KR20210155407A - Apparatus and method for emergency braking of a vehicle - Google Patents

Abstract

The present invention provides a vehicle emergency braking apparatus for securing braking force of a vehicle when a vehicle engine is stopped on a slope way, which comprises: a slope determination unit for determining the slope way; an engine stop determination unit for determining engine stop due to gear operation; a vehicle movement determination unit for determining the movement of the vehicle; a braking intent determination unit for determining a driver's intent on braking; and a control unit which brakes the vehicle by using a parking brake when it is determined that the vehicle engine is stopped by the gear operation on the slope, the vehicle moves, and the driver has an intent on braking.

Description

VEHICLE EMERGENCY BRAKING OF A VEHICLE

The present invention relates to a vehicle emergency braking device and method.

A brake system is an important device used to decelerate or stop a moving vehicle and maintain a parking state at the same time. Generally, it uses friction to convert kinetic energy of a vehicle into thermal energy and releases it into the atmosphere for braking. Friction brakes are used.

In addition, the braking system is roughly divided into a main brake used for driving and a parking brake used for parking. It is also called a hand brake because it is usually operated by hand.

In general, a hydraulic type is used for the main brake, and a mechanical type is used for the parking brake. The hydraulic brake, the main brake, generates hydraulic pressure in the master cylinder by the pressure difference in the booster when the driver presses the brake pedal. Hydraulic pressure generated from the master cylinder is transmitted to the caliper or wheel cylinder installed on each wheel through steel pipe or hose, and the transmitted hydraulic pressure presses the piston in the caliper or wheel cylinder, and the piston presses the pad or brake shoe to the disc or drum Press to generate braking force.

As such, although the braking device is a device essential for braking the vehicle, when the engine is turned off while the vehicle is driving, the booster pressure in a vacuum state (created using the intake vacuum pressure of the engine) is reduced to atmospheric pressure, There is no pressure difference. As a result, there is a problem in that the main brake does not operate even if the driver presses the brake pedal.

An object of the present invention is to provide a vehicle emergency braking device capable of ensuring the safety of the vehicle and the driver by securing braking force of the vehicle using the parking brake when the engine is stopped due to manipulation of a gear on a slope in front of the vehicle. .

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned above can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

In order to achieve the above object, the present invention provides an emergency braking device for securing the braking force of the vehicle when the vehicle stops the engine on a slope. an engine stop determining unit that determines the movement of the vehicle, a vehicle motion determination unit that determines the movement of the vehicle, a braking intention determination unit that determines the driver's will to brake, and the engine is stopped due to manipulation of a gear on a slope of the vehicle, and the vehicle moves and the driver Provided is a vehicle emergency braking device including a control unit that brakes the vehicle using a parking brake when it is determined that there is a will to brake.

Here, when the slope is a downhill slope in front of the vehicle, the engine stop determining unit determines that the engine is stopped due to a reverse gear input.

In addition, the engine stop determining unit determines that the engine is stopped due to the forward gear input when the slope is an uphill slope in front of the vehicle.

In addition, the slope determining unit determines the slope by receiving an acceleration in the longitudinal direction from the acceleration sensor of the vehicle.

In addition, if the longitudinal acceleration is negative and equal to or less than the first reference value, it is determined as a downhill slope in front of the vehicle. do.

In addition, the engine stop determination unit receives the gear operation signal and the engine rotation speed from the vehicle shift controller and the engine speed sensor, respectively, and determines the engine stop due to the gear operation.

In addition, the engine stop determination unit determines that the engine is stopped when the rotation speed of the engine is equal to or less than the second reference value.

In addition, the vehicle motion determination unit receives a wheel speed input from a wheel speed sensor of the vehicle and determines the motion of the vehicle.

Also, when the wheel speed is equal to or greater than the third reference value, the vehicle motion determining unit determines that the vehicle is moving.

In addition, the braking intention determining unit receives the pressure of the master cylinder according to the pressure of the brake pedal from the pressure sensor of the vehicle, and determines the driver's will to brake.

In addition, when the pressure of the master cylinder is equal to or greater than the fourth reference value, the braking intention determining unit determines that the braking intention is of the driver.

In addition, when it is determined that the driver does not intend to brake while the parking brake is being operated, the control unit releases the operation of the parking brake.

Also, when braking using the parking brake, the controller transmits a warning message to the driver using the cluster inside the vehicle.

