KR20130029553A - Apparatus and method for detecting braking point in advanced emergency braking system - Google Patents

Apparatus and method for detecting braking point in advanced emergency braking system Download PDF

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KR20130029553A
KR20130029553A KR1020110092880A KR20110092880A KR20130029553A KR 20130029553 A KR20130029553 A KR 20130029553A KR 1020110092880 A KR1020110092880 A KR 1020110092880A KR 20110092880 A KR20110092880 A KR 20110092880A KR 20130029553 A KR20130029553 A KR 20130029553A
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South Korea
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braking time
braking
vehicle
weight
tire
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KR1020110092880A
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Korean (ko)
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KR101714076B1 (en
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서인호
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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
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
    • 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
    • B60T8/18—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 vehicle weight or load, e.g. load distribution
    • 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
    • B60T8/3205—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 acceleration
    • 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
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting 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
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
    • B60T2240/03—Tire sensors

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

Abstract

PURPOSE: A device and a method for detecting braking timing of an AEBS(Automatic Emergency Braking System) are provided to prevent fuel from being wasted by the AEBS and enhance the performance of the AEBS by detecting the braking timing in consideration to the weight of the vehicle and the state of the tire. CONSTITUTION: A device for detecting braking timing of an AEBS comprises a weight calculation unit(10), a first braking timing calculation unit(20), a tire information collecting unit(30), a second braking timing searching(40), and a braking timing detecting unit(50). The weight calculation unit calculates the weight of a vehicle using an accelerating force and the acceleration of the vehicle obtained by CAN(Controller Area Network) communication. The first braking timing calculation unit calculates the first braking timing according to the calculated weight. The tire information collecting unit collects the pressure and the temperature of the tires provided by an ECU(Engine Control Units) through the CAN communication. The second braking timing searching unit includes a table recording the braking timing according to a vehicle speed, and the pressure and the temperature of the tires and searches second braking timing according to the collected vehicle speed, and the pressure and the temperature of the tires. The braking timing detecting unit detects the sum of the first braking timing and the second braking timing as the final braking timing. [Reference numerals] (10) Weight calculation unit; (20) First braking timing calculation unit; (30) Tire information collecting unit; (40) Second braking timing searching unit; (50) Braking timing detecting unit

Description

ＡＥＢＳ의 제동시점 검출 장치 및 그 방법{APPARATUS AND METHOD FOR DETECTING BRAKING POINT IN ADVANCED EMERGENCY BRAKING SYSTEM}Apparatus and method of braking time detection of AESKS {APPARATUS AND METHOD FOR DETECTING BRAKING POINT IN ADVANCED EMERGENCY BRAKING SYSTEM}

본 발명은 AEBS의 제동시점 검출 장치 및 그 방법에 관한 것으로, 더욱 상세하게는 자동비상제동시스템(AEBS : Advanced Emergency Braking System)의 성능을 평가하는 지표인 최적의 제동시점을 검출하기 위한 장치 및 그 방법에 관한 것이다.
The present invention relates to an AEBS braking time detection apparatus and method thereof, and more particularly, to an apparatus for detecting an optimum braking time, which is an index for evaluating the performance of an advanced emergency braking system (AEBS), and its method. It is about a method.

운전자 보호용으로 차량에 적용되고 있는 편의장치 중 자동비상제동시스템이 관심을 끌고 있다.Among the convenience devices applied to vehicles for driver protection, an automatic emergency braking system is drawing attention.

자동비상제동시스템은 추돌을 방지하기 위해 운전자가 브레이크를 밟아야 하는 시점에 브레이크를 밟지 않은 경우, 선행차량과의 거리 및 상대속도를 기반으로 자동으로 브레이크를 작동시켜 차량의 속도를 감소시키는 시스템이다. 이때 운전자가 브레이크를 밟아야 하는 시점은 운전자의 반응시간을 감안한 시점으로 자동비상제동시스템의 제동시점보다 앞선다.The automatic emergency braking system reduces the speed of the vehicle by automatically operating the brake based on the distance and relative speed of the preceding vehicle when the brake is not applied when the driver should apply the brake to prevent a collision. At this time, the time that the driver should apply the brake takes into account the reaction time of the driver and is ahead of the braking time of the automatic emergency braking system.

