시킨다(S4).If the time until the collision with the preceding vehicle in the step (S1) is before the first time (1.3 seconds (s)) to control the retarder to the first stage by braking the driver to recognize the collision warning step (S2), Otherwise, the driver detects the situation and determines whether the driver has actively braked the vehicle by steering or stepping on the brake pedal (S3). At this time, if the driver has actively braked in the step S3, the function of the automatic emergency braking system is released (S4).

상기 (S2) 단계 후, 선행차와 충돌할 때까지의 시간(TTC, Time To Collision)이 제2 시간(1.0초(s)) 이전인지 판단하여(S5), 그렇다면 리타더를 2단으로 제어하여 제동하는 동시에 엔진 출력을 제한하여 상기 (S1) 단계보다 제동력을 높이고(S6), 그렇지 않으면 운전자가 상황을 감지하여 능동적인 제동을 하였는지 판단한다(S7). 이 때, (S7) 단계에서 운전자가 능동적인 제동을 한 경우에는 자동비상제동시스템의 기능을 해제시킨다(S4).After the step (S2), it is determined whether the time until collision with the preceding vehicle (TTC) is before the second time (1.0 second (s)) (S5), and if so, the retarder is controlled in two stages. By braking at the same time to limit the engine output to increase the braking force than the step (S1) (S6), otherwise the driver detects the situation to determine whether the active braking (S7). At this time, if the driver has actively braked in step S7, the function of the automatic emergency braking system is released (S4).

상기 (S6) 단계 후, 선행차와 충돌할 때까지의 시간(TTC, Time To Collision)이 제3 시간(0.8초(s)) 이전인지 판단하여(S8), 그렇다면 리타더를 3단으로 제어하여 제동하는 동시에 이씨유(ECU, 50)의 명령으로 주 브레이크(foot brake)를 작동시켜 운전자에게 긴급 제동 단계임을 인지시키고(S9), 그렇지 않다면 운전자가 상황을 감지하여 능동적인 제동을 하였는지 판단한다(S10). After the step (S6), it is determined whether the time until collision with the preceding vehicle (TTC) is before the third time (0.8 seconds (s)) (S8), and if so, the retarder is controlled in three stages. By braking at the same time and operating the main brake (foot brake) at the command of the ECU (ECU) 50 to recognize the driver as an emergency braking step (S9), otherwise the driver detects the situation and determines whether the braking is active. (S10).

상기 (S9) 단계에서 주 브레이크가 작동되어 기본 제동이 이루지는 원리는 도 3에 도시된 바와 같다. 즉, 본 발명에서는 에이비에스(ABS) 제어 라인의 에어 챔버(5, 7) 및 압력 조절 밸브(PVC, Pressure Control Valve) 사이에 프론트 솔레노이드(10) 및 리어 솔레노이드(20)가 추가됨으로써, 긴급 제동 상황인 경우 이씨유(50)의 명령에 의해 각 에어 챔버(5)(7)에서 프론트 솔레노이드(10) 및 리어 솔레노이드(20)로 에어가 공급되어 개방되면 주 브레이크가 작동될 수 있는 것이다. 이와 같이, 본 발명에 따르면 운전자가 졸음 또는 부주의의 이유로 능동적인 제동을 하기 힘든 경우더라도 이씨유(50)의 명령으로 주 브레이크의 기본 제동이 이루어짐으로써 선행차와의 충돌이 최대한 완화될 수 있는 이점이 있는 것이다. The principle in which the main brake is operated by the main brake in the step S9 is shown in FIG. 3. That is, in the present invention, the front solenoid 10 and the rear solenoid 20 are added between the air chambers 5 and 7 of the ABS control line and the pressure control valve (PVC), thereby providing emergency braking. In the situation, when the air is supplied to the front solenoid 10 and the rear solenoid 20 from each of the air chambers 5 and 7 by the command of the IC 50, the main brake may be operated. As described above, according to the present invention, even when the driver is difficult to actively brake due to drowsiness or carelessness, the basic braking of the main brake is made by the command of the Lee C. 50, and thus the collision with the preceding vehicle can be alleviated as much as possible. There is this.

상기 (S9) 단계 후, 운전자가 능동적인 제동을 하지 않았는지 판단하여(S11), 운전자가 능동적인 제동을 하였다면 운전자의 능동적인 제동력이 자동비상제동시스템의 제동력보다 큰지 판단한다(S12). 이 때, (S12) 단계에서 운전자의 능동적인 제동력이 자동비상제동시스템의 제동력보다 크면 자동비상제동시스템의 기능을 해제시키고(S4), 그렇지 않으면 선행차와 충돌 후(S13), 로직이 완료된다.After the step (S9), it is determined whether the driver is not active braking (S11), if the driver has been active braking determines whether the driver's active braking force is greater than the braking force of the automatic emergency braking system (S12). At this time, if the driver's active braking force is greater than the braking force of the automatic emergency braking system in step S12, the function of the automatic emergency braking system is released (S4), otherwise, after collision with the preceding vehicle (S13), the logic is completed. .

