Brake control apparatus and control method thereof

Abstract

Brake control apparatus and control method thereof. The brake control apparatus includes a hydraulic pressure supply device configured to supply hydraulic pressure to a wheel cylinder of a vehicle, a flow path extending from the hydraulic pressure supply device to the wheel cylinder, at least one valve configured to open or close the flow path, and a controller electrically connected to the hydraulic pressure supply device and the at least one valve. The controller can be configured to control the hydraulic pressure supply device to supply the hydraulic pressure to the wheel cylinder through the flow path, and in response to a change in gear position of a transmission of the vehicle, to control at least one of the hydraulic pressure supply device and the at least one valve to maintain the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path for a first reference time after the change in gear position is changed.

Description

Technical Field

[0001] This disclosure relates to a braking control device and a control method thereof, and more specifically, to a braking control device and a control method thereof that operate in conjunction with a transmission. Background Technology

[0002] Vehicles are inherently equipped with braking control devices for performing braking, and various types of braking control devices have been proposed for the safety of drivers and passengers.

[0003] To assist the driver's braking operation, conventional brake control devices can work in conjunction with the engine and transmission to brake or maintain the vehicle's brakes. For example, when the vehicle is on an inclined road and the gear lever is in the drive position (D), the brake control device can maintain the vehicle's brakes even if the driver releases his or her foot from the brake pedal while driving.

[0004] However, various types of transmissions are currently under development, and the delay time for changing the position of the gears varies depending on the type of transmission. As mentioned above, due to the different delay times of the transmissions, there are concerns about potential malfunctions during operation when combined with the transmission in conjunction with the braking control system. Summary of the Invention

[0005] One aspect of this disclosure is to provide a braking control device capable of braking or maintaining a vehicle independently of the response speed of the transmission, and a method for controlling the braking control device.

[0006] The object of the present invention is to provide a braking control device capable of braking in response to a change in the position of a transmission gear to maintain the braking of a vehicle for a predetermined time, and a method for controlling the braking control device.

[0007] Other aspects of this disclosure will be set forth in part in the description which follows, and some of them will be obvious from the description or may be learned by practice of this disclosure.

[0008] According to one aspect of this disclosure, a braking control device is provided, comprising: a hydraulic supply device configured to supply hydraulic pressure to wheel cylinders of a vehicle; a flow path extending from the hydraulic supply device to the wheel cylinders; at least one valve configured to open or close the flow path; and a controller electrically connected to the hydraulic supply device and the at least one valve. The controller may be configured to control the hydraulic supply device to supply hydraulic pressure to the wheel cylinders through the flow path, and in response to a change in the gear position of the vehicle's transmission, after the gear position change, control at least one of the hydraulic supply device and the at least one valve to maintain the hydraulic pressure in the wheel cylinders or the hydraulic pressure in the flow path for a first reference time. Attached Figure Description

[0009] These and / or other aspects of this disclosure will become apparent and more readily understood from the following description of embodiments in conjunction with the accompanying drawings.

[0010] Figure 1 This is a diagram illustrating the configuration of a vehicle according to an embodiment.

[0011] Figure 2 This is a diagram illustrating a transmission and transmission control unit (TCU) included in a vehicle according to an embodiment.

[0012] Figure 3 This is a diagram illustrating an example of a braking control device according to an embodiment.

[0013] Figure 4 This is a diagram illustrating an example of a braking control device according to an embodiment.

[0014] Figure 5 This is a diagram illustrating the configuration of a braking control device according to an embodiment.

[0015] Figure 6A and Figure 6B This is a diagram illustrating the hydraulic system of the hydraulic circuit operated by the hill start assist (HSA) of the braking control device according to the embodiment.

[0016] Figure 7 This is a diagram illustrating the change in the position of the gearshift lever of a transmission included in a vehicle according to an embodiment.

[0017] Figure 8 This is a diagram illustrating a change in the position of a transmission gear in a vehicle according to an embodiment.

[0018] Figure 9 This is a diagram illustrating the change in brake pedal position during a gear position change.

[0019] Figure 10 This is a diagram illustrating the hydraulic pressure in a hydraulic circuit operated by prior art Hill Start Assist (HSA) during gear position changes.

[0020] Figure 11 and Figure 12 This is a diagram illustrating the hydraulic pressure in the hydraulic circuit during hill start assist (HSA) operation of the embodiment, exemplified by a gear position change.

[0021] Figure 13 This is a diagram illustrating the transmission delay compensation operation of a braking control device according to an embodiment.

[0022] Figure 14 This is a diagram illustrating the hill start assist (HSA) operation of a braking control device according to an embodiment. Detailed Implementation

[0023] The operating principles and implementation methods of this disclosure will be described below with reference to the accompanying drawings.

[0024] Figure 1 This is a diagram illustrating the configuration of a vehicle according to an embodiment.