이러한 종래의 자동비상제동시스템은 차량의 제동거리에 영향을 미치는 차량의 중량과 타이어의 상태를 감안하지 않고, 브레이크의 작동시점(제동시점)을 결정하기 때문에 자동비상제동시스템의 성능을 떨어뜨리는 문제점이 있다.The conventional automatic emergency braking system deteriorates the performance of the automatic emergency braking system because it determines the operating point (braking point) of the brake without considering the weight of the vehicle and the tire condition that affect the braking distance of the vehicle. There is this.

즉, 제동시점이 빠른 경우 실제 추돌이 발생하지 않음에도 불구하고 브레이크를 작동시켜 운전자에게 불안감을 주는 것은 물론 불필요한 연료의 낭비를 초래하고, 제동시점이 느린 경우에는 추돌을 일으키는 문제점이 있다.
That is, although the actual crash does not occur when the braking time is fast, there is a problem of causing anxiety to the driver as well as waste of unnecessary fuel, and causing a crash when the braking time is slow.

상기와 같은 종래 기술의 문제점을 해결하기 위하여, 본 발명은 차량의 중량과 타이어의 상태를 감안하여 제동시점을 검출하는 AEBS의 제동시점 검출 장치 및 그 방법을 제공하는데 그 목적이 있다.In order to solve the above problems of the prior art, an object of the present invention is to provide a braking time detection device and method of the AEBS to detect the braking time in consideration of the weight of the vehicle and the state of the tire.

본 발명의 목적들은 이상에서 언급한 목적으로 제한되지 않으며, 언급되지 않은 본 발명의 다른 목적 및 장점들은 하기의 설명에 의해서 이해될 수 있으며, 본 발명의 실시예에 의해 보다 분명하게 알게 될 것이다. 또한, 본 발명의 목적 및 장점들은 특허 청구 범위에 나타낸 수단 및 그 조합에 의해 실현될 수 있음을 쉽게 알 수 있을 것이다.
The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

상기 목적을 달성하기 위한 본 발명의 장치는, AEBS의 제동시점 검출 장치에 있어서, 차량 네트워크 통신을 통해 획득한 차량의 가속력 및 가속도를 이용하여 차량의 중량을 산출하는 중량 산출수단; 상기 중량 산출수단이 산출한 중량에 따른 제 1 제동시점을 산출하는 제 1 제동시점 산출수단; 차량 네트워크 통신을 통해 타이어의 압력 및 온도를 수집하는 타이어정보 수집수단; 차량의 속도와 타이어의 압력 및 온도에 따른 제동시점을 기록한 테이블을 기반으로, 상기 타이어정보 수집수단이 수집한 타이어의 압력 및 온도 그리고 차량의 속도에 따른 제 2 제동시점을 검색하는 제 2 제동시점 검색수단; 및 상기 제 1 제동시점 산출수단이 산출한 제 1 제동시점과 상기 제 2 제동시점 검색수단이 검색한 제 2 제동시점의 합을 제동시점으로 검출하는 제동시점 검출수단을 포함한다.In accordance with another aspect of the present invention, there is provided an apparatus for detecting braking time of an AEBS, comprising: weight calculation means for calculating a weight of a vehicle using acceleration and acceleration of the vehicle obtained through vehicle network communication; First braking time calculating means for calculating a first braking time according to the weight calculated by the weight calculating means; Tire information collecting means for collecting pressure and temperature of the tire through vehicle network communication; A second braking time point for searching for a second braking time point according to the tire pressure and temperature collected by the tire information collecting means and a speed of the vehicle, based on a table recording braking time points according to vehicle speed, tire pressure and temperature; Search means; And a braking time detecting means for detecting as a braking time the sum of the first braking time calculated by the first braking time calculating means and the second braking time searched by the second braking time searching means.

