KR102286027B1 - Vehicle control apparatus and vehicle control method - Google Patents

Abstract

A vehicle control apparatus and a vehicle control method are disclosed. A vehicle control apparatus and a vehicle control method according to an embodiment of the present invention receive input of road surface condition information and wheel speed values sensed by a sensing device, receive tire condition information supplied from a tire information apparatus, and input road surface condition information and an estimator for estimating an expected braking distance value based on the tire condition information and the wheel speed value; and a control unit that provides a deceleration command when the estimated expected braking distance value is greater than or equal to a set target value, wherein the control unit receives a brake pedal operation signal from a brake pedal of the brake device, and applies a compensated braking command to reduce the braking distance. transmission to the brake system.

Description

Vehicle control apparatus and vehicle control method

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 road surface conditions.

For example, as described in Korean Patent Publication No. 10-0826805 (April 25, 2008), the yaw rate of the vehicle is adjusted by adjusting the braking force provided to the wheels on the high-friction road surface according to the degree of yaw rate of the vehicle when braking on a split road surface. A brake device for a vehicle that can increase the braking force to control the braking distance rather than the vehicle stability when the degree is small, and reduce the braking force so that the vehicle stability is prioritized over the braking distance when the yaw rate of the vehicle is large and a method for controlling the same.

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

Korean Patent Publication No. 10-0826805 (April 25, 2008)

SUMMARY OF THE INVENTION 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 thereby preventing the occurrence of a traffic accident in advance.

According to one 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 received, and the input road surface condition information, tire condition information, and wheel speed value are received. an estimator for estimating an expected braking distance value based on and a control unit that provides a deceleration command when the estimated expected braking distance value is greater than or equal to a set target value, wherein the control unit receives a brake pedal operation signal from a brake pedal of the brake device, and applies a compensated braking command to reduce the braking distance. It may include transmission to the brake device.

According to another aspect of the present invention, the estimator estimates a first expected 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 calculator calculates a first target braking distance value for reducing the braking distance; The controller may transmit the 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 estimator estimates a second expected 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 calculator calculates a second target braking distance value for reducing the braking distance; The controller 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 controller may further transmit a compensated braking command to the brake device before the ABS control operation in the ABS mode of the brake 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 tire mileage information 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 road surface condition information detected by a sensing device, receiving tire condition information 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 expected braking distance value is equal to or greater than a set target value; providing a deceleration command when the estimated expected braking distance value is equal to or greater than the target value; determining whether an operation signal of a brake pedal is supplied from a brake pedal of a 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, a first expected braking distance value according to a high friction road surface condition is estimated based on input road surface condition information, tire condition information, and wheel speed value; calculate a first target braking distance value for reducing the braking distance; The first compensation braking command may be transmitted 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, a second expected braking distance value according to a low-friction road surface condition is estimated based on input road surface condition information, tire condition information, and wheel speed value; calculating a second target braking distance value for reducing the braking distance; The second compensation 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, before the ABS control operation in the ABS mode of the brake device to reduce the braking distance, a compensated braking command may be further transmitted to the brake device.

The vehicle control apparatus and vehicle control method according to an embodiment of the present invention can effectively shorten a braking distance, thereby preventing the occurrence of a traffic accident in advance.

1 is a block diagram showing an example of a vehicle control apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of a process of calculating a target braking distance value by the calculator shown in FIG. 1;
FIG. 3 is a view showing an example of a process of calculating a first target braking distance value by the calculator shown in FIG. 1;
FIG. 4 is a view showing an example of a process of calculating a second target braking distance value by the calculator shown in FIG. 1 ;
5 is a flowchart illustrating a vehicle control method of 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 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 to the embodiments presented herein and may be embodied in other forms. The drawings may omit the illustration of parts irrelevant to the description in order to clarify the present invention, and may slightly exaggerate the size of the components to help 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 in the calculator 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 calculator shown in FIG. 1 as an example, and FIG. 4 shows a process of calculating a second target braking distance value by the calculator 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 estimator 102 , a calculator 104 , and a controller 106 .

The estimator 102 receives road surface condition information and wheel speed values detected 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 tire mileage information 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 a temperature value of the road surface, and a humidity sensor (not shown) for detecting a humidity value of the road surface. can be

Also, as shown in FIGS. 1 and 2 , the estimator 102 estimates the expected braking distance value PBD based on the input road surface condition information, tire condition information, and wheel speed value.

For example, as shown in FIGS. 1 and 3 , the estimator 102 may generate a first expected 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 estimator 102 may generate a second expected braking distance value PBD2 according to a low-friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value. ) can be estimated.

The calculator 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 estimator 102 .

