KR20140034492A - Control system and method for breaking vehicle considering response-preformance of brake - Google Patents

Abstract

The vehicle brake control system for a brake response performance according to an embodiment of the present disclosure includes a sensing unit which has a front detection sensor detecting a front object with respect to a vehicle and a vehicle speed sensor detecting a relative velocity or an absolute velocity of the vehicle with respect to the front object; a driver operating unit which has a brake reaction velocity set unit determining a brake response velocity of the vehicle and a before-crash residual distance set unit determining a distance between the vehicle and the front object when the vehicle stops; a control unit which calculates the crash risk percentage of the vehicle by using sensing value of the sensing unit; a brake unit which allows the vehicle braking according to the crash risk percentage calculated from the control unit. The brake unit adjusts a time for putting the brake on the vehicle according to a brake response velocity set in the brake reaction velocity set unit. It is possible to determine the crash risk percentage of the front object and the vehicle through the distance between the front object and the vehicle and the vehicle speed, and to put the brake on the vehicle by considering a demand deceleration designed by a designer and brake performance when the crash risk percentage is high. [Reference numerals] (110) Sensor; (111) Front sensing sensor; (116) Vehicle speed sensor; (120) Driver operating unit; (121) Brake response speed setting unit; (126) Unit for calculating remaining distance before collision; (130) Control unit; (140) Braking unit

Description

CONTROL SYSTEM AND METHOD FOR BREAKING VEHICLE CONSIDERING RESPONSE-PREFORMANCE OF BRAKE}

The present invention relates to a vehicle braking control system and a control method in consideration of the brake response performance, and more particularly, by considering the response performance or response speed of the brake to realize the convenience of the driver's operation and to ensure the safety of preventing collision of the vehicle. Provided is a vehicle braking control system and control method considering the braking response performance.

In general, the forward collision warning and mitigation system of a vehicle warns a driver of a collision risk or, if necessary, when a dangerous obstacle such as a preceding vehicle is detected in front of the vehicle while driving. This system minimizes collision speed by performing automatic braking. In such systems, the determination of the collision risk for forward obstacles is a very important factor in determining the timing of collision warning and automatic braking.

In the conventional collision warning and collision alleviation system of a conventional vehicle, Deceleration, which is a longitudinal deceleration value that prevents a collision to a front obstacle and a time-to-collision (TTC), which is the distance between the own vehicle and the preceding vehicle divided by the relative speed of the two vehicles. -To-Avoid is used to determine the collision risk according to the longitudinal motion of the vehicle.

However, in case of TTC, the deceleration of the preceding vehicle is not taken into consideration when the preceding vehicle suddenly decelerates, and thus there is a limit in determining the appropriate collision risk. When using Deceleration-To-Avoid, the relative speed between the own vehicle and the preceding vehicle is large. In this case, although the driver can sufficiently avoid the collision by steering, there is a problem in that the collision warning is performed.

In addition, the conventional vehicle automatic braking technology has a limitation that the driver cannot detect the preceding vehicle or the collision object in front of the vehicle at a low speed and automatically brake the vehicle, or the driver cannot manipulate information regarding the automatic braking of the vehicle for the safety of the vehicle. . Therefore, there is a growing demand for a vehicle automatic braking technology that can be a safety system that can automatically brake a vehicle to prevent a collision, and at the same time a driver convenience system that can realize various performances by setting or manipulating a driver. have.

According to the present invention, a brake capable of predicting a collision risk to a front object by using an energy technique as a danger to a front object regardless of the driving speed of the vehicle and automatically braking the vehicle to prevent a collision with the front object even at a high speed Provided is a vehicle braking control system and control method in consideration of response performance.

The present invention provides a vehicle braking control system and control method in consideration of brake response performance that can implement various performances according to a driver's design variable manipulation by setting design variables as required deceleration, brake response speed, and remaining distance before collision.

The present invention provides a vehicle braking control system and control method considering the brake response performance to realize the convenience of the driver and ensure the safety of the vehicle.

The present invention provides a vehicle braking control system and control method considering the braking response performance that can exhibit the maximum performance in consideration of the target deceleration, and can safely stop before the vehicle collides in consideration of the braking response speed. to provide.

