KR20180128709A - Vehicle control apparatus and vehicle control method - Google Patents

Abstract

Disclosed are a vehicle control apparatus and a vehicle control method. The vehicle control apparatus according to an embodiment of the present invention includes: an input unit for receiving vehicle motion information in which the vehicle is operated after an electronic parking brake (EPB) engagement of an EPB device sensed by a sensing device, and EPB engagement information; a determination unit configured to determine whether the vehicle motion has occurred, based on the inputted vehicle motion information, and determine whether the EPB device is in a state that the EPB device is not available for an additional connection, based on the inputted EPB engagement information, when the vehicle motion has occurred; and a control unit configured to receive the vehicle motion information and the EPB engagement information, transmit a determination command to the determination unit, and transmit an electronic brake control module (EBCM) additional engagement command to an EBCM device, when the additional EPB engagement is not available. Accordingly, a vehicle accident is prevented in advance, and the anxiety of a driver about the additional engagement is restrained, thereby improving the reliability of a vehicle.

Description

[0001] Vehicle control apparatus and vehicle control method [0002]

The present invention relates to a vehicle control apparatus and a vehicle control method.

In general, the electronic electronic parking brake device is a driver-friendly automatic braking device which automatically activates the brake when the ignition is turned off, and automatically releases the brake when the ignition is turned on and the accelerator is depressed.

In the conventional electronic parking brake device, when the vehicle is moving, the EPB fastening force is increased through additional EPB fastening to prevent the vehicle from moving.

For example, as disclosed in Korean Patent Laid-Open Publication No. 10-2016-0123007 (Oct. 25, 2016), it is possible to determine whether the vehicle is rolled based on the motion value of the vehicle, An electronic parking brake system of a vehicle and a control method thereof are disclosed.

However, in the conventional electronic parking brake system and control method thereof, there is a limitation in preventing movement of the vehicle when the EPB can not be additionally engaged.

Therefore, in recent years, research on an improved vehicle control apparatus and vehicle control method for preventing the occurrence of a vehicle accident has been continuously carried out.

In addition, in recent years, research has been continuously conducted on an improved vehicle control apparatus and vehicle control method for improving the reliability of a vehicle by suppressing anxiety about additional fastening to the driver.

Korean Patent Publication No. 10-2016-0123007 (Oct. 25, 2016)

An embodiment of the present invention is to provide a vehicle control apparatus and a vehicle control method capable of preventing occurrence of a vehicle accident in advance.

An embodiment of the present invention is to provide a vehicle control apparatus and a vehicle control method capable of suppressing anxiety about additional engagement to a driver and improving reliability of the vehicle.

According to an aspect of the present invention, there is provided an electronic parking brake system comprising: an input unit for receiving vehicle motion information and EPB integration information, which are operated after an EPB of an EPB (Electronic Parking Brake) apparatus sensed by a sensing apparatus; Determining whether the EPB apparatus is in a state that the EPB apparatus can not be added to the EPB apparatus based on the inputted EPB setting information if the vehicle is in motion, And transmits the EBCM addition concluding command to the EBCM (Electronic Brake Control Module) when the EPB addition concluding state is not possible.

According to another aspect of the present invention, when the current wheel speed sensing value of the input vehicle motion information is not '0', the determination unit may determine that the vehicle motion is in a state in which the vehicle motion occurs.

According to another aspect of the present invention, the determination unit can determine that the EPB addition is not possible if the current EPB binding power of the inputted EPB binding information is not the set target EPB binding power.

According to another aspect of the present invention, the control unit can transmit the EBCM addition command to the EBCM device to compensate for the insufficient braking force in accordance with the target braking force required for EPB addition of the EBCM device, when the EPB addition lock is not possible.

According to another aspect of the present invention, when the vehicle movement has occurred, the control unit may further include an identification unit that identifies a situation in which the current EPB additional engagement state is confirmed.

