KR20210031659A - Vehicle control apparatus and vehicle control method - Google Patents

Abstract

A vehicle control device and a vehicle control method are disclosed. According to an embodiment of the present invention, a vehicle control device comprises: an estimation unit which receives road surface condition information and wheel speed values detected by a detection device, receives tire condition information supplied from a tire information device, and estimates an expected braking distance value based on the received road surface condition information, tire condition information, and wheel speed value; and a control unit which provides a deceleration command when the estimated expected braking distance value is greater than or equal to a set target value. When the control unit receives an operation signal of a brake pedal from the brake pedal of a brake device, the control unit transmits a brake command compensated for reducing the braking distance to the brake device.

Description

Vehicle control apparatus and vehicle control method TECHNICAL FIELD

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

In general, conventional vehicles have been provided to control a braking distance according to a road surface condition.

For example, as described in Korean Patent Publication No. 10-0826805 (2008.04.25), the yaw rate of the vehicle is adjusted by adjusting the braking force provided to the wheel on the high friction road surface according to the degree of the yaw rate of the vehicle when braking on the split road surface. In case of low accuracy, braking force is increased so that braking distance is prioritized rather than vehicle stability, and in case of high yaw rate, braking force can be reduced so that vehicle stability is prioritized rather than braking distance. And a control method thereof has been disclosed.

However, the conventional vehicle brake device and its control method have limitations in effectively shortening the braking distance, and thus there is a limit in preventing the occurrence of traffic accidents.

Korean Registered Patent Publication 10-0826805 (2008.04.25)

An embodiment of the present invention is to provide a vehicle control device and a vehicle control method capable of effectively shortening a braking distance and preventing the occurrence of a traffic accident.

According to an aspect of the present invention, the road surface condition information and wheel speed value detected by the sensing device are input, the tire condition information supplied from the tire information device is input, and the input road surface condition information, tire condition information, and wheel speed value An estimating unit estimating an expected braking distance value based on; And a control unit that provides a deceleration command when the estimated predicted braking distance value is greater than or equal to the set target value, and the control unit provides a compensated braking command to reduce the braking distance when the operation signal of the brake pedal is supplied from the brake pedal of the brake device. It may include transmission to the brake device.

According to another aspect of the present invention, the estimating unit estimates a first predicted braking distance value according to a high friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value; The calculation unit calculates a first target braking distance value for reducing the braking distance; The control unit may transmit a first compensation braking command to the brake device to reduce the braking distance in response to the calculated first target braking distance value.

According to another aspect of the present invention, the estimating unit estimates a second predicted braking distance value according to a low-friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value; The calculation unit calculates a second target braking distance value for reducing the braking distance; The control unit may transmit a second compensation braking command to the brake device to reduce the braking distance in response to the calculated second target braking distance value.

According to another aspect of the present invention, the control unit may further transmit a compensated braking command to the braking device before the ABS control operation in the ABS mode of the braking device to reduce the braking distance.

According to another aspect of the present invention, the road surface condition information may be a temperature value of the road surface.

According to another aspect of the present invention, the road surface condition information may be a humidity value of the road surface.

According to another aspect of the present invention, the tire condition information may be information on a tire mileage according to tire aging estimated based on tire life information and tire replacement time information.

According to another aspect of the present invention, there is provided a method comprising: receiving information on a road surface detected by a sensing device, receiving information on a tire state supplied from a tire information device, and receiving a wheel speed value detected by the sensing device; Estimating an expected braking distance value based on the input road surface condition information, tire condition information, and wheel speed value; Determining whether the estimated estimated braking distance value is greater than or equal to a set target value; Providing a deceleration command if the estimated predicted braking distance value is greater than or equal to the target value; Determining whether an operation signal of the brake pedal has been supplied from the brake pedal of the brake device; And when receiving the operation signal of the brake pedal, transmitting a compensated braking command to reduce the braking distance to the brake device.

According to another aspect of the present invention, based on the input road surface condition information, tire condition information, and wheel speed value, a first predicted braking distance value according to a high friction road surface condition is estimated; Calculate a first target braking distance value for reducing the braking distance; It is possible to transmit a first compensation braking command to the brake device to reduce the braking distance in response to the calculated first target braking distance value.

According to another aspect of the present invention, based on the input road surface condition information, tire condition information, and wheel speed value, a second predicted braking distance value according to a low friction road surface condition is estimated; Calculate a second target braking distance value for reducing the braking distance; A second compensating braking command may be transmitted to the brake device to reduce the braking distance in response to the calculated second target braking distance value.

According to another aspect of the present invention, it is possible to further transmit a compensated braking command to the brake device before the ABS control operation of the ABS mode of the brake device to reduce the braking distance.