The vehicle braking control system considering the brake response performance according to an embodiment of the present invention for achieving the above object, a front sensor and a relative speed of the vehicle relative to the front object for detecting the presence of a front object for the vehicle. Or a sensor unit having a vehicle speed sensor for detecting the absolute speed of the vehicle; A driver operating unit including a brake reaction speed setting unit determining a brake response speed of the vehicle and a remaining distance setting unit before collision to determine a distance between the vehicle and the front object when the vehicle is stopped; A control unit for calculating a risk of collision of the vehicle with respect to the front object by using the sensing value of the sensor unit; And a braking unit for braking the vehicle according to the collision risk calculated by the controller, wherein the braking unit may adjust a time point at which the vehicle is braked according to the brake response speed set by the brake reaction speed setting unit.

With the above configuration, if the collision risk between the front object and the vehicle is judged based on the distance between the front object and the speed of the vehicle, and the collision risk is large, the vehicle is considered in consideration of the required deceleration designed by the designer and the brake performance. Can brake

The brake response speed setting unit may accelerate or slow down the braking time using the response speed variable according to the driver's propensity.

The controller may determine the collision risk by estimating a braking distance required for the vehicle to stop using the response speed variable.

The controller may determine the collision risk according to a difference between a target distance and the braking distance between the vehicle and the front object.

The controller may operate the brake unit regardless of the speed of the vehicle.

The brake unit may drive or brake the vehicle in a standby mode, a driving mode, a braking mode, and a stop mode.

On the other hand, according to another field of the invention, the step of driving the vehicle at a set traveling speed; Detecting whether the front object exists in front of the vehicle; Calculating a braking distance required for the vehicle to stop; Determining a risk of collision of the vehicle with respect to the front object; Calculating a braking force necessary for braking the vehicle; And comparing the remaining distance before the collision between the vehicle and the front object and the target distance between the vehicle and the front object when the vehicle stops without colliding with the front object. The vehicle braking control method can be provided.

The driving of the vehicle at a set traveling speed may maintain the standby mode while driving the vehicle at a set traveling speed until the front sensor detects the front object.

In the detecting of whether the front object exists in front of the vehicle, if it is detected that the front object does not exist, the step of driving the vehicle at a set traveling speed is performed, and the presence of the front object is detected. When the front object detection signal is generated, the step of calculating the braking distance required to stop the vehicle may be performed after the step of generating the front object detection signal.

The step of calculating a braking distance required for the vehicle to stop is performed in the driving mode, and the driving mode drives the vehicle in the same state as driving the vehicle at a set traveling speed, and the front sensor and the vehicle speed. The braking distance can be calculated using a sensor.

The step of calculating the braking distance required to stop the vehicle may calculate the braking distance by the following Equation 1.

[Equation 1]

In Equation 1, D _stop is the braking distance, V _car is the vehicle speed, a _x is the required deceleration, and J _act is the reaction speed.

The reaction speed variable is a brake reaction speed of the vehicle, and a braking time or the braking distance of the vehicle may vary according to the reaction speed variable.

The determining of the risk of collision of the vehicle with respect to the front object may include determining a collision risk by comparing the distance difference corresponding to the difference between the target distance and the braking distance and the size of the allowable distance, and the distance difference being allowed. If the distance is greater than the step of calculating the braking distance is performed, if the distance difference is less than the allowable distance may be the step of calculating the braking force.

The calculating of the braking force required for braking the vehicle may be performed based on an energy technique and the braking force may be calculated by Equation 3 below.

&Quot; (3) "

In Equation 3, Brake is the braking force, Brk _gain is the braking gain, V _car is the vehicle speed, and D _target is the target distance.

When the vehicle stops without colliding with the front object, comparing the remaining distance before the collision between the vehicle and the front object and the target distance between the vehicle and the front object, If the target distance is greater than the braking force, the step of calculating the braking force is performed. If the remaining distance before the collision is smaller than the target distance, the stop mode is performed to stop the vehicle.

The stop mode may stop the vehicle such that the remaining distance before the collision is maintained between the front object and the vehicle.