In addition, the present invention provides an emergency braking method for securing the braking force of a vehicle when the vehicle stops the engine on a slope. determining, determining the driver's will to brake, and braking the vehicle using a parking brake when it is determined that the engine is stopped due to the operation of a gear on a slope of the vehicle and the vehicle is moving and the driver has a will to brake It provides a vehicle emergency braking method comprising:

According to the present invention, when the engine is stopped due to manipulation of a gear on a slope in front of the vehicle, the vehicle's braking force is secured using the parking brake, thereby ensuring the safety of the vehicle and the driver.

Effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description.

1 is a hydraulic circuit diagram of a braking device according to an embodiment of the present invention.
FIG. 2 is a view for explaining an operation of an emergency braking device for a vehicle according to an exemplary embodiment of the present invention.
3 is a schematic block diagram of a vehicle emergency braking system according to an embodiment of the present invention.
4 is a detailed block diagram of the determination unit of FIG. 3 .
FIG. 5 is a detailed block diagram of the sensing unit of FIG. 3 .
6 is a flowchart of a vehicle emergency braking method according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

1 is a hydraulic circuit diagram of a main brake according to an embodiment of the present invention.

1 , the main brake according to the embodiment of the present invention includes a brake pedal 11 , a vacuum booster 12 , a master cylinder 13 , a reservoir 14 , a wheel cylinder 15 , and a solenoid valve 16 . , a motor 17 , a pump 18 , a low pressure accumulator 19 and a wheel speed sensor 114 .

The brake pedal 11 adjusts the degree of braking pressure when braking the vehicle, and the vacuum booster 12 and the master cylinder 13 amplify the force transmitted from the brake pedal 11 to generate brake hydraulic pressure. And, the reservoir 14 stores the brake fluid and maintains the temperature.

The wheel cylinder 15 transmits the brake hydraulic pressure generated from the vacuum booster 12 and the master cylinder 13 or the motor 17 to the wheel (wheel) 3, and the low pressure accumulator 19 is the wheel cylinder 15 Temporarily stores the brake fluid discharged from

The solenoid valve 16 is installed on the inlet and outlet sides of the wheel cylinder 15 in order to inflow or outflow the brake hydraulic pressure generated in the master cylinder 13 and supplied to the wheel cylinder 15 .

The solenoid valve 16 may include a normally open type valve and a normally closed type valve. And, the solenoid valve 16 may be provided corresponding to each wheel (3).

The motor 17 and the pump 18 may pump the brake fluid stored in the low pressure accumulator 19 and return it to the master cylinder 13 or the wheel cylinder 15 . In addition, the motor 17 and the pump 18 may supplement the insufficient brake hydraulic pressure when the brake hydraulic pressure generated by the vacuum booster 12 and the master cylinder 13 does not reach the braking pressure.

The wheel speed sensor 114 is provided at a position adjacent to the wheel 3 to measure the rotational speed and rotational acceleration of the wheel 3 .

On the other hand, the vacuum booster 14 is connected to the intake port of the engine cylinder (not shown). At this time, when the throttle of the engine is closed, as air moves from the vacuum booster 14 to the intake port of the engine cylinder, a vacuum is formed inside the vacuum booster 14 .

Accordingly, when the driver presses the brake pedal 11, the valve connected to the external atmosphere is opened, and the master cylinder 13 is pushed by the boosting force due to the difference between the vacuum and the atmospheric pressure inside the vacuum booster 14 to generate braking force. However, when the engine is stopped, a braking force is not generated because a vacuum is not generated inside the vacuum booster 14 .

FIG. 2 is a view for explaining an operation of an emergency braking device for a vehicle according to an exemplary embodiment of the present invention.

Referring to FIG. 2A , when the driver engages the gear to the reverse (R) stage and releases the pressure of the brake pedal 11 while the vehicle 2 is located on the forward downhill slope 1, the engine stops can be That is, when the gear is engaged in the reverse gear, the vehicle 2 generates reverse power, but if the reverse power is less than the gravity generated in the direction opposite to the reverse power due to the forward downhill slope, despite the reverse gear input The vehicle 2 rolls forward so that the engine can be mechanically stopped.

In addition, if the engine continues to operate without stopping in such a situation, the transmission may be damaged. Accordingly, in order to protect the transmission, when the driver engages the gear to the reverse (R) stage and releases the pressure of the brake pedal 11 while the vehicle 2 is located on the front downhill slope 1 , the shift controller , an engine stop signal may be transmitted to the engine controller. Then, the engine controller may stop the engine according to the engine stop signal.