The vehicle control apparatus and the vehicle control method according to an exemplary embodiment of the present invention can effectively shorten a braking distance to prevent occurrence of a traffic accident.

1 is a block diagram showing a vehicle control apparatus according to an embodiment of the present invention as an example.
FIG. 2 is a diagram illustrating a process of calculating a target braking distance value by the calculation unit shown in FIG. 1 as an example.
FIG. 3 is a diagram illustrating a process of calculating a first target braking distance value by the calculation unit shown in FIG. 1 as an example.
FIG. 4 is a diagram illustrating a process of calculating a second target braking distance value by the calculation unit shown in FIG. 1 as an example.
5 is a flowchart illustrating a vehicle control method of a vehicle control apparatus according to an exemplary embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following examples are presented in order to sufficiently convey the spirit of the present invention to those of ordinary skill in the art to which the present invention pertains. The present invention is not limited only to the embodiments presented herein, but may be embodied in other forms. In the drawings, in order to clarify the present invention, portions not related to the description may be omitted, and the size of components may be slightly exaggerated to aid understanding.

1 is a block diagram illustrating a vehicle control apparatus according to an embodiment of the present invention as an example, and FIG. 2 is a diagram illustrating a process of calculating a target braking distance value by a calculation unit illustrated in FIG. 1 as an example.

3 is a diagram illustrating a process of calculating a first target braking distance value by the calculation unit shown in FIG. 1 as an example, and FIG. 4 is a view showing a process of calculating a second target braking distance value by the calculation unit shown in FIG. 1. It is a drawing shown as an example.

1 and 2, the vehicle control apparatus 100 according to an embodiment of the present invention includes an estimation unit 102, a calculation unit 104, and a control unit 106.

The estimating unit 102 receives road surface condition information and wheel speed values sensed by the sensing device 10, and receives tire condition information supplied from the tire information device 30.

Here, the road surface condition information may be a temperature value of the road surface or a humidity value of the road surface, and the tire condition information may be information about a tire mileage according to tire aging estimated based on tire life information and tire replacement time information.

At this time, although not shown, the sensing device 10 may include an infrared temperature sensor (not shown) for detecting the temperature value of the road surface, and a humidity sensor (not shown) for detecting the humidity value of the road surface. There can be.

In addition, as shown in FIGS. 1 and 2, the estimating unit 102 estimates a predicted braking distance value PBD based on the input road surface condition information, tire condition information, and wheel speed value.

As an example, as shown in FIGS. 1 and 3, the estimation unit 102 includes a first predicted braking distance value PBD1 according to a high friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value. Can be estimated.

As another example, as shown in FIGS. 1 and 4, the estimation unit 102 is based on the input road surface condition information, tire condition information, and wheel speed values, based on the second predicted braking distance value PBD2 according to the low-friction road surface condition. ) Can be estimated.

The calculation unit 104 calculates a target braking distance value TBD for reducing the braking distance BD in response to the expected braking distance value PBD estimated by the estimating unit 102.

As an example, as shown in FIGS. 1 and 3, the calculation unit 104 is configured to reduce the braking distance BD1 in response to the first expected braking distance value PBD1 estimated by the estimating unit 102. The target braking distance value TBD1 can be calculated.

As another example, as shown in FIGS. 1 and 4, the calculation unit 104 is used to reduce the braking distance BD2 in response to the second expected braking distance value PBD2 estimated by the estimating unit 102. 2 The target braking distance value TBD2 can be calculated.

When the predicted braking distance value PBD estimated by the estimating unit 102 is greater than or equal to the set target value, the control unit 106 transmits a deceleration command to the speed control device 50.

In addition, when the control unit 106 receives the operation signal of the brake pedal 70a from the brake pedal 70a of the brake device 70, the control unit 106 corresponds to the target braking distance value TBD calculated by the calculation unit 104. A compensation braking command is transmitted to the brake device 70 to reduce the braking distance BD.

At this time, the control unit 106 before the ABS control operation of the ABS mode 70b of the brake device 70 to reduce the braking distance BD in response to the target braking distance value TBD calculated by the calculation unit 104 , It is possible to further transmit a compensation braking command to the brake device 70.

For example, as shown in FIGS. 1 and 3, when the control unit 106 receives the operation signal of the brake pedal 70a from the brake pedal 70a of the brake device 70, it is calculated by the calculation unit 104 The first compensation braking command may be transmitted to the brake device 70 so as to reduce the braking distance BD1 in response to the determined first target braking distance value TBD1.