According to another aspect of the present invention, if the EPB addition lock is not possible, the control unit may further include an identification unit that identifies a situation in which the current EBCM apparatus is to be additionally connected.

According to another aspect of the present invention, when the additional fastening is completed in the EBCM device, the identification information may further include an identifying unit that identifies a situation where the additional fastening is completed in the current EBCM device.

According to another aspect of the present invention, there is provided a method for controlling an electronic parking brake, comprising the steps of: receiving vehicle motion information that is operated after an EPB of an electronic parking brake (EPB) device sensed by a sensing device; Determining whether the EPB apparatus is in a state in which the EPB apparatus can not be added to the EPB apparatus based on the input EPB setting information, receiving the EPB setting information of the EPB apparatus sensed by the sensing apparatus when the vehicle movement occurs, If the EBCM addition request command is received from the EBCM device, the EBCM addition request command is transmitted to the electronic brake control module (EBCM) Determining whether the EBCM device is in a state of no movement, There can be maintained, including the step of transferring the command to maintain.

The vehicle control apparatus and the vehicle control method according to the embodiment of the present invention can prevent occurrence of a vehicle accident in advance.

The vehicle control device and the vehicle control method according to the embodiment of the present invention can improve the reliability of the vehicle by suppressing anxiety about additional fastening to the driver.

1 is a block diagram illustrating an example in which a vehicle control apparatus according to an embodiment of the present invention is connected to an EPB apparatus, a sensing apparatus, and an EBCM apparatus.
Fig. 2 is a block diagram showing an example of the vehicle control apparatus shown in Fig. 1. Fig.
3 is a block diagram showing another example of a state in which a vehicle control apparatus according to an embodiment of the present invention is connected to an EPB apparatus, a sensing apparatus, and an EBCM apparatus.
Fig. 4 is a block diagram showing an example of the vehicle control apparatus shown in Fig. 3;
5 is a flowchart showing an example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present invention.
6 is a block diagram showing another example of a vehicle control apparatus according to an embodiment of the present invention.
7 is a block diagram showing another example of a vehicle control apparatus according to an embodiment of the present invention.
8 is a flowchart showing another example of a vehicle control method for a vehicle control apparatus according to an embodiment of the present invention.
9 is a flowchart showing another example of a vehicle control method for a vehicle control device according to an embodiment of the present invention.
10 is a flowchart showing another example of a vehicle control method for a vehicle control apparatus according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

FIG. 1 is a block diagram illustrating a state in which a vehicle control apparatus according to an embodiment of the present invention is connected to an EPB apparatus, a sensing apparatus, and an EBCM apparatus. FIG. 2 is a block diagram illustrating the vehicle control apparatus shown in FIG. FIG.

FIG. 3 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention connected to an EPB apparatus, a sensing apparatus, and an EBCM apparatus. FIG. 4 shows an example of the vehicle control apparatus shown in FIG. Fig.

1 to 4, a vehicle control apparatus 100 according to an embodiment of the present invention includes an input unit 102, a determination unit 104, and a control unit 106. [

The input unit 102 receives the vehicle motion information and the EPB establishment information, which are operated after the EPB of the EPB (Electronic Parking Brake) apparatus 30 sensed by the sensing apparatus 10, is concluded.

For example, when the vehicle is parked or stopped at a ramp, the input unit 102 displays vehicle motion information and EPB lock information, which are operated after the EPB of the electronic parking brake device 30 detected by the sensing device 10, You can receive input.

The EPB device 30 drives an ordinary EPB Actuator (not shown) to increase the EPB clamping force, though not shown.

Also, although not shown, the sensing device 10 may include a wheel speed sensor (not shown) for sensing the current wheel speed sensing value of the vehicle motion information, and a sensor for sensing the current EPB engagement force value of the EPB engagement information And an EPB Actuator sensor (not shown).

Based on the vehicle motion information input to the input unit 102, the determination unit 104 determines whether or not the vehicle motion has occurred based on the control of the control unit 106 to be described later.