또한 상기 목적을 달성하기 위한 본 발명의 방법은, AEBS의 제동시점 검출 방법에 있어서, 차량 네트워크 통신을 통해 획득한 차량의 가속력 및 가속도를 이용하여 차량의 중량을 산출하는 중량 산출단계; 상기 산출한 중량에 따른 제 1 제동시점을 산출하는 단계; 차량 네트워크 통신을 통해 타이어의 압력 및 온도를 수집하는 단계; 차량의 속도와 타이어의 압력 및 온도에 따른 제동시점을 기록한 테이블을 기반으로, 상기 수집한 타이어의 압력 및 온도 그리고 차량의 속도에 따른 제 2 제동시점을 검색하는 단계; 및 상기 산출한 제 1 제동시점과 상기 검색한 제 2 제동시점의 합을 제동시점으로 검출하는 단계를 포함한다.
In addition, the method of the present invention for achieving the above object, In the braking time detection method of the AEBS, the weight calculation step of calculating the weight of the vehicle using the acceleration and acceleration of the vehicle obtained through the vehicle network communication; Calculating a first braking time according to the calculated weight; Collecting the pressure and temperature of the tire via vehicle network communication; Searching for a second braking time according to the collected pressure and temperature of the tire and the speed of the vehicle, based on a table recording braking time according to the speed of the vehicle and the pressure and temperature of the tire; And detecting the sum of the calculated first braking time point and the searched second braking time point as a braking time point.

상기와 같은 본 발명은, 차량의 중량과 타이어의 상태를 감안하여 제동시점을 검출함으로써, 자동비상제동시스템으로 인해 발생하는 연료의 낭비를 방지할 수 있는 효과가 있다.The present invention as described above, by detecting the braking time in consideration of the weight of the vehicle and the state of the tire, there is an effect that can prevent the waste of fuel caused by the automatic emergency braking system.

또한, 본 발명은 차량의 중량과 타이어의 상태를 감안하여 제동시점을 검출함으로써, 자동비상제동시스템의 성능을 향상시킬 수 있는 효과가 있다.
In addition, the present invention has the effect of improving the performance of the automatic emergency braking system by detecting the braking time in consideration of the weight of the vehicle and the state of the tire.

도 1 은 본 발명에 이용되는 AEBS의 일실시예 동작 설명도,
도 2 는 본 발명에 따른 AEBS의 제동시점 검출 장치에 대한 일실시예 구성도,
도 3 은 본 발명에 따른 AEBS의 제동시점 검출 방법에 대한 일실시예 흐름도이다.1 is a diagram illustrating an embodiment of AEBS used in the present invention;
2 is a block diagram of an embodiment of a braking time detection apparatus for AEBS according to the present invention;
3 is a flowchart illustrating a method for detecting braking time of AEBS according to the present invention.

상술한 목적, 특징 및 장점은 첨부된 도면을 참조하여 상세하게 후술되어 있는 상세한 설명을 통하여 보다 명확해 질 것이며, 그에 따라 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 본 발명의 기술적 사상을 용이하게 실시할 수 있을 것이다. 또한, 본 발명을 설명함에 있어서 본 발명과 관련된 공지 기술에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에 그 상세한 설명을 생략하기로 한다. 이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명하기로 한다.BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It can be easily carried out. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1 은 본 발명에 이용되는 AEBS의 일실시예 동작 설명도이다.1 is a diagram illustrating an embodiment of AEBS used in the present invention.

도 1에 도시된 바와 같이, AEBS는 추돌을 방지하기 위해 운전자가 브레이크를 밟아야 하는 시점(T1)에 운전자가 브레이크를 밟지 않은 경우, 시각적 및 청각적 경고를 출력하고, 제동시점(T2)을 검출한 후 해당 제동시점(T2)에서 엔진 토크를 강제로 제한하고 브레이크를 작동시켜 선행차량과의 추돌을 방지한다. 이때, 운전자의 제동시점(T1)은 운전자의 반응시간을 감안한 시점으로, 이를 감안할 필요가 없는 AEBS의 제동시점보다 빠르다.As shown in FIG. 1, the AEBS outputs a visual and audio warning when the driver does not brake at a time T 1 at which the driver should apply the brake to prevent a collision, and a braking timing T 2 . After detecting, the engine torque is forcibly limited at the braking point T 2 and the brake is operated to prevent the collision with the preceding vehicle. At this time, the braking time point T 1 of the driver is a time point in consideration of the reaction time of the driver, which is faster than the braking time point of the AEBS which does not need to be considered.

도 2 는 본 발명에 따른 AEBS의 제동시점 검출 장치에 대한 일실시예 구성도이다.2 is a block diagram of an AEBS braking time detection apparatus according to an embodiment of the present invention.