In addition, referring to FIG. 2( b ), when the driver engages the gear to the forward (D) stage and releases the pressure of the brake pedal 11 while the vehicle 2 is positioned on the front uphill slope 3 , the engine This can be stopped. That is, when the gear is engaged to the forward end, the vehicle 2 generates forward power, but when the forward power is smaller than the gravity generated in the direction opposite to the forward power due to the forward uphill slope 3, the forward power of the gear Despite the diagnostic input, the vehicle 2 may roll backwards and the engine may be mechanically stopped.

In addition, if the engine continues to operate without stopping in such a situation, the transmission may be damaged. Therefore, in order to protect the transmission, when the driver engages the gear to the forward (D) stage and releases the pressure of the brake pedal 11 while the vehicle 2 is located on the front uphill slope 3, the shift controller , an engine stop signal may be transmitted to the engine controller. Then, the engine controller may stop the engine according to the engine stop signal.

As such, when the engine is stopped, a braking force is not generated because a vacuum is not generated inside the vacuum booster 14 , and thus the driver cannot stop the vehicle, resulting in a dangerous situation.

In order to prevent such a situation, the present invention provides an emergency braking device for securing the braking force of the vehicle 2 when the vehicle 2 stops the engine on the ramps 2 and 3 .

3 is a schematic block diagram of a vehicle emergency braking device according to an embodiment of the present invention, FIG. 4 is a detailed block diagram of the determination unit of FIG. 3 , and FIG. 5 is a detailed block diagram of the detection unit of FIG. 3 .

Hereinafter, a vehicle emergency braking apparatus 100 according to an exemplary embodiment of the present invention will be described with reference to FIGS. 4 to 5 .

The vehicle emergency braking apparatus 100 according to an embodiment of the present invention may include a detection unit 110 , a determination unit 120 , and a control unit 130 .

The determination unit 120 may include a slope determination unit 121 , an engine stop determination unit 122 , a vehicle motion determination unit 123 , and a braking intention determination unit 124 .

The slope determining unit 121 determines the slopes 1 and 3 in front of the vehicle 2 . Specifically, the slope determining unit 121 receives the longitudinal acceleration from the acceleration sensor 111 provided in the inertial measurement unit (IMU) of the vehicle 2 , and the slope 1 in front of the vehicle 2 , 3) is judged. Here, the inertial measuring device includes direction sensors that continuously track where the vehicle is, where it is heading, and the like, for example, an acceleration sensor 111 and a gyroscope.

The slope determining unit 121 determines the downhill slope 1 in front of the vehicle when the longitudinal acceleration is a negative (-) value and is less than or equal to the first reference value. That is, the slope determining unit 121 determines a downhill slope having a predetermined slope. In this case, the first reference value may be set to an acceleration at which the vehicle's reversing power becomes smaller than gravity due to the forward downhill slope. For example, the first reference value may be -0.1 g, but is not limited thereto and may be set differently depending on the type and situation of the vehicle.

Also, when the longitudinal acceleration is a positive (+) value and is equal to or greater than the first reference value, the slope determining unit 121 determines the uphill slope 3 in front of the vehicle. That is, the slope determining unit 121 determines an uphill slope having a predetermined slope. In this case, the first reference value may be set as an acceleration at which the forward power of the vehicle becomes smaller than gravity due to the forward downhill slope. For example, the first reference value may be 0.1 g, but is not limited thereto, and may be set differently depending on the type and situation of the vehicle.

The engine stop determining unit 122 determines that the engine is stopped due to the manipulation of the gear. Specifically, the engine stop determining unit 122 receives a gear operation signal from a transmission control unit (TCU) 112 of the vehicle 2 , and is provided in an engine management system (EMS). The engine speed sensor 113 receives the engine rotation speed and determines the engine stop due to the gear reverse input.

Here, the shift controller 112 comprehensively controls a power transmission system related to driving the vehicle 2 , such as a forward and reverse switching device, a transmission, a power connection, and timing thereof. In particular, the shift controller 112 transmits the reverse gear input signal to the engine stop determining unit 122 when a reverse gear input signal is input through the shift lever, and when a forward gear input signal is input through the shift lever The forward diagnosis input signal is transmitted to the engine stop determining unit 122 .

In addition, the engine controller controls the engine torque based on information obtained from various sensors (eg, the engine speed sensor 113 ).

The engine stop determining unit 122 determines that the engine is stopped due to a reverse gear input on the downhill slope 1 in front of the vehicle 2 , and the engine stop determining unit 122 determines that the engine stops on the uphill slope 3 in front of the vehicle 2 . Determines engine stop due to diagnostic input.