For example, when the current wheel speed sensing value of the vehicle motion information input to the input unit 102 is not '0', the determination unit 104 may determine that the vehicle motion is in a state in which the vehicle motion has occurred under the control of the control unit 106 have.

If it is determined that the vehicle movement has occurred, the determination unit 104 determines whether the EPB apparatus 30 is in a state in which the EPB apparatus 30 can not be additionally connected based on the EPB establishment information input to the input unit 102 It is judged according to the control.

For example, if the current EPB contracting force of the EPB contracting information inputted to the input unit 102 is not the set target EPB contracting force, the judging unit 104 judges that the EPB contracting is not possible, under the control of the control unit 106 I can do it.

The control unit 106 receives vehicle motion information and EPB integration information and transmits a determination command to the determination unit 104. If the determination unit 104 determines that EPB addition is not possible, Control Module < / RTI >

For example, when the determination unit 104 determines that the EPB addition is not possible, the control unit 106 controls the EBCM device 50 to compensate for the insufficient braking force in accordance with the target braking force required for EPB addition in the EBCM device 50 50). ≪ / RTI >

Although not shown, the input unit 102, the determination unit 104, and the control unit 106 may be implemented by a main computer that is applied to a vehicle, a general ECU for controlling the overall operation and receiving determination, vehicle motion information, (Electronic Control Unit) (not shown).

Although not shown, the input unit 102, the determination unit 104, and the control unit 106 may include a processor, a memory, and an input / output device in a single chip to control overall operation and input determination, vehicle motion information, (Micro Control Unit, not shown) for receiving the data.

The input unit 102, the determination unit 104, and the control unit 106 are not limited to these, and may include any control unit that controls the overall operation of the vehicle and receives the determination, vehicle motion information, And a determination means and an input means.

The input unit 102, the determination unit 104 and the control unit 106 may be integrally provided to an ECU (not shown) or an MCU (not shown) As shown in FIG.

Also, the input unit 102, the determination unit 104, and the control unit 106 may be provided in a parking brake controller (PBC) (not shown).

(Not shown), an IDB (Integrated Dynamic Brake) device (not shown), and an Automatic Vehicle Hold (AVH) device (not shown), although not shown in the drawings, ) Device (not shown) and an HSA (Hill Start Assist) device (not shown) to cooperatively control the braking force required for braking.

5 is a flowchart showing an example of a vehicle control method of a vehicle control apparatus according to an embodiment of the present invention.

Referring to FIG. 5, a vehicle control method 500 of a vehicle control apparatus 100 (FIG. 2 and FIG. 4) according to an embodiment of the present invention includes a first input step S502, a first determination step S504, A second input step S506, a second determination step S508, a first control step S510, a third determination step S512, and a second control step S514.

First, the first input step S502 is a step of inputting vehicle motion information that is operated after the EPB of the EPB (Electronic Parking Brake) device (30 of FIG. 2 and FIG. 4) sensed by the sensing device (102 in Fig. 2 and Fig. 4).

Thereafter, the first determination step S504 determines whether the vehicle motion has occurred based on the vehicle motion information input to the input unit (102 in Fig. 2 and Fig. 4) And the judgment unit (104 in Fig. 2 and Fig. 4) judges accordingly.

For example, the first determination step S504 may be such that the current wheel speed sensing value of the vehicle motion information input to the input unit (102 in FIG. 2 and FIG. 4) in the determination unit (104 in FIGS. 2 and 4) It is judged that the vehicle movement is in the state in which the control unit (106 in Fig. 2 and Fig. 4) controls the judgment unit (104 in Fig. 2 and Fig. 4).

Thereafter, the second input step S506 is a step of determining whether the vehicle movement has occurred in the determination unit 104 (FIGS. 2 and 4) 2 and 4 in FIG. 2) from the input unit (102 in FIG. 2 and FIG. 4).