도 2에 도시된 바와 같이, 본 발명에 따른 AEBS의 제동시점 검출 장치는, 중량 산출부(10), 제 1 제동시점 산출부(20), 타이어정보 수집부(30), 제 2 제동시점 산출부(40), 및 제동시점 검출부(50)를 포함한다.As shown in FIG. 2, the AEBS braking time detection apparatus according to the present invention includes a weight calculation unit 10, a first braking time calculation unit 20, a tire information collection unit 30, and a second braking time calculation. The unit 40 and a braking time detection unit 50 are included.

상기 각 구성요소들에 대해 살펴보면, 중량 산출부(10)는 CAN(Controller Area Network) 통신을 통해 ECU(Engine Control Units)가 제공하는 차량의 가속력(Fa) 및 가속도(a)를 획득하고, 이를 기반으로 하기의 [수학식 1]를 이용하여 차량의 중량을 산출한다. 물론, 중량 산출부(10)는 LIN(Local Interconnect Network) 통신 또는 플렉스레이(Flexray) 통신을 이용할 수도 있다.Looking at the respective components, the weight calculation unit 10 obtains the acceleration force Fa and the acceleration (a) of the vehicle provided by the ECU (Engine Control Units) through the CAN (Controller Area Network) communication, and Based on Equation 1 below, the weight of the vehicle is calculated. Of course, the weight calculator 10 may use LIN (Local Interconnect Network) communication or Flexray communication.

[수학식 1][Equation 1]

질량(m) = 가속력(Fa) / 가속도(a)Mass (m) = acceleration force (Fa) / acceleration (a)

중량(W) = 질량(m) × 중력가속도(g)Weight (W) = mass (m) x gravitational acceleration (g)

이때 중량 산출부(10)는 공차중량을 알고 있다.At this time, the weight calculation unit 10 knows the tolerance weight.

여기서, 가속력(Fa)은 액추얼 엔진 퍼센트 토크(Actual Engine Percent Torque) 값으로서, 기어의 단수와도 밀접한 관계를 가지기 때문에 차량의 가속력(Fa) 및 가속도(a)만으로 질량을 산출하는 것은 오차가 커질 수 있다.Here, the acceleration force Fa is an actual engine percent torque value, and since the acceleration force Fa has a close relationship with the number of gears, it is an error to calculate the mass using only the acceleration force Fa and the acceleration a of the vehicle. Can be large.

따라서 기어가 변경되거나 제동시스템이 동작하는 시점에 차량의 액추얼 엔진 퍼센트 토크 값 역시 변경됨을 고려하여, 하기의 조건하에서 가속도를 수집하는 것이 바람직하다.Therefore, it is desirable to collect acceleration under the following conditions, taking into account that the actual engine percent torque value of the vehicle also changes when the gear is changed or the braking system is operated.

- 기 설정된 구간 내에 액추얼 엔진 퍼센트 토크 값이 위치되는 경우.-The actual engine percent torque value is located within the preset range.

- 운전자에 의한 브레이크의 제동이 없는 경우.-There is no brake braking by the driver.

- 기어의 변경이 없는 경우.-No change in gears.

다음으로, 제 1 제동시점 산출부(20)는 하기의 [수학식 2]를 이용하여 중량 산출부(10)에서 산출된 중량에 따른 제 1 제동시점(T2')을 산출한다. 이때, 타이어는 정상 상태로서, 타이어의 상태(압력 및 온도)가 제동시점에 영향을 미치지 않는 상태이다.Next, the first braking time calculator 20 calculates the first braking time T 2 ′ according to the weight calculated by the weight calculator 10 using Equation 2 below. At this time, the tire is in a normal state, and the state (pressure and temperature) of the tire does not affect the timing of braking.

[수학식 2]&Quot; (2) "

T2' = ((W + dW) × V) / (g ×f1)T 2 '= ((W + dW) × V) / (g × f 1 )

여기서, dW는 상수로서 관성질량을 의미하고, V는 선행차량과의 상대속도를 의미하며, f1는 상수로서 타이어가 정상상태인 경우의 브레이크 마찰력을 의미한다.Here, dW is the constant inertia mass, V is the relative speed with the preceding vehicle, f 1 is a constant means the brake friction force when the tire is in a steady state.