As described above, the vehicle braking control system and control method considering the braking response performance according to the present invention uses the energy technique as a risk of collision with an object in front of the vehicle at high speed as well as at low speed. By predicting this, the vehicle can be braked automatically to avoid collisions with objects ahead.

The vehicle braking control system and control method considering the brake response performance according to the present invention can realize various performances because the driver can set or manipulate design variables such as required deceleration, brake response speed, remaining distance before collision, and the like.

In the vehicle braking control system and control method considering the brake response performance according to the present invention, the driver can set the brake response performance and determine the braking timing accordingly, so that the driver's convenience can be taken into consideration, and the driver can move forward without the driver's operation. If a collision with an object is detected, the vehicle can be braked automatically to increase the safety of the vehicle.

1 is a diagram schematically illustrating a configuration of a vehicle braking control system considering a brake response performance according to an embodiment of the present invention.
FIG. 2 is a diagram for describing a process of braking a vehicle according to the vehicle braking control system according to FIG. 1.
3 is a flowchart illustrating a vehicle braking control method considering the brake response performance according to an embodiment of the present invention.
4 is a graph illustrating a verification result of the vehicle braking control system according to FIG. 1.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

1 is a view schematically showing a configuration of a vehicle braking control system in consideration of brake response performance according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a process of braking a vehicle according to the vehicle braking control system according to FIG. 1. 3 is a flowchart illustrating a vehicle braking control method in consideration of brake response performance according to an embodiment of the present invention, and FIG. 4 is a graph showing a verification result of the vehicle braking control system according to FIG. 1.

Referring to FIG. 1, the vehicle braking control system 100 considering the brake response performance according to an embodiment of the present invention includes a front detection sensor 111 that detects the presence or absence of a front object 280 with respect to the vehicle 260. And a sensor unit 110 having a relative speed of the vehicle 260 relative to the front object 280 or a vehicle speed sensor 116 for detecting the absolute speed of the vehicle, and a brake for determining a brake response speed of the vehicle 260. The driver manipulation unit 120 having the reaction speed setting unit 121 and the remaining distance setting unit 126 before the collision determining the distance between the vehicle 260 and the front object 280 when the vehicle 260 is stopped, Braking the vehicle 260 according to the collision risk calculated by the control unit 130 and the control unit 130 that calculates the risk of collision of the vehicle 260 with respect to the front object 280 using the sensing value of the sensor unit 110. It may include a braking unit 140 to.

Here, the braking unit 140 may adjust the timing at which the vehicle 260 is braked according to the brake response speed or the brake reaction speed set by the brake reaction speed setting unit 121.

By configuring as described above, the front object 280 and the vehicle 260 through the distance between the front object 280 and the vehicle 260 and the speed (ie, relative speed) of the vehicle 260 relative to the front object 280. When the collision risk is determined and the collision risk is determined, the vehicle 260 may be automatically braked in consideration of the required deceleration designed by the designer and the performance of the brake. That is, the vehicle braking control system 100 according to an embodiment of the present invention may increase the safety of the vehicle by automatically stopping the vehicle 260 when a collision risk is detected regardless of the driver's intention.

The sensor unit 110 may detect the presence or absence of the front object 280 in front of the driving vehicle 260 and the relative speed of the vehicle 260 relative to the front object 280 or the front object 280 or the vehicle ( It may include a vehicle speed sensor 116 for measuring the absolute speed of the 260.

As the front detection sensor 111, a radar, a camera, a scanner, an ultrasonic sensor, an optical sensor, and the like may be used, but are not necessarily limited to this kind of sensor. In addition, the present invention may be more easily applied to a vehicle equipped with an auto cruise control function.

On the other hand, the front sensor 111 may measure the relative speed between the vehicle 260 and the front object 280, the relative distance between the vehicle 260 and the front object 280, as well as the presence or absence of the front object 280. have. In particular, when the front sensor 111 is a radar, the relative speed between the vehicle 260 and the front object 280 may be measured.