Thereafter, the second determination step S508 is a state in which the EPB device (30 in FIGS. 2 and 4) can not be additionally EPB-based on the EPB establishment information input to the input section (102 in FIG. 2 and FIG. 4) (104 in Fig. 2 and Fig. 4) according to the control of the control section (106 in Fig. 2 and Fig. 4).

For example, the second determination step (S508) determines whether the current EPB binding power of the EPB binding information input to the input unit (102 of FIG. 2 and FIG. 4) is not the target EPB binding power set in the determination unit 2 and 4), it is judged that the EPB addition is not possible and that the judgment unit (104 in FIG. 2 and FIG. 4) ).

Thereafter, the first control step (S510) determines that the EPB addition is not possible in the determination unit (104 in FIG. 2 and FIG. 4) Brake Control Module) 50 (FIG. 2 and FIG. 4).

For example, if the first control step (S510) determines that the EPB addition is not possible in the determination unit (104 in FIGS. 2 and 4), the EPB addition is performed in the EBCM apparatus (50 in FIG. 2 and FIG. 4) The EBCM addition command can be transmitted to the EBCM device (50 in Figs. 2 and 4) in the control section (106 in Figs. 2 and 4) to compensate for the insufficient braking force in accordance with the target braking force necessary for engagement.

3 and 4), the third determination step S512 determines whether the vehicle motion information inputted to the input unit (102 of FIG. 2 and FIG. 4) (106 in Fig. 2 and Fig. 4) in accordance with the control of the control unit (104 in Fig. 2 and Fig. 4).

For example, the third determination step S512 is a step in which the current wheel speed sensing value of the vehicle motion information input to the input unit (102 in FIG. 2 and FIG. 4) It can be judged by the judgment unit (104 in FIG. 2 and FIG. 4) according to the control of the control unit (106 in FIG. 2 and FIG. 4) that there is no vehicle movement.

Thereafter, the second control step S514 judges that there is no vehicle movement in the judging unit (104 in Fig. 2 and Fig. 4), the EBCM apparatus (Fig. 2 and Fig. (50 in FIG. 4) to maintain the EBCM additionally fastened state.

FIG. 6 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention, and FIG. 7 is a block diagram illustrating a vehicle control apparatus according to another embodiment of the present invention. Referring to FIG.

6 and 7, the vehicle control apparatuses 600 and 700 according to the embodiment of the present invention may include input units 602 and 702 and a determination unit 704, similar to the vehicle control apparatus 100 (FIGS. 2 and 4) (604, 704) and controllers (606, 706).

The functions of the components of the vehicle control apparatus 600 and 700 and the organic connection relationship therebetween according to the embodiment of the present invention are determined by the components of the vehicle control apparatus 100 (FIGS. 2 and 4) And the respective organic connections between them are the same as in the first embodiment.

The vehicle control apparatuses 600 and 700 according to an embodiment of the present invention may further include identification units 608 and 708. [

If the determination units 604 and 704 determine that the vehicle movement has occurred, the identifiers 608 and 708 can identify the situation in which the current EPB addition state is confirmed under the control of the control units 606 and 706 .

If the determination units 604 and 704 determine that the addition of the EPB is not possible, the identifiers 608 and 708 inform the control units 606 and 706 that the current state of the current connection is established in the EBCM device 50 It can be identified according to the control.

When the control unit 606 or 706 receives the additional engagement completion signal output from the EBCM unit 50, the identification units 608 and 708 notify the control unit 606 that the additional engagement is completed in the current EBCM unit 50 , And 706, respectively.

The identification units 608 and 708 include at least one of an alarm (not shown), a speaker (not shown), and a light emitting member (not shown) provided for the driver to identify information or status of the vehicle It is possible to identify that the current state of confirming the EPB additional fastening state is confirmed through at least one of an alarm operation of an alarm (not shown), a voice operation of a speaker (not shown) and a light emitting operation of a light emitting member (not shown) The EBCM device 50 can identify that it is in a state of additional consolidation and can identify that the additional consolidation has been completed in the current EBCM device 50. [

Although not shown, the identification units 608 and 708 may include a HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), both of which are mounted to interfere with the user and the machine, ) Module (not shown) to confirm the current EPB addition state through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) It is possible to identify that the situation is a situation in which the EBCM device 50 is additionally concluded and can identify the situation in which the EBCM device 50 has completed the addition concurrently.