타이어정보 수집부(30)는 CAN(Controller Area Network) 통신을 통해 ECU(Engine Control Units)가 제공하는 타이어의 압력 및 온도를 수집한다. 이때 타이어의 압력 및 온도는 특정 타이어의 압력 및 온도일 수도 있고, 차량의 바퀴가 4개인 경우 타이어의 압력 및 온도 역시 4개이므로, 수집되는 타이어의 압력 및 온도는 해당 값의 평균일 수도 있다. 해당 방식에 상응하는 제동시점이 기록된 테이블이 제 2 제동시점 검색부(40)에 구비된다. 물론, 타이어정보 수집부(30)는 LIN 통신 또는 플렉스레이 통신을 이용할 수도 있다.The tire information collecting unit 30 collects the pressure and temperature of the tire provided by the ECU (Engine Control Units) through CAN (Controller Area Network) communication. In this case, the pressure and temperature of the tire may be the pressure and temperature of a specific tire, and if the wheels of the vehicle are four, the pressure and temperature of the tire are also four, so the pressure and temperature of the collected tire may be an average of the corresponding values. The table in which the braking time corresponding to the method is recorded is provided in the second braking time searching unit 40. Of course, the tire information collecting unit 30 may use LIN communication or FlexRay communication.

제 2 제동시점 검색부(40)는 차량의 속도와 타이어의 압력 및 온도에 따른 제동시점을 기록한 테이블(이하, 제 2 제동시점 테이블)을 구비하고 있고, 타이어정보 수집부(30)가 수집한 타이어의 압력 및 온도 그리고 차량의 속도에 따른 제동시점을 검색한다. 이때 제 2 제동시점 테이블 내에서 차량의 속도와 타이어의 압력 및 온도는 테이블 생성의 효율성을 높이기 위해 소정의 구간 범위로 표시되어 있으며, 타이어의 압력이 낮을수록 그리고 온도 및 속도가 높을수록 제동거리가 증가하고 따라서 제동시점이 빨라지는 상호관계를 갖는다.The second braking point search unit 40 includes a table (hereinafter referred to as a second braking point table) that records braking points according to the vehicle speed, tire pressure, and temperature, and collected by the tire information collecting unit 30. Search braking time according to tire pressure and temperature and vehicle speed. At this time, the speed of the vehicle, the pressure and temperature of the tire in the second braking time point table are expressed in a predetermined range to increase the efficiency of generating the table. The lower the pressure of the tire and the higher the temperature and the speed, the braking distance is. There is an interrelationship that increases, and therefore the braking time is faster.

또한 제 2 제동시점 검색부(40) 역시 차량 네트워크 통신(CAN 통신 또는 LIN 통신 또는 플렉스레이 통신)을 통해 차량의 각종 정보를 알 수 있다.In addition, the second braking point search unit 40 may also know various information of the vehicle through vehicle network communication (CAN communication, LIN communication, or flex-ray communication).

제동시점 검출부(50)는 제 1 제동시점 산출부(20)가 산출한 제 1 제동시점과 제 2 제동시점 검색부(40)가 검색한 제 2 제동시점의 합을 최종 제동시점으로 검출한다.The braking time detection unit 50 detects the sum of the first braking time calculated by the first braking time calculation unit 20 and the second braking time searched by the second braking time searching unit 40 as the final braking time.

본 발명의 일실시예에서는 차량의 중량과 타이어의 압력 및 온도를 모두 반영하여 제동시점을 검출하는 예를 설명하였지만, 차량의 중량만을 반영하여 제동시점을 검출할 수도 있고, 타이어의 압력 및 온도만을 반영하여 제동시점을 검출할 수도 있다.In the exemplary embodiment of the present invention, an example of detecting the braking time by reflecting both the weight of the vehicle and the pressure and temperature of the tire has been described, but the braking time may be detected by reflecting only the weight of the vehicle, The braking time can be detected by reflecting.

도 3 은 본 발명에 따른 AEBS의 제동시점 검출 방법에 대한 일실시예 흐름도이다.3 is a flowchart illustrating a method for detecting braking time of AEBS according to the present invention.