[0025] Reference Figure 1 The vehicle 1 may include: an engine 12 and a transmission 22 for rotating the wheels to move the vehicle 1; a steering device 32 for changing the direction of the rotation axis of the wheels to change the direction of movement of the vehicle 1; and a braking device 42 for stopping the rotation of the wheels to stop the vehicle 1. Additionally, the vehicle 1 may include: an engine management system (EMS) 11 for controlling the engine 12; a transmission control unit (TCU) 21 for controlling the transmission 22; an electronic power steering control module (EPS) 41 for controlling the steering device 32; and a brake control device 100 for controlling the braking device 42.

[0026] The braking control device 100 can control the braking device 42 in response to the driver's braking intention via the brake pedal and / or the behavior of the vehicle 1.

[0027] The brake control device 100 can supply hydraulic pressure to the wheel cylinders in response to the driver's braking intention via the brake pedal. For example, the brake control device 100 can implement an anti-lock braking system (ABS), electronic stability control (ECS), or traction control system (TCS).

[0028] In this way, electronic components included in vehicle 1 can communicate with each other via the vehicle communication network NT. For example, TCU 21 can transmit the gear position and shift lever position of transmission 22 via the communication network NT.

[0029] Braking control device 100 can control braking device 42 by receiving and processing data from EMS 11, TCU 21 and EPS 31 via communication network NT. For example, when vehicle 1 stops on an inclined road and the gear position of transmission 22 is drive position D, braking control device 100 can control braking device 42 to keep vehicle 1 braking even if the brake pedal is moved to a reference position (the brake pedal position when the driver releases his or her foot from the brake pedal) (hereinafter referred to as Hill Start Assist (HSA)).

[0030] Figure 2 This is a diagram illustrating a transmission and transmission control unit (TCU) included in a vehicle according to an embodiment.

[0031] Reference Figure 2The transmission 22 may include an input shaft 51 and an output shaft 52 coaxially arranged with the first single pinion planetary gear set 60 and the second single pinion planetary gear set 70.

[0032] The first clutch C1 can be located on the output shaft 52 side, the second clutch C2 can be located on the torque converter TC side, and the third clutch C3 can be located between the second clutch C2 and the single pinion planetary gear set 54. The operation of the first clutch C1, the second clutch C2, the third clutch C3, the first brake B1, and the second brake B2 can be controlled according to the position of the gear lever, thereby controlling the output of the transmission 22.

[0033] The transmission 22 may further include a manual valve 58 and a valve body 59 for controlling the operation of the first clutch C1, the second clutch C2, and the third clutch C3, as well as the first brake B1 and the second brake B2. The transmission 22 may include more.

[0034] Manual valve 58 may include an inlet (IN), a parking outlet (P), a reverse outlet (R), a neutral outlet (N), and a drive outlet (D). Hydraulic pressure can be supplied to manual valve 58 through inlet (IN).

[0035] The manual valve 58 can be moved to the reverse position R, neutral position N / parking position P, and drive position D according to the driver's operation of the gear lever. When the manual valve 58 is operated with RP / ND, the neutral position N and the parking position P are in the same position, but the stop lever connected to the manual valve 58 is operated with PRND, so that the manual valve 58 is moved from the parking position P to the neutral position N via the reverse position R.

[0036] At least one of the parking outlet P, reverse outlet R, neutral outlet N, and drive outlet D can be opened depending on the position of the manual valve 58.

[0037] The valve body 59 may include multiple flow paths and multiple valves, and may suitably guide hydraulic pressure discharged from outlets P, R, N, D of the manual valve 58 to the first clutch C1, the second clutch C3 and the third clutch C3, as well as the first brake B1 and the second brake B2.

[0038] A gear lever sensor 23 can be configured to detect the position of the gear lever. The gear lever sensor 23 can detect the position of the gear lever through the driver's operation and provide information related to the position of the gear lever to the TCU 21.

[0039] A speed change driver 24 can be configured to drive the manual valve 58 and the valve body 59. The speed change driver 24 can receive a speed change control signal from the TCU 21 and change the position of the manual valve 58 in response to the speed change control signal.

[0040] There may be a time delay between shifting gears via the movement of the gear lever and the movement of the gear lever itself. In other words, there may be a response delay in shifting gears caused by the movement of the gear lever.

[0041] TCU 21 can receive information related to the position of the gear lever from the gear lever sensor 23, process the information related to the position of the gear lever, and control the gear drive 24 to move the manual valve 58.

[0042] Additionally, the TCU 21 can transmit information about the position of the gear lever received from the gear lever sensor 23 to another electronic component (e.g., brake control device) in the vehicle 1 via the communication network NT.

[0043] Figure 3 This is a diagram illustrating an example of a braking control device according to an embodiment.