The vehicle speed sensor 116 may measure a relative speed of the vehicle 260 and the front object 280, that is, the speed of the vehicle 260 relative to the front object 280 or the absolute speed of the vehicle 260 itself. For example, the speed of the vehicle 260 may be obtained for the state in which the front object 280 is not moved. The vehicle speed sensor 116 may measure the relative speed of the two or the absolute speed of the vehicle 260 itself even when at least one of the vehicle 260 or the front object 280 moves. The vehicle speed sensor 116 may not only measure the relative motion of the vehicle 260 alone, but also measure the relative motion of the vehicle 260 in association with the front sensor 111.

The sensor unit 110 transmits the presence or absence information of the front object 280, the relative speed value or the absolute speed value of the vehicle 260 to the controller 130, and the controller 130 calculates the collision risk using the sensing value. can do.

The driver manipulator 120 is a part capable of manipulating the driver to directly determine the performance of the vehicle braking control system 100 according to an exemplary embodiment of the present invention. The driver manipulation unit 120 may include a brake reaction speed setting unit 121 that determines a reaction speed of the brake and a pre-collision remaining distance setting unit 126 that sets the remaining distance D _min before the collision.

The brake reaction speed setting unit 121 is a part capable of inputting or changing the reaction speed of the brake so that the driver can directly adjust the reaction speed of the brake. Here, the brake response speed has the same or similar meaning as the brake response speed, and from the driver's point of view, there may be a person who urgently presses the brake pedal or a person who can step on the brake in advance to smoothly brake the driver's propensity. Considering the brake response speed as a variable, the response speed of the brake or the response speed of the brake can be manipulated according to the driver's preference.

The brake reaction speed setting unit 126 may set or use a reaction speed variable J _act according to the driver's propensity to advance or slow down the braking time. A part of determining the reaction speed of the brake is the J _act variable in Equation 1 described later, and by adjusting this value, it is determined whether to brake the vehicle 260 rapidly or gently.

If you want to brake the vehicle 260 a little later depending on the driver's preference, you can adjust this value to slow down the braking time. On the contrary, if braking the car a little late makes the driver feel a crisis, pull the braking time to pull the vehicle. The brake response speed can be adjusted according to the driver's preference for a smooth and comfortable braking feel.

The remaining distance setting unit 126 before the collision is performed by the vehicle braking control system 100 when the vehicle 260 is completely stopped before the vehicle 260 collides with the front object 280. The remaining distance D _min before the collision between 260, that is, the part that allows the driver to set the remaining distance before the collision. If the driver sets a long distance D _min before the collision, the vehicle 260 starts to brake faster, and if a short distance D _min before the collision is set, the vehicle 260 starts to brake late and moves forward. The vehicle 260 will stop at a point close to the object 280. If the distance D _min before the collision is set to a large value, the distance between the front object 280 and the vehicle 260 is farther away, and the smaller the vehicle 260 stops closer to the front object 280.

The control unit 130 is a part in which a control formula for operating the vehicle braking control system 100 is actually mounted, and a sensing value and a setting value of the sensor unit 110 and the driver control unit 120 are input and calculated. . In addition, the controller 130 may control or determine the driving state of the vehicle 260 according to the collision risk.

As shown in FIG. 2, the controller 130 may be configured as a standby mode 210, a standby mode 220, a cruise mode 230, a brake mode 230, and a stop mode according to the calculated collision risk of the vehicle. In operation 240, the driving state of the vehicle 260 may be controlled. At this time, the controller 130 adjusts the driving state of the vehicle 260 in the order of the four modes, and the vehicle 260 runs again after the stop mode 240 is performed so that the vehicle 260 is completely stopped. In this case, the standby mode 210 may be performed again.

First, in the standby mode 210, there is no collision risk because there is no front object 280 that may collide in front of the vehicle 260. That is, since there is no front object 280 detected by the front sensor 111 of the sensor unit 110, the target distance D _target becomes infinity (∞), and in this mode, the vehicle 260 runs normally. It becomes a state. The vehicle speed sensor 116 senses the speed V _car of the vehicle 260.

Here, the target distance D _target is a distance between the vehicle 260 and the front object 280. In FIG. 2, the front object 280 is illustrated as a fixed wall. For convenience of description, the front object 280 may be a moving object.