먼저, 중량 산출부(10)가 CAN(Controller Area Network) 통신을 통해 획득한 차량의 가속력 및 가속도를 이용하여 차량의 중량을 산출한다(301).First, the weight calculating unit 10 calculates the weight of the vehicle using the acceleration force and the acceleration of the vehicle obtained through the controller area network (CAN) communication (301).

이후, 제 1 제동시점 산출부(20)가 중량 산출부(10)에서 산출된 중량에 따른 제 1 제동시점을 산출한다(302).Thereafter, the first braking time calculator 20 calculates a first braking time according to the weight calculated by the weight calculator 10 (302).

이후, 타이어정보 수집부(30)가 CAN 통신을 통해 타이어의 압력 및 온도를 수집한다(303).Thereafter, the tire information collecting unit 30 collects the pressure and temperature of the tire through CAN communication (303).

이후, 제 2 제동시점 검색부(40)가 차량의 속도와 타이어의 압력 및 온도에 따른 제동시점을 기록한 테이블을 기반으로, 상기 타이어정보 수집부(30)가 수집한 타이어의 압력 및 온도 그리고 차량의 속도에 따른 제 2 제동시점을 검색한다(304).Thereafter, the second braking time searching unit 40 records the pressure and temperature of the tire collected by the tire information collecting unit 30 based on the table recording the braking time according to the vehicle speed, tire pressure, and temperature. Search for the second braking time according to the speed (304).

이후, 제동시점 검출부(50)가 제 1 제동시점 산출부(20)가 산출한 제 1 제동시점과 제 2 제동시점 검색부(40)가 검색한 제 2 제동시점의 합을 최종 제동시점으로 검출한다(305).Thereafter, the braking time detection unit 50 detects the sum of the first braking time calculated by the first braking time calculating unit 20 and the second braking time searched by the second braking time searching unit 40 as the final braking time. (305).

이러한 과정을 통해 자동비상제동시스템의 성능을 향상시킬 수 있다.This process can improve the performance of the automatic emergency braking system.

한편, 전술한 바와 같은 본 발명의 방법은 컴퓨터 프로그램으로 작성이 가능하다. 그리고 상기 프로그램을 구성하는 코드 및 코드 세그먼트는 당해 분야의 컴퓨터 프로그래머에 의하여 용이하게 추론될 수 있다.　또한, 상기 작성된 프로그램은 컴퓨터가 읽을 수 있는 기록매체(정보저장매체)에 저장되고, 컴퓨터에 의하여 판독되고 실행됨으로써 본 발명의 방법을 구현한다. 그리고 상기 기록매체는 컴퓨터가 판독할 수 있는 모든 형태의 기록매체를 포함한다.Meanwhile, the method of the present invention as described above can be written in a computer program. And the code and code segments constituting the program can be easily deduced by a computer programmer in the field. In addition, the written program is stored in a computer-readable recording medium (information storage medium), and read and executed by a computer to implement the method of the present invention. The recording medium may include any type of computer readable recording medium.

이상에서 설명한 본 발명은, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에게 있어 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 여러 가지 치환, 변형 및 변경이 가능하므로 전술한 실시예 및 첨부된 도면에 의해 한정되는 것이 아니다.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

10 : 중량 산출부 20 : 제 1 제동시점 산출부
30 : 타이어정보 수집부 40 : 제 2 제동시점 검색부
50 : 제동시점 검출부10: weight calculation unit 20: first braking time calculation unit
30: tire information collecting unit 40: second braking time point search unit
50: braking time detection unit

Claims (5)