As an example, as shown in FIGS. 1 and 3 , the calculator 104 performs a first operation for reducing the braking distance BD1 in response to the first expected braking distance value PBD1 estimated by the estimator 102 . The target braking distance value TBD1 can be calculated.

As another example, as shown in FIGS. 1 and 4 , the calculator 104 may be configured to reduce the braking distance BD2 in response to the second expected braking distance value PBD2 estimated by the estimator 102 . 2 The target braking distance value TBD2 can be calculated.

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

In addition, when receiving the operation signal of the brake pedal 70a from the brake pedal 70a of the brake device 70 , the control unit 106 responds 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 calculator 104 . , it is possible to further transmit a compensating 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 , the calculation unit 104 calculates it. The first compensation braking command may be transmitted to the brake device 70 to reduce the braking distance BD1 in response to the first target braking distance value TBD1 .

At this time, the controller 106 controls the ABS of 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 calculator 104 . Before the operation, the first compensation braking command may be further transmitted 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 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 controller 106 controls the ABS of 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 calculator 104 . Before operation, a second compensation braking command may be further transmitted to the brake device 70 .

5 is a flowchart illustrating a vehicle control method of a vehicle control apparatus according to an 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 wheel speed values detected by the sensing device (10 in FIG. 1) are input from the estimator (102 in FIG. 1), and the tire supplied from the tire information device (30 in FIG. 1) State information is received from the estimator (102 in FIG. 1).

In the estimating step ( S504 ), the estimation unit ( 102 of FIG. 1 ) estimates an expected braking distance value ( PBD of FIG. 2 ) based on the input road surface condition information, tire condition information, and wheel speed value.

For example, in the estimating step S504, the first expected braking distance value (PBD1 in FIG. 3) according to the high friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value is calculated by the estimator (FIG. 1). 102) can be estimated.

As another example, in the estimating step S504, the second expected braking distance value (PBD2 in FIG. 4 ) according to the low-friction road surface condition based on the input road surface condition information, tire condition information, and wheel speed value is calculated by the estimator ( FIG. 1 ). 102) can be estimated.

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

As an example, the first determination step S506 may determine whether the first expected braking distance value (PBD1 in FIG. 3 ) estimated by the estimator ( 102 in FIG. 1 ) is greater than or equal to 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, the first determination step S506 may determine whether the second expected braking distance value (PBD2 in FIG. 4 ) estimated by the estimator ( 102 in FIG. 1 ) is greater than or equal to the target value set in the control unit ( 106 in FIG. 1 ) can be determined by the control unit (106 in FIG. 1).

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

For example, in the speed adjustment step (S508), if the controller (106 in FIG. 1) determines that 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, The control unit (106 in FIG. 1) may transmit a deceleration command to the speed control device (50 in FIG. 1).

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

In the calculating step S510, a target braking distance value (in FIG. 2) for reducing the braking distance (BD in FIG. 2) in response to the predicted braking distance value (PBD in FIG. 2) estimated by the estimator (102 in FIG. 1) TBD) is calculated by the calculator (104 in FIG. 1).

For example, in the calculating step S510 , the first target for reducing the braking distance (BD1 of FIG. 3 ) in response to the first expected braking distance value ( PBD1 of FIG. 3 ) estimated by the estimator ( 102 of FIG. 1 ) The braking distance value (TBD1 in Fig. 3) can be calculated by the calculator (104 in Fig. 1).

As another example, the calculating step ( S510 ) may include a second method for reducing the braking distance ( BD2 of FIG. 4 ) in response to the second expected braking distance value ( PBD2 of FIG. 4 ) estimated by the estimator ( 102 of FIG. 1 ). The target braking distance value (TBD2 in Fig. 4) can be calculated by the calculator (104 in Fig. 1).

In the second determination step S512, the controller (106 in FIG. 1) determines whether the operation signal of the brake pedal (70a in FIG. 1) is 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 brake pedal (70a in FIG. 1) of the brake device (70 in FIG. 1) from the controller (106 in FIG. 1), In the control unit 106 in 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 calculator ( 104 in FIG. 1 ), the brake device (in FIG. 1 ) 70) to transmit a compensating braking command

At this time, the braking step S514 is performed by the brake device (in 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 calculator ( 104 in FIG. 1 ). 70), before the ABS control operation in the ABS mode (70b in FIG. 1), the controller (106 in FIG. 1) may further transmit a compensating 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). If it is determined, the control unit (106 in FIG. 1) performs the brake 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 calculator (104 in FIG. 1). A first compensating braking command may be transmitted to the device ( 70 in FIG. 1 ).