[0044] Reference Figure 3 The braking control device 100 may include: a brake pedal 101 for receiving the driver's braking intention; a brake booster 102 for doubling the pedal force of the brake pedal 101 by utilizing the pressure difference between vacuum pressure and atmospheric pressure; a hydraulic cylinder 103 for storing brake fluid; a master cylinder 104 for generating hydraulic pressure through the brake booster 102; and a hydraulic circuit 110a for connecting the master cylinder 20 to the wheel cylinder 3.

[0045] Hydraulic circuit 110a can connect master cylinder 104 to wheel cylinder 3, and can transmit hydraulic pressure generated by master cylinder 104 to wheel cylinder 3, or block hydraulic pressure generated by master cylinder 104 from being transmitted to wheel cylinder 3.

[0046] The hydraulic circuit 110a may include a main flow path 111 connecting the master cylinder 104 to the wheel cylinder 3, and may also include an inlet valve 113, an outlet valve 114 and a low-pressure accumulator 115 disposed on the main flow path 111.

[0047] The inlet valve 113 can be located in the flow path connecting the master cylinder 104 and the wheel cylinder 3. The inlet valve 113 can control the hydraulic pressure transmitted from the master cylinder 104 to the wheel cylinder 3. The inlet valve 113 can be a normally open solenoid valve.

[0048] The outlet valve 114 can be located in the flow path connecting the wheel cylinder 3 to the low-pressure accumulator 115. The outlet valve 114 can control the hydraulic pressure discharged from the wheel cylinder 3. The outlet valve 114 can be a normally closed solenoid valve.

[0049] The low-pressure accumulator 115 can temporarily store the brake fluid discharged from the wheel cylinder 3.

[0050] The hydraulic circuit 110a may further include a traction control valve 116 (hereinafter referred to as the "TC valve") disposed on the main flow path 111.

[0051] Hydraulic circuit 110a may further include a first hydraulic supply device 161 and a drive motor 150 for driving the first hydraulic supply device 161. The outlet of the first hydraulic supply device 161 may be connected to an inlet valve 113, and the first hydraulic supply device 161 may pump brake oil stored in the low-pressure accumulator 115 to the wheel cylinder 3 through the inlet valve 113 while the TC valve 116 is closed.

[0052] When the driver depresses the brake pedal 101, the brake booster 102 amplifies the pedal force of the brake pedal 101 and transmits it to the master cylinder 104. The master cylinder 104 can supply hydraulic pressure to the wheel cylinder 3 through the inlet valve 113 when the inlet valve 113 is open and the TC valve 116 is open.

[0053] To provide HSA, the brake control device 100 can close the inlet valve 113 and maintain the hydraulic pressure in the wheel cylinder 3. Thus, the vehicle 1 can be braked even if the driver releases his or her foot from the brake pedal 101.

[0054] Figure 4 This is a diagram illustrating an example of a braking control device according to an embodiment.

[0055] Reference Figure 4 The braking control device 100 may include: a brake pedal 101 for receiving a driver's braking intention; a hydraulic cylinder 103 for storing brake fluid; a master cylinder 104 for generating hydraulic pressure through movement of the brake pedal 101; a second hydraulic supply device 162 for generating hydraulic pressure in response to movement of the brake pedal 101; a drive motor 150 for driving the second hydraulic supply device 162; and a hydraulic circuit 110b for connecting the master cylinder 104 and / or the second hydraulic supply device 162 to the wheel cylinder 3.

[0056] The second hydraulic supply device 162 may include a cylinder 162a and a piston 162b, and hydraulic pressure may be generated by the movement of the piston 162b in response to the movement of the brake pedal 101. A brake pedal sensor may be provided for detecting the movement of the brake pedal 101, and the piston 162b of the second hydraulic supply device 162 may move in response to the brake pedal sensor.

[0057] The drive motor 150 can generate a rotational force to move the piston 162b. The rotational force of the drive motor 150 can be converted into a reciprocating force by a power transmission device (e.g., multiple gears), and the piston 162b can reciprocate by the converted reciprocating force.

[0058] Hydraulic circuit 110b can connect the second hydraulic supply device 162 to the wheel cylinder 3, and can transmit hydraulic pressure generated from at least one second hydraulic supply device 162 to the wheel cylinder 3, or block hydraulic pressure generated from at least one second hydraulic supply device 162 from being transmitted to the wheel cylinder 3.

[0059] The hydraulic circuit 110b may include a main flow path 111 for connecting the second hydraulic supply device 162 to the wheel cylinder 3, and may further include a first shut-off valve 117, an inlet valve 113 and an outlet valve 114 disposed on the main flow path 111.

[0060] The first shut-off valve 117 allows hydraulic pressure generated by the second hydraulic supply device 162 to be supplied to the wheel cylinder 3 when it is open.

[0061] The hydraulic circuit 110b may further include an auxiliary flow path 112 connecting the master cylinder 104 to the wheel cylinder 3 and a second shut-off valve 118 disposed on the auxiliary flow path 112.