차량 네트워크 통신을 통해 획득한 차량의 가속력 및 가속도를 이용하여 차량의 중량을 산출하는 중량 산출수단;
상기 중량 산출수단이 산출한 중량에 따른 제 1 제동시점을 산출하는 제 1 제동시점 산출수단;
차량 네트워크 통신을 통해 타이어의 압력 및 온도를 수집하는 타이어정보 수집수단;
차량의 속도와 타이어의 압력 및 온도에 따른 제동시점을 기록한 테이블을 기반으로, 상기 타이어정보 수집수단이 수집한 타이어의 압력 및 온도 그리고 차량의 속도에 따른 제 2 제동시점을 검색하는 제 2 제동시점 검색수단; 및
상기 제 1 제동시점 산출수단이 산출한 제 1 제동시점과 상기 제 2 제동시점 검색수단이 검색한 제 2 제동시점의 합을 제동시점으로 검출하는 제동시점 검출수단
을 포함하는 AEBS의 제동시점 검출 장치.
Weight calculation means for calculating the weight of the vehicle using the acceleration force and the acceleration of the vehicle obtained through vehicle network communication;
First braking time calculating means for calculating a first braking time according to the weight calculated by the weight calculating means;
Tire information collecting means for collecting pressure and temperature of the tire through vehicle network communication;
A second braking time point for searching for a second braking time point according to the tire pressure and temperature collected by the tire information collecting means and a speed of the vehicle, based on a table recording braking time points according to vehicle speed, tire pressure and temperature; Search means; And
Braking time detection means for detecting the sum of the first braking time calculated by the first braking time calculating means and the second braking time searched by the second braking time searching means as the braking time.
Braking time detection apparatus of the AEBS comprising a.
제 1 항에 있어서,
상기 중량 산출수단은,
운전자에 의한 브레이크의 제동이 없고, 기어의 변경이 없는 경우에 기 설정된 구간 내에 속하는 가속력을 획득하는 특징으로 하는 AEBS의 제동시점 검출 장치.
The method of claim 1,
The weight calculation means,
The braking timing detection device of the AEBS, characterized in that to obtain an acceleration force belonging to a predetermined section when there is no brake braking by the driver and no gear is changed.
제 1 항 또는 제 2 항에 있어서,
상기 제 1 제동시점 산출수단은,
하기의 [수학식 A]를 이용하여 제 1 제동시점(T2')을 산출하는 것을 특징으로 하는 AEBS의 제동시점 검출 장치.
[수학식 A]
T2' = ((W + dW) × V) / (g ×f1)
여기서, W는 차량의 중량, dW는 관성질량, V는 상대속도, g는 중력가속도, f1는 마찰력을 각각 의미한다.
3. The method according to claim 1 or 2,
The first braking time calculation means,
The braking time detection device of the AEBS characterized in that the first braking time point (T 2 ') is calculated using Equation (A) below.
[Mathematical formula A]
T 2 '= ((W + dW) × V) / (g × f 1 )
Where W is the weight of the vehicle, dW is the inertial mass, V is the relative speed, g is the gravitational acceleration, and f 1 is the frictional force.
차량 네트워크 통신을 통해 획득한 차량의 가속력 및 가속도를 이용하여 차량의 중량을 산출하는 중량 산출단계;
상기 산출한 중량에 따른 제 1 제동시점을 산출하는 단계;
차량 네트워크 통신을 통해 타이어의 압력 및 온도를 수집하는 단계;
차량의 속도와 타이어의 압력 및 온도에 따른 제동시점을 기록한 테이블을 기반으로, 상기 수집한 타이어의 압력 및 온도 그리고 차량의 속도에 따른 제 2 제동시점을 검색하는 단계; 및
상기 산출한 제 1 제동시점과 상기 검색한 제 2 제동시점의 합을 제동시점으로 검출하는 단계
를 포함하는 AEBS의 제동시점 검출 방법.
A weight calculation step of calculating a weight of the vehicle using the acceleration force and the acceleration of the vehicle obtained through the vehicle network communication;
Calculating a first braking time according to the calculated weight;
Collecting the pressure and temperature of the tire via vehicle network communication;
Searching for a second braking time according to the collected pressure and temperature of the tire and the speed of the vehicle, based on a table recording braking time according to the speed of the vehicle and the pressure and temperature of the tire; And
Detecting the sum of the calculated first braking time point and the searched second braking time point as a braking time point;
Braking time detection method of the AEBS comprising a.
제 4 항에 있어서,
상기 중량 산출단계는,
운전자에 의한 브레이크의 제동이 없고, 기어의 변경이 없는 경우에 기 설정된 구간 내에 속하는 가속력을 획득하는 특징으로 하는 AEBS의 제동시점 검출 방법.The method of claim 4, wherein
The weight calculation step,
A method of detecting a braking time point of an AEBS, characterized in that an acceleration force belonging to a preset section is obtained when there is no braking of a driver and no gear is changed.
KR1020110092880A 2011-09-15 2011-09-15 Apparatus and method for detecting braking point in advanced emergency braking system KR101714076B1 (en)

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