At this time, the control unit 106 controls the ABS mode 70b of the brake device 70 to reduce the braking distance BD1 in response to the first target braking distance value TBD1 calculated by the calculation unit 104. Before the operation, it is possible to further transmit the first compensation braking command to the brake device 70.

As another example, as shown in FIGS. 1 and 4, when the control unit 106 receives the operation signal of the brake pedal 70a from the brake pedal 70a of the brake device 70, the calculation unit 104 The second compensation braking command may be transmitted to the brake device 70 to reduce the braking distance BD2 in response to the calculated second target braking distance value TBD2.

At this time, the control unit 106 controls the ABS mode 70b of the brake device 70 to reduce the braking distance BD2 in response to the second target braking distance value TBD2 calculated by the calculation unit 104 Before the operation, it is possible to further transmit a second compensation braking command to the brake device 70.

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

Referring to FIG. 5, the vehicle control method 500 of the vehicle control apparatus (100 in FIG. 1) according to an embodiment of the present invention includes an input step (S502), an estimation step (S504), and a first determination step (S506). And a speed adjustment step (S508) and a calculation step (S510), a second determination step (S512), and a braking step (S514).

In the input step S502, the road surface condition information and the wheel speed value detected by the sensing device (10 in FIG. 1) are input from the estimating unit (102 in FIG. 1), and the tire supplied from the tire information device (30 in FIG. 1). The state information is inputted from the estimation unit (102 in FIG. 1).

In the estimating step S504, the estimated braking distance value (PBD in Fig. 2) is estimated by the estimating unit (102 in Fig. 1) based on the input road surface condition information, tire condition information, and wheel speed value.

For example, in the estimating step (S504), the first predicted braking distance value (PBD1 in Fig. 3) according to the high-friction road surface condition is calculated based on the input road surface condition information, tire condition information, and wheel speed value. 102).

As another example, in the estimating step (S504), based on the input road surface condition information, tire condition information, and wheel speed value, the estimation unit (Fig. It can be estimated from 102).

The first determination step S506 determines whether the estimated braking distance value (PBD in Fig. 2) estimated by the estimating unit (102 in Fig. 1) is equal to or greater than the target value set in the control unit (106 in Fig. 1). 106).

For example, in the first determination step (S506), it is determined whether the first expected braking distance value (PBD1 in FIG. 3) estimated by the estimation unit (102 in FIG. 1) is equal to or greater than the target value set in the control unit (106 in FIG. 1). It can be determined by the control unit (106 in Fig. 1).

As another example, in the first determination step (S506), whether the second expected braking distance value (PBD2 in FIG. 4) estimated by the estimation unit (102 in FIG. 1) is equal to or greater than the target value set in the controller (106 in FIG. 1). Can be determined by the control unit (106 in Fig. 1).

If the control unit (106 in Fig. 1) determines that the estimated braking distance value (PBD in Fig. 2) estimated by the estimating unit (102 in Fig. 1) is equal to or greater than the target value, the speed adjustment step (S508) 106) transmits a deceleration command to the speed control device (50 in Fig. 1).

For example, if the control unit (106 in Fig. 1) determines that the first predicted braking distance value (PBD1 in Fig. 3) estimated by the estimating unit (102 in Fig. 1) is equal to or greater than the target value in the speed adjustment step (S508), The control unit (106 in Fig. 1) can transmit a deceleration command to the speed adjusting device (50 in Fig. 1).

As another example, if the control unit (106 in Fig. 1) determines that the second expected braking distance value (PBD2 in Fig. 4) estimated by the estimating unit (102 in Fig. 1) is equal to or greater than the target value in the speed adjustment step (S508) , The control unit (106 in Fig. 1) can transmit a deceleration command to the speed adjusting device (50 in Fig. 1).

In the calculation step S510, the target braking distance value (Fig. 2) for reducing the braking distance (BD in Fig. 2) corresponding to the expected braking distance value (PBD in Fig. 2) estimated by the estimating unit (102 in Fig. 1) is TBD) is calculated in the calculation unit (104 in Fig. 1).

As an example, the calculation step (S510) is a first target for reducing the braking distance (BD1 in Fig. 3) in response to the first expected braking distance value (PBD1 in Fig. 3) estimated by the estimating unit (102 in Fig. 1). The braking distance value (TBD1 in Fig. 3) can be calculated by the calculation unit (104 in Fig. 1).

As another example, in the calculation step S510, the second expected braking distance value (PBD2 in Fig. 4) estimated by the estimating unit (102 in Fig. 1) is reduced. The target braking distance value (TBD2 in Fig. 4) can be calculated by the calculation unit (104 in Fig. 1).