[0062] When the driver presses the brake pedal 101, the second hydraulic supply device 162 can supply hydraulic pressure to the wheel cylinder 3 through the inlet valve 113 while the inlet valve 113 is open and the first shut-off valve 117 is open.

[0063] In addition, in order to provide HSA, the brake control device 100 can close the inlet valve 113 and maintain the hydraulic pressure of the wheel cylinder 3.

[0064] Figure 5 This is a diagram illustrating the configuration of a braking control device according to an embodiment. Figure 6A and Figure 6B This is a diagram illustrating the hydraulic system of the hydraulic circuit operated by the hill start assist (HSA) of the braking control device according to the embodiment. Figure 7 This is a diagram illustrating the change in the position of the gearshift lever of a transmission included in a vehicle according to an embodiment. Figure 8 This is a diagram illustrating a change in the position of a transmission gear in a vehicle according to an embodiment. Figure 9 This is a diagram illustrating the change in brake pedal position during a gear position change. Figure 10 This is a diagram illustrating the hydraulic pressure in a hydraulic circuit operated by prior art Hill Start Assist (HSA) during gear position changes. Figure 11 and Figure 12 This is a diagram illustrating the hydraulic pressure in the hydraulic circuit during hill start assist (HSA) operation of the embodiment, exemplified by a gear position change.

[0065] Reference Figure 5The brake control device 100 may include: a brake pedal sensor 130 for detecting movement of the brake pedal 101; a pressure sensor 140 for detecting pressure in hydraulic circuits 110a and 110b; an actuator 160 for supplying hydraulic pressure to the wheel cylinder 3; a drive motor 150 for driving the actuator 160; a valve block 170 for opening or closing the flow path for directing the hydraulic pressure generated by the actuator 160 to the wheel cylinder 3; and a controller 120 for controlling the operation of the brake control device 100.

[0066] The brake pedal sensor 130 can detect the distance and / or speed at which the brake pedal 101 moves according to the driver's braking intention, and can provide an electrical output signal (pedal signal) to the controller 120 based on the detected distance and / or speed. The controller 120 can determine the driver's braking intention based on the pedal signal from the brake pedal sensor 130.

[0067] Pressure sensor 140 can be installed on hydraulic circuits 110a and 110b, which supply hydraulic pressure to wheel cylinder 3 and can detect the hydraulic pressure of the pressurized medium on hydraulic circuits 110a and 110b. Pressure sensor 140 can provide an electrical output signal (pressure signal) based on the detected hydraulic pressure to controller 120.

[0068] Actuator 160 can generate hydraulic pressure by receiving rotational force from drive motor 150. Actuator 160 may include, for example... Figure 3 The first hydraulic supply device 161 shown or Figure 4 The second hydraulic supply device 162 shown.

[0069] The drive motor 150 can generate rotational force in response to a drive signal from the controller 120. The rotational force generated by the drive motor 150 can be provided to the actuator 160.

[0070] Valve block 170 may include multiple valves of brake control device 100. For example, valve block 170 may include... Figure 3 The inlet valve 113, outlet valve 114, and TC valve 116 are shown. Additionally, valve block 170 may include... Figure 4 The inlet valve 113, outlet valve 114, first shut-off valve 117, and second shut-off valve 118 are shown.

[0071] The controller 120 can receive the output signal (pedal signal) from the brake pedal sensor 130 and the output signal (pressure signal) from the pressure sensor 140, and process the received signals to control the drive motor 150 and the valve block 170.

[0072] Controller 120 may include multiple semiconductor devices and may be referred to differently, such as electronic control unit (ECU). Controller 120 may include CAN transceiver 123, memory 122, and processor 121. Controller 120 may include multiple processors and / or multiple memories.

[0073] The CAN transceiver 123 can receive communication signals from the TCU 21 via the vehicle communication network NT and transmit such communication signals to the TCU 21. For example, the CAN transceiver 123 can receive communication signals from the TCU 21 indicating the position of the gear lever and / or the gear position of the transmission 22.

[0074] The memory 122 can store / store programs and data for braking the vehicle 1 according to the driver's braking intention. The memory 122 provides programs and data to the processor 121 and can store temporary data generated during the operation of the processor 121.

[0075] The memory 122 may include volatile memory and non-volatile memory. The memory 122 may include one semiconductor device or may include multiple semiconductor devices.

[0076] The processor 121 can receive pedal signals from the brake pedal sensor 130 and pressure signals from the pressure sensor 140 according to the program and data provided from the memory 122, and can provide control signals to the drive motor 150 and the valve block 170 by processing the received signals. For example, the processor 121 can provide drive signals for generating hydraulic pressure to the drive motor 150, and can provide open / close signals for directing hydraulic pressure from the actuator 160 to the wheel cylinder 3 to the valve block 170.