FIG. 8 is a flowchart showing another example of the vehicle control method of the vehicle control apparatus according to the embodiment of the present invention, and FIG. 9 is a flowchart illustrating a vehicle control method of the vehicle control apparatus according to another embodiment of the present invention It is a flowchart.

10 is a flowchart showing another example of a vehicle control method for a vehicle control apparatus according to an embodiment of the present invention.

8 to 10, a vehicle control method 800 to 1000 of a vehicle control device (600 and 700 of Figs. 6 and 7) according to an embodiment of the present invention includes a vehicle control device (Figs. 2 and 4 (S802 to S1002), a first determination step (S804 to S1004), a second input step (S806 to S1006), and a second determination step (S808 to S1008) and a first control step (S810 to S1010), a third determination step (S812 to S1012), and a second control step (S814 to S1014).

The function of each step among the vehicle control methods 800 to 1000 of the vehicle control apparatus (600 and 700 of FIGS. 6 and 7) according to the embodiment of the present invention and the organic connection relation between them is Since the function of each step in the vehicle control method (500 in FIG. 5) of the control device (100 in FIG. 2 and FIG. 4) and the organic connection relation between them are identical to each other, .

The vehicle control methods 800 to 1000 of the vehicle control apparatus (600 and 700 of Figs. 6 and 7) according to an embodiment of the present invention may include a first identification step (S805), a second identification step (S909) And the identification step S1011.

As shown in FIG. 8, the first identifying step S805 can be performed after the first determining step S804 and before the second inputting step S806.

In addition, although the first identifying step S805 is not shown, the first identifying step S805 can be performed in synchronization with the second inputting step S806.

If it is determined that the vehicle movement has occurred in the determination unit (604, 704 in FIG. 6 and FIG. 7), the first identification step S805 determines that the current EPB attachment state is confirmed (608, 708 in Fig. 6 and Fig. 7) in accordance with the control of the CPU 606 (706).

As shown in FIG. 9, the second identifying step S909 may be performed after the second determining step S908 and before the first controlling step S910.

Also, the second identification step S909 may be performed in synchronization with the first control step S910, although not shown.

If it is determined that the EPB addition is not possible in the determination unit (604, 704 in FIG. 6 and FIG. 7), the second identification step S909 is performed in the current EBCM apparatus (50 in FIG. 6 and FIG. 7) (608, 708 in Fig. 6 and Fig. 7) according to the control of the control section (606, 706 in Fig. 6 and Fig. 7).

As shown in FIG. 10, the third identification step S1011 may be performed after the first control step S1010 and before the third determination step S1012.

The third identification step S1011 may be performed in synchronization with the third determination step S1012 (not shown).

6 and FIG. 7), the third discrimination step S1011 of FIG. 6 and FIG. 7 receives the additional fastening completion signal output from the EBCM device 50 (608, 708 in FIG. 6 and FIG. 7) according to the control of the control unit (606, 706 in FIG. 6 and FIG. 7).

The vehicle control apparatuses 100, 600, and 700 and the vehicle control methods 500 and 800 to 1000 according to an embodiment of the present invention may include input units 102, 602 and 702 and determination units 104, 604 and 704 The first inputting step S502 (S802 to S1002), the first judging step S504 (S804 to S1004), and the second inputting step S506 (S806 to S1006) including the control unit 106, 606, The second determination step S508 (S808 to S1008), the first control step S510 (S810 to S1010), the third determination step S512 (S812 to S1012), and the second control step S514 (S814 To S1014).