In the second determination step S512, the control unit (106 in Fig. 1) determines whether the operation signal of the brake pedal (70a in Fig. 1) has been supplied from the brake pedal (70a in Fig. 1) of the brake device (70 in Fig. 1). Judge.

In the braking step S514, if it is determined that the operation signal of the brake pedal (70a in Fig. 1) is supplied from the control unit (106 in Fig. 1) from the brake pedal (70a in Fig. 1) of the brake device (70 in Fig. 1), In response to the target braking distance value (TBD in Fig. 2) calculated by the calculation unit (104 in Fig. 1), the control unit (106 in Fig. 1) reduces the braking distance (BD in Fig. 2). 70) to transmit the compensation braking command

At this time, the braking step (S514) is the brake device (Fig. 1) to reduce the braking distance (BD in Fig. 2) in response to the target braking distance value (TBD in Fig. 2) calculated by the calculation unit (104 in Fig. 1). Before the ABS control operation in the ABS mode (70b in FIG. 1) of 70), the control unit (106 in FIG. 1) can further transmit a compensation braking command to the brake device (70 in FIG. 1).

For example, in the braking step S514, the operation signal of the brake pedal (70a in Fig. 1) is supplied from the control unit (106 in Fig. 1) from the brake pedal (70a in Fig. 1) of the brake device (70 in Fig. 1). When it is determined, the control unit (106 in Fig. 1) brakes to reduce the braking distance (BD1 in Fig. 3) in response to the first target braking distance value (TBD1 in Fig. 3) calculated by the calculation unit (104 in Fig. 1). It is possible to transmit a first compensation braking command to the device (70 in Fig. 1).

At this time, the braking step (S514) is the brake device (Fig. 3) to reduce the braking distance (BD1 in Fig. 3) in response to the first target braking distance value (TBD1 in Fig. 3) calculated by the calculation unit (104 in Fig. 1). Prior to the ABS control operation in the ABS mode (70b of FIG. 1) of 70 of 1), the control unit (106 of FIG. 1) can further transmit a first compensation braking command to the brake device (70 of FIG. 1).

As another example, in the braking step (S514), the operation signal of the brake pedal (70a in Fig. 1) is supplied from the control unit (106 in Fig. 1) from the brake pedal (70a in Fig. 1) of the brake device (70 in Fig. 1). If it is determined that, the control unit (106 in Fig. 1) reduces the braking distance (BD2 in Fig. 4) in response to the second target braking distance value (TBD2 in Fig. 4) calculated by the calculation unit (104 in Fig. 1). A second compensating braking command can be transmitted to the brake device (70 in Fig. 1).

At this time, the braking step (S514) is the brake device (Fig. 4) to reduce the braking distance (BD2 in Fig. 4) in response to the second target braking distance value (TBD2 in Fig. 4) calculated by the calculation unit (104 in Fig. 1). Prior to the ABS control operation of the ABS mode (70b of FIG. 1) of 1 70), the control unit (106 of FIG. 1) can further transmit a second compensation braking command to the brake device (70 of FIG. 1).

Meanwhile, in the vehicle control apparatus 100 according to an embodiment of the present invention, configurations of the estimation unit 102, the calculation unit 104, and the control unit 106 have been separately described in order to clearly describe the characteristics of the invention. Although not shown, the estimation unit 102, the calculation unit 104, and the control unit 106 control the overall operation of the vehicle, determine and calculate, and estimate the expected braking distance value. It may be (Micro Control Unit, not shown).

In addition, the estimation unit 102, the calculation unit 104, and the control unit 106 are not limited thereto, and all control means and judgment means capable of controlling the overall operation of the vehicle, determining and calculating, and estimating the expected braking distance value, and It is possible if it is a calculation means and a predicted braking distance estimation means.

As described above, in the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention, when the estimated predicted braking distance value PBD is greater than or equal to a set target value, a deceleration command is sent to the speed control device 50. When transmitting and receiving an operation signal of the brake pedal 70a from the brake pedal 70a of the brake device 70, the brake device 70 reduces the braking distance BD in response to the calculated target braking distance value TBD. ), the compensation braking command can be transmitted.

Accordingly, the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention can compensate for insufficient braking force by predicting an expected braking distance in advance, thereby reducing the braking distance to reduce the occurrence of traffic accidents. It can be prevented in advance.

In addition, the vehicle control device 100 and the vehicle control method 500 according to an exemplary embodiment of the present invention include a speed adjusting device when the first predicted braking distance value PBD1 according to the estimated high friction road surface condition is greater than or equal to a set target value. When a deceleration command is transmitted to 50 and an operation signal of the brake pedal 70a is supplied from the brake pedal 70a of the brake device 70, the braking distance ( It is possible to transmit a first compensation braking command to the brake device 70 to reduce BD1).