The driving mode 220 detects that the front object 280 is present in front of the vehicle 260, and predicts a collision distance between the front object 280 and the vehicle 260 by an energy method. Here, the collision distance referred to is a distance at which braking is started by the braking distance D _stop . That is, the braking distance D _stop is a distance required for the vehicle 260 to completely stop in order not to collide with the front object 280. In the driving mode 220, the predicted braking distance D _stop is shorter than the target distance D _target , which is the actual distance between the vehicle 260 and the front object 280, indicating that the vehicle is still at a low risk of collision. Will be driving normally.

In the driving mode 220, the controller 130 may determine the collision risk by estimating the braking distance D _stop required for the vehicle 260 to stop using the brake reaction speed variable J _act . The braking distance D _stop may be calculated by the following Equation 1.

In Equation 1, D _stop is the braking distance, V _car is the vehicle speed, a _x is the required deceleration, and J _act is the reaction speed. The required deceleration (a _x ) is a variable that can be set or manipulated by the driver.

The brake reaction speed (J _act ) set by the driver in the brake reaction speed setting unit 121 in [Equation 1] is used in the second and third terms of [Equation 1], [Equation 1] is Energy method is used. Further, when Equation 1 is set larger the brake reaction rate variables (J _act) in the braking distance (D _stop) that if less so, set smaller whereas the vehicle 260 suddenly braking the braking distance (D _stop ) Increases, the vehicle 260 can be braked smoothly. As can be seen from [Equation 1], the driver can determine whether the driver suddenly brakes or gently brakes the vehicle by manipulating the brake reaction speed variable (J _act ). This may take into account the driver's disposition, thereby satisfying the driver's convenience.

In addition, the controller 130 calculates a distance difference D _err corresponding to a difference between the target distance D _target and the braking distance D _stop , which is a distance between the vehicle 260 and the front object 280, and the distance. The collision risk may be determined according to the difference D _err . The distance difference D _err may be expressed as Equation 2 below.

Meanwhile, in FIG. 2, D _{err _ offset} is an allowable distance. Here, the allowable distance D _{err _ offset} indicates a time point at which stop braking of the vehicle 260 starts. In the driving mode 220, the distance difference D _err is greater than the allowable distance D _{err _ offset} .

Third, the braking mode 230 is a target distance (D _target ) between the front object 280 and the vehicle 260 matches the braking distance (D _stop ) or braking distance (D _stop ) than the target distance (D _target ) Is small, the vehicle starts to brake the vehicle 260 automatically. In the braking mode 230, the distance difference D _err is smaller than the allowable distance D _{err _ offset} .

In the braking mode 230 to determine the amount of braking using the energy method. The amount of braking can be calculated by the following [Equation 3].

In Equation 3, Brake is the braking force, Brk _gain is the braking gain, V _car is the vehicle speed, and D _target is the target distance. The amount of braking may be expressed as a value proportional to the square of the vehicle speed V _car and inversely proportional to the target distance D _target .

The last stop mode 240 is a mode for generating a braking force for completely stopping the vehicle 260 while leaving the desired distance before the front object 280 and the vehicle 260 collide. As shown in FIG. 2, in the stop mode 240, the vehicle 260 stops completely while leaving the remaining distance D _min before colliding with the front object 280. In the stop mode 240, the target distance D _target is smaller than the remaining distance before collision D _min , and the allowable distance D _{err _ offset} is larger than the target distance D _target and the remaining distance before collision D _min . It becomes a state.

In the stop mode 240, the vehicle 260 is completely stopped and the distance to the front object 280 is left as much as the remaining distance D _min before the collision, which is a design variable.

As such, the controller 130 may measure measurement variables such as the vehicle speed V _car and the target distance D _target measured by the sensor unit 110, the required deceleration speed a _x , the brake reaction speed J _act , The collision risk of the vehicle 260 is determined by using design variables such as the allowable distance D _{err _ offset} and the remaining distance before the collision D _min , and the vehicle moves in sequence according to the four modes according to the collision risk. Can be controlled.