Specifically, the engine stop determining unit 122 receives the reverse stage input signal or the forward stage input signal, and determines that the engine is stopped by the reverse stage or forward stage input when the rotation speed of the engine is less than or equal to the second reference value can do. In general, considering that the engine speed is 600 RPM or more in a state in which the engine is turned on without stepping on the accelerator, the second reference value is preferably 100 RPM, but is not limited thereto and may be set differently depending on the vehicle type and situation.

Meanwhile, the vehicle emergency braking apparatus 100 according to the embodiment of the present invention includes the sensing unit 110 , the determining unit 120 , and the controlling unit 130 for a predetermined time after the engine is stopped in order to perform emergency braking when the engine is stopped. can supply power to

The vehicle movement determination unit 123 determines the movement of the vehicle 2 (a forward cloud or a rear cloud). Specifically, the vehicle motion determination unit 123 receives the wheel (wheel) speed from the wheel speed sensor 114 of the vehicle 2 and determines the movement of the vehicle 2 .

When the wheel speed is equal to or greater than the third reference value, the vehicle motion determination unit 123 may determine that the vehicle 2 is moving. That is, the vehicle motion determining unit 123 may determine that the vehicle is moving when the wheel speed is greater than or equal to a predetermined speed. Here, the third reference value is preferably 1 kph, but is not limited thereto and may be set differently depending on the type and situation of the vehicle.

The braking intention determining unit 124 determines the driver's braking intention. Specifically, the braking intention determining unit 124 receives the pressure of the master cylinder 13 according to the pressure of the brake pedal 11 from the pressure sensor 115 of the vehicle 2 to determine the driver's braking intention. Here, the pressure sensor 115 may be provided inside the master cylinder 13 .

If the pressure of the master cylinder 13 is equal to or greater than the fourth reference value, the braking will determination unit 124 may determine that the driver has the will to brake. Here, the fourth reference value is preferably 5 bar, but is not limited thereto and may be set differently depending on the vehicle type and situation.

The control unit 130 receives the determination result of the determination unit 120 through CAN (controller area network) communication, and determines that the engine is stopped due to the operation of the gear, the vehicle 2 moves, and the driver has a will to brake Then, the vehicle 2 is braked using the parking brake 20 . In this case, the controller 130 may transmit a braking control signal to the parking brake 20 through CAN communication to operate the parking brake.

Also, when it is determined that the driver has no will to brake while the parking brake 20 is being operated, the controller 130 may release the operation of the parking brake 20 .

Specifically, when the driver presses the brake pedal 11 to restart the engine in a state in which the parking brake 20 operates and then releases the pressure of the brake pedal 11, the Since the main brake is normally operable, the operation of the parking brake 20 can be released.

Also, when the driver repeatedly presses and releases the pressure of the brake pedal 11 , the controller 130 may repeatedly perform the operation and release of the parking brake 20 in association with the pressurization and release of the brake pedal 11 . Accordingly, the driver may control the operation of the parking brake 20 instead of the main brake by manipulating the brake pedal 11 .

The parking brake 20 may be an Electronic Parking Brake (EPB). Here, the electronic parking brake is a device for braking using an electronic control actuator, unlike the existing mechanical parking brake. Since such an electronic parking brake is operated only with a button operation, it is convenient for the elderly and weak in power, and has the advantage of including the characteristics of an ABS brake during emergency braking.

As such, the vehicle emergency braking device 100 according to the embodiment of the present invention uses the parking brake 20 to use the parking brake 20 when the engine is stopped due to manipulation of a gear on the slopes 1 and 3 in front of the vehicle 2 . By securing the braking force of 2), it is possible to ensure the safety of the vehicle 2 and the driver.

In addition, when braking using the parking brake 20 , the controller 130 may transmit a warning message visually or voiceally to the driver using the cluster 30 inside the vehicle 2 . Through this, it is possible to notify the user of an emergency situation.

6 is a flowchart of a vehicle emergency braking method according to an embodiment of the present invention.

Hereinafter, a vehicle emergency braking method according to an exemplary embodiment of the present invention will be described with reference to FIGS. 1 to 6 , but the same contents as the above-described vehicle emergency braking apparatus 100 will be omitted.

The vehicle emergency braking method according to the embodiment of the present invention determines the downhill slope in front of the vehicle 2 in order to secure the braking force of the vehicle 2 when the engine is stopped on the slopes 1 and 3 in front of the vehicle 2 (S10), determining whether the engine is stopped due to gear manipulation (S30), determining the movement of the vehicle 2 (S40), determining the driver's will to brake (S40), and parking It may be configured to include a step ( S50 ) of braking the vehicle 2 using the brake 20 .