[0077] The processor 121 can receive the gear position of the transmission 22 via the vehicle communication network NT based on the program and data provided from the memory 122, determine the change in gear position, and determine the control signals for the drive motor 150 and the valve block 170. For example, when the gear position changes from the parking position P to the driving position D and the position of the brake pedal 101 changes to the reference position, the processor 121 can provide control signals to the drive motor 150 and the valve block 170 to maintain the hydraulic pressure of the wheel cylinder 3 and the hydraulic circuits 110a and 110b.

[0078] Thus, when the gear position changes from the parking position P to the driving position D and the position of the brake pedal 101 changes to the reference position, the controller 120 can control the drive motor 150 and / or the valve block 170 to maintain the braking of the vehicle 1.

[0079] In addition, the controller 120 can perform HSA operations.

[0080] When vehicle 1 stops on an inclined road and the gear position of transmission 22 is drive position D and the brake pedal is moved to the reference position, controller 12 can control drive motor 150 and / or valve block 170 to maintain the braking of vehicle 1.

[0081] For example, controller 120 can receive a pedal signal from brake pedal sensor 130 at time T0 for moving the brake pedal to a reference position. Controller 120 can determine whether vehicle 1 is on an inclined road by processing the output of gravity sensor. Controller 120 can receive the gear position of transmission 22 via vehicle communication network NT.

[0082] like Figure 6A As shown, vehicle 1 can be determined to stop on the inclined road at time T0, and the gear position of transmission 22 is drive position D, and the pedal position of brake pedal is reference position.

[0083] Controller 120 can control drive motor 150 and valve block 170 to maintain the hydraulic pressure of wheel cylinder 3 and hydraulic circuits 110a and 110b, such as Figure 6B As shown. For example, controller 120 can close inlet valve 113 and outlet valve 114 to maintain braking of vehicle 1. As another example, controller 120 can control drive motor 150 to close outlet valve 114 and maintain hydraulic pressure in hydraulic circuits 110a and 110b.

[0084] At this time, due to the response delay of the transmission 22, the HSA operation may not be able to be performed.

[0085] For example, the driver can move the brake pedal 101 to change the position of the gear lever. Afterwards, as... Figure 7 As shown, the driver can move the gear lever from the parking position P to the driving position D at time T0, and can put his foot off the brake pedal 101 to drive the vehicle.

[0086] By moving the gear lever from the parking position P to the drive position D, such as Figure 8 As shown, the gear position of the transmission 22 can change from the parking position P to the reverse position R at time T0, from the reverse position R to the neutral position N at time T1, and from the neutral position N to the drive position D at time T2.

[0087] Braking control device 100 can determine whether vehicle 1 is on an inclined road by obtaining and processing the output of the gravity sensor. When vehicle 1 is on an inclined road, the gear position is drive position D and brake pedal 101 is in the reference position, braking control device 100 can perform HSA.

[0088] However, if the gear position change of the transmission 22 is delayed, HSA operation may not be possible.

[0089] For example, such as Figure 9 As shown, the controller 120 can receive a pedal signal from the brake pedal sensor 130 at time T3 indicating that the brake pedal has moved to a reference position.

[0090] At this time, time T3 can be the time between the time T0 when the gear position moves from the parking position P to the reverse position R and the time T2 when the gear position moves from the neutral position N to the drive position D. In other words, when the driver releases his or her foot from the brake pedal 101, that is, when the brake pedal is moved to the reference position, the gear position of the transmission 22 can be either the reverse position R or the neutral position D.

[0091] Accordingly, such as Figure 10 As shown, controller 120 can reduce the hydraulic pressure of wheel cylinder 3 and hydraulic circuits 110a and 110b without performing HSA operation. The braking force of vehicle 1 is reduced, and vehicle 1 on an inclined road may move due to gravity.

[0092] In order to prevent the movement of the vehicle 1 due to the delay in gear position change as described above, the controller 120 may maintain the hydraulic pressure of the wheel cylinder 3 for a predetermined first reference time in response to the gear position change of the transmission 22.

[0093] For example, controller 120 can receive a message from TCU 21 indicating that the gear position of transmission 22 has changed from parking position P to reverse position R, while simultaneously supplying hydraulic pressure to wheel cylinder 3. Upon receiving the message indicating a change in gear position, controller 120 can control drive motor 150 and / or valve block 170 to maintain hydraulic pressure in wheel cylinder 3 or hydraulic circuits 110a and 110b for a first reference time. For example, controller 120 can control valve block 170 to close inlet valve 113 and outlet valve 114 to maintain hydraulic pressure in wheel cylinder 3 for the first reference time. As another example, controller 120 can control valve block 170 to close outlet valve 114 and control drive motor 150 to maintain hydraulic pressure.

[0094] Here, the first reference time can be similar to or longer than the delay time used to change the gear position of the transmission 22.