In addition, the vehicle control device 100 and the vehicle control method 500 according to an exemplary embodiment of the present invention include a speed control device when the second predicted braking distance value PB2 according to the estimated low-friction road surface condition is greater than or equal to a set target value. When a deceleration command is transmitted to 50 and an operation signal of the brake pedal 70a is supplied from the brake pedal 70a of the brake device 70, the braking distance ( It is possible to transmit a second compensation braking command to the brake device 70 to reduce BD2).

Accordingly, the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention can further compensate for insufficient braking force by predicting an expected braking distance in advance according to a friction road surface condition, thereby further reducing the braking distance. By effectively shortening it, the occurrence of traffic accidents can be further prevented.

In addition, the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention include the brake device 70 to reduce the braking distance BD in response to the calculated target braking distance value TBD. Before the ABS control operation of the ABS mode 70b, a compensation braking command may be further transmitted to the brake device 70.

In addition, the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention include a brake device 70 to reduce the braking distance BD1 in response to the calculated first target braking distance value TBD1. Before the ABS control operation of the ABS mode 70b of ), the first compensation braking command may be further transmitted to the brake device 70.

In addition, the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention include a brake device 70 to reduce the braking distance BD2 in response to the calculated second target braking distance value TBD2. Before the ABS control operation of the ABS mode 70b of ), a second compensation braking command may be further transmitted to the brake device 70.

Therefore, the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention can primarily shorten the braking distance before the ABS control operation of the ABS mode 70b, thereby further reducing the braking distance. By effectively shortening it, the occurrence of traffic accidents can be further prevented.

Claims (11)

The road surface condition information and wheel speed value detected by the detection device are input, the tire condition information supplied from the tire information device is input, and the estimated braking distance value is based on the input road surface condition information, tire condition information, and wheel speed value. An estimating unit for estimating; And
And a control unit for providing a deceleration command when the estimated estimated braking distance value is greater than or equal to a set target value,
The control unit,
When receiving the operation signal of the brake pedal from the brake pedal of the brake device, the vehicle control device comprising transmitting a compensated braking command to reduce the braking distance to the brake device. The method of claim 1,
The estimation unit,
Estimating a first predicted braking distance value according to a high friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value;
The calculation is,
Calculating a first target braking distance value for reducing the braking distance;
The control unit,
A vehicle control device that transmits a first compensation braking command to the brake device to reduce a braking distance in response to the calculated first target braking distance value. The method of claim 1,
The estimation unit,
Estimating a second predicted braking distance value according to a low-friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value;
The calculation is,
Calculating a second target braking distance value for reducing the braking distance;
The control unit,
A vehicle control device that transmits a second compensation braking command to the brake device to reduce a braking distance in response to the calculated second target braking distance value. The method of claim 1,
The control unit,
Before the ABS control operation in the ABS mode of the brake device to reduce the braking distance, the vehicle control device further transmits the compensated braking command to the brake device. The method of claim 1,
The vehicle control device wherein the road surface condition information is a temperature value of a road surface. The method of claim 1,
The vehicle control device wherein the road surface condition information is a humidity value of a road surface. The method of claim 1,
The tire condition information is tire driving distance information according to tire aging estimated based on tire life information and tire replacement time information. Receiving information on a road surface detected by a sensing device, receiving information on a tire state supplied from a tire information device, and receiving a wheel speed value detected by the sensing device;
Estimating a predicted braking distance value based on the input road surface condition information, tire condition information, and wheel speed value;
Determining whether the estimated estimated braking distance value is greater than or equal to a set target value;
Providing a deceleration command if the estimated predicted braking distance value is greater than or equal to the target value;
Determining whether an operation signal of the brake pedal has been supplied from a brake pedal of a brake device; And
And when receiving the operation signal of the brake pedal, transmitting a compensated braking command to reduce a braking distance to the brake device. The method of claim 8,
Estimating a first predicted braking distance value according to a high friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value;
Calculating a first target braking distance value for reducing the braking distance;
A vehicle control method for transmitting a first compensation braking command to the brake device to reduce a braking distance in response to the calculated first target braking distance value. The method of claim 8,
Estimating a second predicted braking distance value according to a low-friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value;
Calculating a second target braking distance value for reducing the braking distance;
A vehicle control method for transmitting a second compensation braking command to the brake device to reduce a braking distance in response to the calculated second target braking distance value. The method of claim 8,
Before the ABS control operation in the ABS mode of the brake device to reduce the braking distance, the vehicle control method for further transmitting the compensated braking command to the brake device.

Images