The controller 130 may operate the brake unit 140 regardless of the speed of the vehicle 260. The brake unit 140 is an actuator that actually brakes the vehicle 260 through the signal calculated by the brake unit 130. The braking unit 140 is operated by the controller 130, and may be operated not only when the vehicle 260 moves at a low speed but also when moving at a high speed. That is, the vehicle can be braked automatically regardless of the speed of the vehicle.

The braking unit 140 may drive or brake the vehicle 260 in the order of the standby mode 210, the driving mode 220, the braking mode 230, and the stop mode 240.

Hereinafter, a vehicle braking control method considering a brake response performance according to an embodiment of the present invention will be described with reference to the accompanying drawings. The vehicle braking control method considering the brake response performance is a method of controlling the vehicle braking using the vehicle braking control system 100 considering the brake response performance described above.

Referring to the flowchart shown in FIG. 3, the vehicle braking control method considering the brake response performance according to the present invention includes driving the vehicle 260 at a set traveling speed 310, and a front object in front of the vehicle 260. Detecting 320 whether the vehicle 280 exists; calculating a _stop distance D _stop required for the vehicle 260 to stop 340; collision of the vehicle 260 against the front object 280; Determining the risk 350, calculating the braking force necessary for braking the vehicle 260 (360) and when the vehicle 260 stops without colliding with the front object 280 in front of the vehicle 260 Comparing the remaining distance (D _min ) before the collision between the object 280 and the target distance (D _target ) between the vehicle 260 and the front object 280 may include a step (370).

The driving 310 of the vehicle 260 at the set traveling speed is driving the vehicle 260 in the standby mode 210 according to the collision risk calculated by the controller 130. That is, until the front object 280 is detected by the front sensor 111, the vehicle runs at a speed set by the driver's will or speed controller (not shown).

As described above, in step 310 of driving the vehicle at the set traveling speed, the standby mode 210 is driven while the vehicle 260 is driven at the set traveling speed until the front sensor 111 detects the front object 280. I can keep it.

In the step 320 of detecting whether the front object 280 is present in front of the vehicle 260, if the front object 280 is detected by the front sensor 111 generates a front object detection signal, When the front object detection signal is generated, the vehicle braking control system 100 operates. If the front sensor 111 does not detect the front object 280, the normal driving or standby mode 210 is executed.

In step 320 of detecting whether the front object 280 is present in front of the vehicle 260, if it is detected that the front object 280 does not exist, driving the vehicle 260 at a set traveling speed ( When 310 is performed and the front object 280 is detected to exist, the step 330 of generating the front object detection signal is performed and the vehicle 260 after performing the step 330 of generating the front object detection signal is performed. Step 340 may be performed to calculate the braking distance D _stop required for) to _stop .

When the front object detection signal is generated, a step 340 of calculating a braking distance D _stop required for the vehicle 260 to stop is performed. The step 340 of calculating the braking distance D _stop may be performed in the driving mode 220. The driving mode 220 is the same as the normal driving state before the front object 280 is detected, and attempts to drive the vehicle at the driver's will or at a set speed.

In other words, the step 340 of calculating the braking distance D _stop required for the vehicle 260 to stop is performed in the driving mode 220, and the driving mode 220 sets the driving speed 220 to the vehicle 260. The vehicle 260 may be driven in the same state as that of driving 310, and the braking distance D _stop may be calculated using the front sensor 111 and the vehicle speed sensor 116. In more detail, the braking distance D _stop may be calculated using the sensing values of the front sensor 111 and the vehicle speed sensor 116.

In operation 340, the braking distance D _stop required for the vehicle to stop may be executed in the driving mode 220, and the braking distance D _stop may be calculated by Equation 1 above.

As can be seen from [Equation 1], the brake reaction speed variable (J _act ) is the brake reaction speed of the vehicle 260, the braking time or braking distance (D) of the vehicle 260 according to the reaction speed variable (J _act ) _stop ) can vary.

Determining the risk of collision of the vehicle 260 against the front object 280, the distance difference (D _err ) and the allowable distance corresponding to the difference between the target distance (D _target ) and the braking distance (D _stop ) The risk of collision is determined by comparing the size of (D _{err _ offset} ).