[0095] The controller 120 can receive a message from the TCU 21 indicating that the gear position of the transmission 22 has changed from the reverse position R to the neutral position N, while maintaining the hydraulic pressure of the wheel cylinder 3. Upon receiving the message indicating a change in gear position, the controller 120 can control the drive motor 150 and / or the valve block 170 to maintain the hydraulic pressure of the wheel cylinder 3 or the hydraulic circuits 110a and 110b for a first reference time after the gear position changes to the neutral position N.

[0096] Additionally, the controller 120 can receive a message from the TCU 21 indicating that the gear position of the transmission 22 has changed from neutral position N to drive position D, while maintaining the hydraulic pressure of the wheel cylinder 3. Upon receiving the message indicating a change in gear position, the controller 120 can control the drive motor 150 and / or the valve block 170 to maintain the hydraulic pressure of the wheel cylinder 3 or the hydraulic circuits 110a and 110b for a first reference time after the gear position changes to drive position D.

[0097] When the brake pedal 101 is in the reference position after a first reference time has elapsed since the gear position was changed to drive position D, the controller 120 can control the drive motor 150 and / or valve block 170 to discharge hydraulic pressure from wheel cylinder 3 or hydraulic circuits 110a and 110b.

[0098] For example, such as Figure 11 As shown, when a message indicating a change in gear position is received, the controller 120 can control the drive motor 150 and / or the valve block 170 to maintain the hydraulic pressure of the wheel cylinder 3 or the hydraulic circuits 110a and 110b for a first reference time ΔT1. Additionally, when a message indicating a change in gear position is received, the controller 120 can postpone the execution of the HSA operation.

[0099] Therefore, when the gear position changes from neutral position N to drive position D, and a first reference time ΔT1 elapses for time T4 starting from T2, the controller 120 can determine whether to perform HSA operation. At time T4, the controller 120 can determine that the vehicle 1 has stopped on the inclined road, the gear position of the transmission 22 is drive position D, and the brake pedal is in the reference position.

[0100] In addition, in order to prevent the movement of vehicle 1 caused by the delay due to the change in the position of the gear mentioned above, the controller 120 can maintain the hydraulic pressure of wheel cylinder 3 for a predetermined second time in response to the change in the position of the gear lever.

[0101] For example, when the gear lever moves from the parking position P to the drive position D, the controller 120 can, upon receiving a message, control the drive motor 150 and / or the valve block 170 to maintain the hydraulic pressure of the wheel cylinder 3 or the hydraulic circuits 110a and 110b for a second reference time.

[0102] Here, the second reference time can be similar to or longer than the delay time used to change the gear position of the transmission 22 from the parking position P to the driving position D.

[0103] When the second reference time has elapsed after the shift lever position has changed to drive position D, and the brake pedal 101 is in the reference position, the controller 120 can control the drive motor 150 and / or valve block 170 to discharge the hydraulic pressure from wheel cylinder 3 or hydraulic circuits 110a and 110b.

[0104] For example, such as Figure 12 As shown, when a message indicating a change in gear lever position is received, the controller 120 can control the drive motor 150 and / or valve block 170 to maintain the hydraulic pressure of wheel cylinder 3 or hydraulic circuits 110a and 110b for a second reference time ΔT2. Additionally, when a message indicating a change in gear lever position is received, the controller 120 can postpone the execution of HSA operation.

[0105] Therefore, when the gear lever position changes from the parking position P to the drive position D, after a second reference time ΔT2 has elapsed for time T5 from T0, the controller 120 can determine whether to perform HSA operation. At time T5, the controller 120 can determine that the vehicle 1 has stopped on the inclined road, the gear position of the transmission 22 is drive position D, and the brake pedal is in the reference position.

[0106] Braking control device 100 can perform HSA. For example, controller 120 can control drive motor 150 and / or valve block 170 to maintain the hydraulic pressure of wheel cylinder 3 or hydraulic circuits 110a and 110b for a predetermined third reference time.

[0107] Therefore, despite the shift delay in the transmission 22, the braking control device 100 of the vehicle 1 can perform HSA without failure.

[0108] Figure 13 This is a diagram illustrating the transmission delay compensation operation of a braking control device according to an embodiment.

[0109] Reference Figure 13 The transmission delay compensation operation 1000 of the braking control device 100 will be described.

[0110] The brake control device 100 can receive brake input (1010) from the driver.

[0111] The brake control device 100 can obtain the driver's braking input (braking intention) through the brake pedal 101. The controller 120 can determine the deviation of the brake pedal 101 from a reference position.

[0112] The braking control device 100 can supply hydraulic pressure to the wheel cylinder 3 (1020).

[0113] For example, master cylinder 104 can generate hydraulic pressure, and the hydraulic pressure generated by master cylinder 104 can be supplied to wheel cylinder 3 via inlet valve 113. As another example, hydraulic pressure generated by first hydraulic supply device 161 can also be supplied to wheel cylinder 3 via inlet valve 113.

[0114] The brake control device 100 can determine whether the gear position of the transmission 22 has changed (1030).

[0115] The controller 120 can receive information about the gear position of the transmission 22 from the TCU 21 via the CAN transceiver 123.