In the step S50 of braking the vehicle 2 using the parking brake 20, the determination result determined in each determination step S10 to S40 is transmitted through CAN (controller area network) communication, and the vehicle 2 When the engine is stopped due to the operation of the gear on the front slopes 1 and 3 and the vehicle 2 moves and it is determined that the driver has the will to brake, the vehicle 2 is braked using the parking brake 20 . At this time, the parking brake may be operated by transmitting a braking control signal to the parking brake 20 through CAN communication.

On the other hand, although not shown in the drawings, the vehicle emergency braking method according to an embodiment of the present invention further includes the step of stopping the engine to protect the transmission when the gear is operated on the ramps 1 and 3 in front of the vehicle 2 . can do.

As described above, in the vehicle emergency braking method according to the embodiment of the present invention, when the engine is stopped due to manipulation of a gear on the slopes 1 and 3 in front of the vehicle 2, the vehicle 2 is By securing the braking force, the safety of the vehicle 2 and the driver can be ensured.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , changes, deletions, additions, etc. may easily suggest other embodiments, but this will also fall within the scope of the present invention.

121: slope determination unit
122: engine stop determination unit
123: vehicle movement determination unit
124: braking will determination unit
130: control unit

Claims (14)

As an emergency braking device for securing the braking force of the vehicle when the engine is stopped on a slope,
a slope determining unit for determining the slope;
an engine stop determination unit for determining the stop of the engine due to the manipulation of the gear;
a vehicle motion determination unit that determines the movement of the vehicle;
a braking intention determining unit that determines the driver's will to brake; and
A control unit for braking the vehicle using a parking brake when it is determined that the engine is stopped due to the manipulation of the gear on the slope of the vehicle, the vehicle is moving and the driver has a will to brake
A vehicle emergency braking system comprising a.
The method of claim 1,
The engine stop determining unit
If the ramp is an uphill ramp in front of the vehicle,
To determine the stop of the engine due to the reverse diagnosis input of the gear
vehicle emergency braking system.
The method of claim 1,
The engine stop determining unit
If the ramp is an uphill ramp in front of the vehicle,
To determine the stop of the engine due to the forward diagnosis input of the gear
vehicle emergency braking system.
The method of claim 1,
The slope determination unit
determining the slope by receiving the longitudinal acceleration from the vehicle's acceleration sensor
vehicle emergency braking system.
5. The method of claim 4,
The slope determination unit
If the longitudinal acceleration is negative and less than or equal to the first reference value, it is determined as a downhill slope in front of the vehicle,
If the acceleration in the longitudinal direction is a positive value and is greater than or equal to the first reference value, it is determined as an uphill slope in front of the vehicle.
vehicle emergency braking system.
The method of claim 1,
The engine stop determining unit
receiving the gear operation signal and the engine rotation speed from the vehicle shift controller and the engine speed sensor, respectively, and determining the stop of the engine due to the gear operation
vehicle emergency braking system.
7. The method of claim 6,
The engine stop determining unit
If the rotation speed of the engine is less than the second reference value, it is determined that the engine is stopped
vehicle emergency braking system.
The method of claim 1,
The vehicle movement determination unit
It receives the wheel speed input from the vehicle wheel speed sensor and determines the movement of the vehicle.
vehicle emergency braking system.
9. The method of claim 8,
The vehicle movement determination unit
If the wheel speed is equal to or greater than the third reference value, it is determined as the movement of the vehicle.
vehicle emergency braking system.
The method of claim 1,
The braking intention determination unit
It receives the pressure of the master cylinder according to the pressure of the brake pedal from the vehicle's pressure sensor to determine the driver's will to brake.
vehicle emergency braking system.
11. The method of claim 10,
The braking intention determination unit
When the pressure of the master cylinder is equal to or greater than the fourth reference value, it is determined by the driver's will to brake.
vehicle emergency braking system.
11. The method of claim 10,
the control unit
When it is determined that the driver does not intend to brake during the operation of the parking brake, the operation of the parking brake is released.
vehicle emergency braking system.
The method of claim 1,
the control unit
When braking using the parking brake, a warning message is delivered to the driver using a cluster inside the vehicle.
vehicle emergency braking system.
An emergency braking method for securing the braking force of the vehicle when the vehicle stops the engine on a slope,
determining the slope;
determining that the engine is stopped due to manipulation of a gear;
determining the movement of the vehicle;
determining the driver's intention to brake; and
braking the vehicle using a parking brake when it is determined that the engine is stopped due to the operation of the gear on the slope of the vehicle, the vehicle is moving and the driver has a will to brake
A vehicle emergency braking method comprising a.

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