That is, in step 350 of determining the risk of collision of the vehicle 260 with respect to the front object 280, when the distance difference D _err is greater than the allowable distance D _{err _ offset} , the braking distance D _stop is calculated. The step 340 or the driving mode 220 is performed, and when the distance difference D _err is smaller than the allowable distance D _{err _ offset} , the step of calculating the braking force 360 or the braking mode 230 may be performed. Can be.

The step 360 of calculating a braking force required for braking of the vehicle may be performed in the braking mode 230, and the braking force may be calculated by Equation 3 according to the energy method. According to the calculated braking force, the vehicle starts braking and compares the target distance D _target with the remaining distance D _min before the collision and repeatedly performs the braking mode 230.

When the vehicle 260 stops without colliding with the front object 280, the remaining distance D _min before the collision between the vehicle 260 and the front object 280 and between the vehicle 260 and the front object 280 In step 370 of comparing the target distance of D _target , if the remaining distance D _min before the collision is greater than the target distance D _target , the braking force is calculated 360, and the remaining distance before the collision ( If D _min is smaller than the target distance D _target , the stop mode 240 may be performed to completely stop the vehicle 260.

In operation 380 or the stop mode 240, the vehicle 260 may be stopped so that the remaining distance D _min before the collision between the front object 280 and the vehicle 260 is maintained. In the stop mode 240, a braking force may be generated to completely stop the vehicle 260.

4 is a graph showing the verification result of the vehicle braking control system according to FIG. 1, (a) indicates the speed of the vehicle, (b) indicates the brake pressure, and (c) indicates the remaining distance between the front object and the vehicle. Indicates. 4 is a vehicle braking control system according to an embodiment of the present invention when the target distance D _target between the vehicle 260 and the front object 280 is 500 m and the required speed V _car is 100 kph. Experimental results for 100) are graphs.

In this experiment, since the front object 280 is set 500m ahead of the vehicle 260, there is no standby mode 210. The braking control system 100 immediately starts in the driving mode 220.

In the driving mode 220, the vehicle accelerates to the set speed because the risk of collision is low. Then, the braking mode 230 which starts braking from about 22 seconds when the target distance D _target and the braking distance D _stop with the front object 280 coincides. The braking is performed for about 10 seconds, and the vehicle is operated in the stop mode 240 in which the vehicle is completely stopped at about 34 seconds when the speed is sufficiently reduced and the distance between the front object 280 and the vehicle 260 is close. As can be seen in Figure 4, according to the vehicle braking control system 100 and the control method according to an embodiment of the present invention to ensure the remaining distance (D _min ) before the collision between the vehicle 260 and the front object 280 It can be confirmed that the vehicle is automatically braked in the state.

As described above, the vehicle braking control system and control method in consideration of the brake response performance according to the present invention determines the risk of collision of the vehicle through [Equation 1]. The collision risk is determined by comparing the braking distance (D _stop ) estimated by Equation 1 with the target distance (D _target ) of the actual front object. If the estimated braking distance (D _stop) the length of Equation 1 the braking distance (D _stop) in accordance with the brake reaction rate _(act J) of setting at become different. That is, the greater the value of the estimated braking distance D _stop at the same time point (the speed of the vehicle), the smoother the braking attempt, and the smaller the value of the estimated braking distance D _stop , the more rapid braking attempt. When the vehicle braking control system 100 according to the present invention is used as an emergency brake from the viewpoint of a safety system, the brake reaction speed (J _act ) value of [Equation 1] is a value capable of achieving maximum performance. In case of using it as a convenience system, the brake reaction speed (J _act ) value can be manipulated so that braking can be made even if the distance to the front object is far enough.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

100: vehicle braking control system considering brake response performance
110: sensor unit 111: front detection sensor
116: vehicle speed sensor 120: driver control panel
121: brake response speed setting unit 126: remaining distance setting before the collision
130: control unit 140: braking unit

Claims (16)