Therefore, the vehicle control apparatuses 100, 600, and 700 and the vehicle control methods 500 and 800 to 1000 according to the embodiment of the present invention may be configured such that, when the EPB addition is not possible, The control unit 106 can transmit the EBCM addition command to the EBCM device 50 so as to compensate for the insufficient braking force in accordance with the target braking force required for engagement.

Accordingly, the vehicle control apparatuses 100, 600, 700 and the vehicle control methods 500, 800 to 1000 according to the embodiment of the present invention can efficiently prevent the movement of the vehicle, It is possible to prevent it in advance.

The vehicle control apparatuses 600 and 700 and the vehicle control methods 800 to 1000 according to the embodiment of the present invention may further include identification units 608 and 708 to perform a first identification step S805 and a second identification The step S909 and the third identification step S1011 may be further performed.

Therefore, the vehicle control apparatuses 600 and 700 and the vehicle control methods 800 to 1000 according to the embodiment of the present invention can identify that the present EPB attachment state is confirmed, and the present EBCM apparatus 50 It is possible to discriminate that the situation where the additional connection is made and the fact that the additional connection is completed in the present EBCM device 50 can be identified.

Accordingly, the vehicle control apparatuses 600 and 700 and the vehicle control methods 800 to 1000 according to the embodiment of the present invention can perform additional fastening in the EBCM apparatus 50 when the additional EPB is not possible Therefore, it is possible to suppress the anxiety of the additional fastening to the driver, thereby improving the reliability of the vehicle.

Claims (8)

An input unit for receiving vehicle motion information and EPB setting information, which are operated after EPB of an EPB (Electronic Parking Brake) apparatus sensed by a sensing apparatus;
Determines whether or not vehicle movement has occurred based on the input vehicle motion information, and determines whether or not the EPB apparatus can be additionally joined based on the input EPB establishment information if the vehicle movement has occurred ; And
A control unit for receiving the vehicle motion information and the EPB integration information and delivering a decision command to the decision unit, and for transmitting an EBCM addition decision command to an EBCM (Electronic Brake Control Module) And the vehicle control device. The method according to claim 1,
Wherein,
And determines that the vehicle motion is in a state in which the vehicle motion has occurred if the current wheel speed sensing value of the input vehicle motion information is not '0'. The method according to claim 1,
Wherein,
And determines that the EPB addition lock is not possible if the current EPB lock-up force of the input EPB lock-up information is not the set target EPB lock-up force. The method according to claim 1,
Wherein,
And transmits an EBCM addition engagement command to the EBCM device to compensate for the insufficient braking force in accordance with the target braking force required for the EPB addition engagement in the EBCM device if the EPB additional engagement is not possible. The method according to claim 1,
Further comprising an identification unit that identifies a situation in which the current EPB additional engagement state is confirmed if the vehicle movement has occurred. The method according to claim 1,
Further comprising an identifying unit that identifies a situation in which the current EBCM device is additionally engaged if the EPB addition lock is not possible. The method according to claim 1,
Further comprising an identification unit which, when receiving an additional engagement completion signal output from the EBCM device, identifies a situation in which the additional engagement is completed in the current EBCM device. Receiving vehicle motion information that is operated after EPB of an EPB (Electronic Parking Brake) device sensed by a sensing device;
Determining whether a vehicle motion has occurred based on the input vehicle motion information;
Receiving EPB settlement information of the EPB device sensed by the sensing device when the vehicle movement is occurring;
Determining whether the EPB apparatus is in a state in which the EPB apparatus can not be additionally connected based on the inputted EPB settlement information;
Transmitting an EBCM addition confirmation command to an Electronic Brake Control Module (EBCM) device when the EPB additional coupling is not possible;
Determining whether there is no vehicle movement on the basis of the input vehicle motion information when the EBCM device receives the EBCM addition command and additionally executes the EBCM addition command; And
And transmitting a maintenance command to maintain the EBCM additional engagement state in the EBCM device when the vehicle is in the no-motion state.

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