[0116] When it is determined that the gear position of the transmission 22 has not changed ("No" in 1030), the brake control device 100 can repeat the determination of whether the gear position of the transmission 22 has changed.

[0117] When it is determined that the gear position of the transmission 22 has changed ("Yes" in 1030), the brake control device 100 can maintain the hydraulic pressure of the wheel cylinder 3 or the hydraulic circuits 110a and 110b for a first reference time (1040).

[0118] For example, when the driver shifts the gear lever from the parking position P to the drive position D, the transmission 22 can continuously change the gear position from the parking position P to the reverse position R, from the reverse position R to the neutral position N, and from the neutral position N to the drive position D. Furthermore, the TCU 21 can transmit information about the gear position changes of the transmission 22 via the communication network NT.

[0119] The controller 120 can obtain information about the gear position change of the transmission 22 via the CAN transceiver 123 and determine the gear position change. In response to the gear position change, the controller 120 can control the drive motor 150 and / or the valve block 170 to maintain the hydraulic pressure of the wheel cylinder 3 or the hydraulic circuits 110a and 110b for a first reference time after the gear position change.

[0120] For example, controller 120 can close inlet valve 113 and outlet valve 114 to maintain hydraulic pressure in wheel cylinder 3. As another example, controller 120 can control first hydraulic supply device 161 or second hydraulic supply device 162 to maintain hydraulic pressure in wheel cylinder 3 or hydraulic circuits 110a and 110b.

[0121] The braking control device 100 can determine whether the elapsed time after the gear position is changed is greater than or equal to the first reference time (1050).

[0122] The controller 120 may include a counter, and the counter may be used to count the elapsed time since the gear position changed. In other words, the controller 120 may count the elapsed time after maintaining the hydraulic pressure on the wheel cylinder 3.

[0123] The controller 120 can compare the elapsed time after the gear position change with the first reference time, and can determine whether the elapsed time after the gear position change is greater than or equal to the first reference time based on the comparison result.

[0124] The first reference time can be set experimentally or empirically. For example, the first reference time can be set to be longer than the delay time for changing the gear position of transmission 22.

[0125] If the elapsed time after the gear position changes is not greater than the first reference time ("No" in 1050), the brake control device 100 can repeatedly determine whether the gear position has changed.

[0126] When it is determined that the gear position has changed and the time elapsed since the gear position change is not greater than the first reference time, the controller 120 can initialize the time elapsed since the gear position change and can count the elapsed time again.

[0127] Therefore, when the gear position changes continuously from parking position P to reverse position R, from reverse position R to neutral position N, and from neutral position N to drive position D, the hydraulic pressure of wheel cylinder 3 can be maintained.

[0128] When the elapsed time after the gear position changes is greater than or equal to the first reference time ("Yes" in 1050), the brake control device 100 can control the hydraulic pressure of the wheel cylinder 3 or the hydraulic circuits 110a and 110b based on the output signal of the brake pedal sensor 130 (1060).

[0129] Based on the driver's operation of the brake pedal 101, the controller 120 can control the drive motor 150 and / or the valve block 170 to regulate the hydraulic pressure of the wheel cylinder 3.

[0130] For example, when the position of the brake pedal 101 is changed to the reference position during the first reference time, the controller 120 can open the outlet valve 114 to discharge the hydraulic pressure from the wheel cylinder 3. As another example, the controller 120 can control the hydraulic supply devices 161 and 162 to discharge the hydraulic pressure from the wheel cylinder 3 or the hydraulic circuits 110a and 110b.

[0131] Figure 14 This is a diagram illustrating the hill start assist (HSA) operation of a braking control device according to an embodiment.

[0132] and Figure 14Together, the HSA operation 1100 of the brake control device 100 is described.

[0133] The brake control device 100 can receive brake stop input (1110) from the driver.

[0134] The brake control device 100 can obtain the driver's brake stop input through the brake pedal 101.

[0135] The brake pedal sensor 130 can detect the movement of the brake pedal 101 (e.g., the displacement and speed of the brake pedal), and can output information about the movement of the brake pedal 101 to the controller 120.

[0136] The controller 120 can determine that the brake pedal 101 is in a reference position.

[0137] The braking control device 100 can determine whether to perform the HSA function (1120).

[0138] The controller 120 can process the output of the gravity sensor to determine whether the vehicle 1 has stopped on an inclined road, whether the gear position is the drive position D, and whether the brake pedal 101 is in the reference position.

[0139] When the conditions for performing the HSA function are met ("Yes" in 1120), the brake control device 100 can maintain the hydraulic pressure of the wheel cylinder 3 (1130).

[0140] When vehicle 1 stops on an inclined road, the gear position is drive position D and brake pedal 101 is in the reference position, brake control device 100 can perform HSA function.

[0141] The braking control device 100 can determine whether the elapsed time after the execution of the HSA function is greater than or equal to the third reference time (1140).