A sensor unit including a front sensor and a vehicle speed sensor configured to detect a relative speed of the vehicle or an absolute speed of the vehicle with respect to the front object;
A driver operating unit including a brake reaction speed setting unit determining a brake response speed of the vehicle and a remaining distance setting unit before collision to determine a distance between the vehicle and the front object when the vehicle is stopped;
A control unit for calculating a risk of collision of the vehicle with respect to the front object by using the sensing value of the sensor unit; And
And a braking unit for braking the vehicle according to the collision risk calculated by the controller.
And the brake unit adjusts a time point at which the vehicle is braked according to the brake response speed set by the brake response speed setting unit.
The method of claim 1,
The brake response speed setting unit may accelerate or slow down a braking time point using a response speed variable according to a driver's propensity.
3. The method of claim 2,
And the control unit determines the risk of collision by estimating a braking distance required for the vehicle to stop using the response speed variable.
The method of claim 3,
The control unit determines the brake risk according to the difference between the target distance and the braking distance between the vehicle and the front object, the vehicle braking control system in consideration of the brake response performance.
5. The method according to any one of claims 1 to 4,
The control unit is a vehicle braking control system considering the brake response performance, to operate the braking unit irrespective of the speed of the vehicle.
6. The method of claim 5,
And the braking unit drives or brakes the vehicle in the order of the standby mode, the driving mode, the braking mode, and the stop mode.
In the control method of the vehicle braking control system according to claim 6,
Driving the vehicle at a set traveling speed;
Detecting whether the front object exists in front of the vehicle;
Calculating a braking distance required for the vehicle to stop;
Determining a risk of collision of the vehicle with respect to the front object;
Calculating a braking force necessary for braking the vehicle; And
Comparing the remaining distance before the collision between the vehicle and the front object and the target distance between the vehicle and the front object when the vehicle stops without colliding with the front object;
A vehicle braking control method including a brake response performance.
8. The method of claim 7,
Running the vehicle at a set traveling speed may include:
And maintaining the standby mode while driving the vehicle at a set traveling speed until the front sensor detects the front object.
9. The method of claim 8,
Detecting whether the front object exists in front of the vehicle;
If it is detected that the front object does not exist, the step of driving the vehicle at a set traveling speed is performed, and if it is detected that the front object exists, generating a front object detection signal,
And calculating a braking distance required to stop the vehicle after performing the step of generating the front object detection signal, wherein the brake response performance is considered.
10. The method of claim 9,
Calculating the braking distance required for the vehicle to stop is performed in the driving mode,
The driving mode is a vehicle braking control method considering the braking response performance, driving the vehicle in the same state as the step of driving the vehicle at a set running speed and calculating the braking distance using the front sensor and the vehicle speed sensor. .
11. The method of claim 10,
The step of calculating the braking distance required to stop the vehicle is to calculate the braking distance according to the following [Equation 1], vehicle braking control method considering the brake response performance.
[Equation 1]

In Equation 1, D _stop is the braking distance, V _car is the vehicle speed, a _x is the required deceleration, and J _act is the reaction speed.
12. The method of claim 11,
The reaction speed variable is a brake reaction speed of the vehicle, wherein the braking timing or the braking distance of the vehicle is changed according to the reaction speed variable.
11. The method of claim 10,
Determining the risk of collision of the vehicle with respect to the front object,
Determining a collision risk by comparing the distance difference corresponding to the difference between the target distance and the braking distance and the size of the allowable distance,
And calculating the braking distance when the distance difference is greater than the allowable distance, and calculating the braking force when the distance difference is smaller than the allowable distance.
14. The method of claim 13,
Calculating the braking force required for braking the vehicle,
A vehicle braking control method considering a braking response performance based on an energy technique and calculating a braking force according to Equation 3 below.
&Quot; (3) "

In Equation 3, Brake is the braking force, Brk _gain is the braking gain, V _car is the vehicle speed, and D _target is the target distance.
14. The method of claim 13,
Comparing the remaining distance before the collision between the vehicle and the front object and the target distance between the vehicle and the front object when the vehicle stops without colliding with the front object;
The braking force is calculated when the remaining distance before the collision is greater than the target distance, and when the remaining distance before the collision is smaller than the target distance, the stop mode is performed to stop the vehicle. Vehicle braking control method.
16. The method of claim 15,
The stopping mode stops the vehicle to maintain the remaining distance before the collision between the front object and the vehicle, the vehicle braking control method in consideration of the brake response performance.

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