At this time, in the braking step S514, the brake device (FIG. 3) reduces the braking distance (BD1 in FIG. 3) in response to the first target braking distance value (TBD1 in FIG. 3) calculated by the calculator (104 in FIG. 1). Before the ABS control operation in the ABS mode (70b of FIG. 1 ) of 1 70 ), the controller ( 106 of FIG. 1 ) may further transmit the first compensation braking command to the brake device ( 70 of FIG. 1 ).

As another example, in the braking step S514, the control unit (106 in FIG. 1) receives the operation signal of the brake pedal (70a in FIG. 1) from the brake pedal (70a in FIG. 1) of the brake device (70 in FIG. 1). If it is determined that this is, the controller (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 calculator (104 in FIG. 1). A second compensation braking command may be transmitted to the brake device ( 70 in FIG. 1 ).

At this time, in the braking step S514, the brake device (FIG. 4) reduces the braking distance (BD2 in FIG. 4) in response to the second target braking distance value (TBD2 in FIG. 4) calculated by the calculator (104 in FIG. 1). Before the ABS control operation in the ABS mode (70b of FIG. 1 ) of 70 of 1 ), the controller ( 106 of FIG. 1 ) may 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, the configuration of the estimation unit 102, the calculation unit 104, and the control unit 106 has been separately described in order to clearly explain the characteristics of the present invention. Although not shown, the estimator 102 , the calculator 104 , and the controller 106 control the overall operation of the vehicle and determine and calculate the ECU (Electronic Control Unit, not shown) or MCU for estimating the expected braking distance value. (Micro Control Unit, not shown) may be.

In addition, the estimation unit 102, the calculation unit 104, and the control unit 106 are not limited thereto, and all control means and determination means capable of controlling the overall operation of the vehicle and estimating the determination and calculation and the expected braking distance value; It is possible if it is a calculation means and an estimated 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 expected braking distance value PBD is greater than or equal to a set target value, a deceleration command is issued to the speed control apparatus 50 . and when the operation signal of the brake pedal 70a is supplied 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. ) to be able to transmit a compensating braking command.

Therefore, since 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 the expected braking distance in advance, the occurrence of a traffic accident can be prevented by shortening the braking distance. It can be prevented in advance.

In addition, in the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention, if the first expected braking distance value PBD1 according to the estimated high friction road surface condition is greater than or equal to a set target value, the speed adjusting device 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 the first compensation braking command to the brake device 70 to reduce BD1).

In addition, in the vehicle control apparatus 100 and the vehicle control method 500 according to an embodiment of the present invention, if the second expected braking distance value PBD2 according to the estimated low-friction road surface condition is greater than or equal to the set target value, the speed adjusting device 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 the insufficient braking force by predicting the expected braking distance in advance according to the frictional road surface condition, so that the braking distance can be further increased. By shortening it efficiently, it is possible to prevent the occurrence of traffic accidents in advance.

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

Accordingly, 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 in the ABS mode 70b, and thus further increase the braking distance. By shortening it efficiently, it is possible to prevent the occurrence of traffic accidents in advance.

Claims (11)

Receives road surface condition information and wheel speed values detected by the sensing device, receives tire condition information supplied from the tire information device, and an expected braking distance value based on the input road surface condition information, tire condition information, and wheel speed values an estimator for estimating; and
and a control unit that provides a deceleration command when the estimated expected braking distance value is greater than or equal to a set target value;
The control unit is
and transmitting a brake command compensated for reducing a braking distance to the brake device when an operation signal of the brake pedal is supplied from a brake pedal of a brake device. The method of claim 1,
The estimator is
estimating a first expected 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 output unit,
calculating a first target braking distance value for reducing the braking distance;
The control unit is
and 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 1,
The estimator is
estimating a second expected 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 output unit,
calculating a second target braking distance value for reducing the braking distance;
The control unit is
and 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 1,
The control unit is
The vehicle control device further transmits the compensated braking command to the brake device before the ABS control operation of the brake device in the ABS mode to reduce the braking distance. The method of claim 1,
The road surface condition information is a temperature value of the road surface. The method of claim 1,
The road surface condition information is a humidity value of the road surface. The method of claim 1,
The tire condition information is tire mileage information according to tire aging estimated based on tire life information and tire replacement time information. receiving the road surface condition information detected by the sensing device, receiving tire condition information supplied from the tire information device, and receiving the 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 expected braking distance value is equal to or greater than a set target value;
providing a deceleration command when the estimated expected braking distance value is equal to or greater than the target value;
determining whether an operation signal of the brake pedal is supplied from a brake pedal of a brake device; and
and transmitting a compensated braking command to reduce a braking distance to the brake device when receiving the operation signal of the brake pedal. 9. The method of claim 8,
estimating a first expected 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;
and 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. 9. The method of claim 8,
estimating a second expected 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;
and 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. 9. 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 further transmits the compensated braking command to the brake device.

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