이와 같이, 본 발명에 따르면, 에이비에스(ABS)를 기반으로 리타더를 연동시킴으로써 운전자의 능동적인 제동이 힘든 경우 이씨유(50)의 명령으로 주 브레이크를 작동시켜 제동을 할 수 있는 효과가 있다.
As described above, according to the present invention, when the driver's active braking is difficult by interlocking the retarder based on the ABS, there is an effect that the main brake can be operated by the command of the Lee C U 50 for braking. .

10 : 프론트 솔레노이드 20 : 리어 솔레노이드
50 : 이씨유10: front solenoid 20: rear solenoid
50: Lee See You

Claims (5)

(a) 선행차와 충돌할 때까지의 시간(TTC, Time to Collision)이 제1 시간 이전인지 판단하여, 그렇다면 리타더를 제1 단으로 제어하여 운전자에게 충돌 경고 단계임을 인지시키고 그렇지 않다면 운전자가 능동적인 제동을 하였는지 판단하는 단계와;
(b) 선행차와 충돌할 때까지의 시간이 제3 시간(제3 시간 < 제1 시간) 이전인지 판단하여, 그렇다면 리타더를 제3 단으로 제어하는 동시에 이씨유(ECU)의 명령으로 주 브레이크(foot brake)를 작동시켜 운전자에게 긴급 제동 단계임을 인지시키고 그렇지 않다면 운전자가 능동적인 제동을 하였는지 판단하는 단계를 포함하는 것을 특징으로 하는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법.(a) Determine if the time to collision (TTC) before the collision with the preceding vehicle is earlier than the first time, and if so, control the retarder to the first stage to let the driver know that it is a collision warning phase; Determining whether active braking has been performed;
(b) determine if the time until the collision with the preceding vehicle is earlier than the third time (third time <first time), and if so, control the retarder to the third stage and at the same time as commanded by the ECU; A method of controlling an emergency braking system based on an ABS for a vehicle, comprising: operating a foot brake to recognize the driver as an emergency braking step and to determine whether the driver has actively braked. . 청구항 1에 있어서,
에이비에스(ABS) 제어 라인의 에어 챔버 및 압력 조절 밸브 사이에 프론트 솔레노이드 및 리어 솔레노이드를 더 포함하여,
상기 (b) 단계에서 이씨유의 명령에 의해 상기 프론트 솔레노이드 및 상기 리어 솔레노이드에 상기 에어 챔버의 에어가 공급되어 개방됨으로써 주 브레이크가 작동되는 것을 특징으로 하는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법.The method according to claim 1,
Further comprising a front solenoid and a rear solenoid between the air chamber and the pressure regulating valve of the ABS control line,
Automotive emergency braking system based on the ABS (ABS), characterized in that the main brake is operated by supplying and opening the air of the air chamber to the front solenoid and the rear solenoid by the command of Lee Yu in step (b). Control method. 청구항 2에 있어서,
(c) 상기 (b) 단계 전, 선행차와 충돌할 때까지의 시간이 제2 시간(제3 시간 < 제2 시간 < 제1 시간) 이전인지 판단하여, 그렇다면 리타더를 제2 단으로 제어하는 동시에 엔진 출력을 제한하여 상기 (a) 단계보다 긴급한 상황임을 경고하고 그렇지 않다면 운전자가 능동적인 제동을 하였는지 판단하는 단계를 더 포함하는 것을 특징으로 하는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법.The method according to claim 2,
(c) Before step (b), it is determined whether the time until the collision with the preceding vehicle is before the second time (third time <second time <first time), and if so, controls the retarder to the second stage. At the same time, by limiting the output of the engine to warn that the emergency situation than the step (a) and otherwise determines whether the driver has been active braking vehicle based ABS (automatic emergency braking system) characterized in that it further comprises Control method. 청구항 3에 있어서,
상기 (a), (b), (c) 단계에서, 운전자가 능동적인 제동을 한 경우 자동비상제동시스템의 기능을 해제하는 것을 특징으로 하는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법.The method according to claim 3,
In the steps (a), (b), (c), when the driver makes an active braking, the control of the automatic emergency braking system based on the ABS for the vehicle, characterized in that to release the function of the automatic emergency braking system. Way. 청구항 1에 있어서,
(d) 상기 (b) 단계에서 리타더가 제3 단으로 제어되는 동시에 이씨유(ECU)의 명령으로 주 브레이크(foot brake)가 작동된 후, 운전자가 능동적인 제동을 하지 않았는지 판단하는 단계와;
(e) 상기 (d) 단계에서, 운전자가 능동적인 제동을 하였다면 운전자의 능동적인 제동력이 자동비상제동시스템의 제동력보다 큰지 판단하여, 그렇다면 자동비상제동시스템의 기능을 해제하는 것을 특징으로 하는 차량용 에이비에스(ABS) 기반의 자동비상제동시스템의 제어 방법.The method according to claim 1,
(d) determining whether the driver has not actively braked after the retarder is controlled to the third stage in step (b) and the foot brake is operated by the command of the ECU. Wow;
(e) In step (d), if the driver has actively braked, it is determined whether the driver's active braking force is greater than the braking force of the automatic emergency braking system, and if so, releasing the function of the automatic emergency braking system. A method of controlling an emergency braking system based on ABS.
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