[0142] The controller 120 may include a counter, and the counter can be used to count the elapsed time after the HSA function is executed.

[0143] The controller 120 can compare the elapsed time after the execution of the HSA function with the third reference time, and determine, based on the comparison result, whether the elapsed time after the gear position change is greater than or equal to the third reference time.

[0144] When the elapsed time after the HSA function is executed is no greater than the third reference time ("No" in 1140), the brake control device 100 can continue to maintain the hydraulic pressure of the wheel cylinder 3.

[0145] When the elapsed time after the execution of the HSA function is greater than or equal to the third reference time ("Yes" in 1140), the brake control device 100 can release the hydraulic pressure of the wheel cylinder 3 (1150).

[0146] The controller 120 can control the drive motor 150 and / or the valve block 170 to discharge the hydraulic pressure of the wheel cylinder 3 so as to drive the vehicle 1 while the gear position is the drive position D.

[0147] When the conditions for performing the HSA function are not met ("No" in 1070), the brake control device 100 may discharge the hydraulic pressure of the wheel cylinder 3 (1100).

[0148] As described above, whenever the gear position of the transmission 22 changes, the brake control device 100 can maintain the hydraulic pressure of the wheel cylinder 3 and the hydraulic circuits 110a and 110b for a predetermined time.

[0149] This prevents shocks from being transmitted to the driver due to delays in gear position changes. Additionally, it prevents the HSA function from malfunctioning due to delays in gear position changes.

[0150] According to embodiments of the present disclosure, a braking control device capable of maintaining the braking of a vehicle for a predetermined time in response to a change in the position of a transmission gear, and a method for controlling the braking control device, can be provided.

[0151] Therefore, a braking control device capable of braking or maintaining the brakes on a vehicle regardless of the transmission's response speed, and a method for controlling such a braking control device, can be provided. Furthermore, when the gear position changes, vehicle impacts can be prevented, and deterioration of the vehicle-keeping function can be prevented.

[0152] Although exemplary embodiments have been described with respect to a limited number of implementations, those skilled in the art who benefit from this disclosure will understand that other embodiments can be devised without departing from the scope of the disclosure herein. Therefore, the scope should be limited only by the appended claims.

[0153] Cross-reference to related applications

[0154] This application is based on and claims priority to Korean Patent Application No. 10-2020-0046032, filed on April 16, 2020, the disclosure of which is incorporated herein by reference.

Claims

1. A braking control device, the braking control device comprising: A hydraulic supply device configured to provide hydraulic pressure to the wheel cylinders of a vehicle; A flow path extending from the hydraulic supply device to the wheel cylinder; At least one valve, the at least one valve being configured to open or close the flow path; as well as A controller, electrically connected to the hydraulic supply unit and the at least one valve, The controller is configured as follows: Control the hydraulic supply device to supply hydraulic pressure to the wheel cylinder through the flow path, and In response to a change in the gear position of the vehicle's transmission, at least one of the hydraulic supply device and the at least one valve is controlled to maintain the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path for a first reference time after the gear position change.

2. The braking control device according to claim 1, wherein, The at least one valve includes an inlet valve configured to open or close the flow path extending from the hydraulic supply device to the wheel cylinder; and The controller is configured to close the inlet valve within the first reference time to maintain the hydraulic pressure of the wheel cylinder.

3. The brake control apparatus according to claim 1, wherein The controller is configured to operate the hydraulic supply device within the first reference time period to maintain the hydraulic pressure in the flow path.

4. The brake control apparatus according to claim 1, wherein In response to an additional change in the gear position of the transmission within a first reference time following the change in the gear position, the controller is configured to maintain the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path within the first reference time following the additional change in the gear position.

5. The braking control device according to claim 1, wherein, The gear positions of the transmission are configured to change sequentially in the order of parking, reverse, neutral, and drive; and The controller is configured to maintain the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path for a first reference time whenever the gear position of the transmission changes.

6. The brake control apparatus according to claim 1, wherein The controller is configured to maintain the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path even when the position of the vehicle's brake pedal is at the reference position during the first reference time following the change in the gear position, without discharging the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path.

7. The brake control apparatus according to claim 1, wherein The controller is configured to control at least one of the hydraulic supply device and the at least one valve, based on a first reference time elapsed after the gear position change, to discharge hydraulic pressure from the wheel cylinder or the flow path.

8. The brake control apparatus according to claim 1, wherein Based on the fact that after the first reference time has elapsed, the gear position is in a driven state and the position of the vehicle's brake pedal is a reference position, the controller is configured to maintain the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path for a second reference time.

9. A method for controlling a braking control device, the braking control device being configured to supply hydraulic pressure for braking to wheel cylinders of a vehicle via a flow path, the method comprising the steps of: The hydraulic pressure is supplied to the wheel cylinder by a hydraulic supply device; The controller receives information about the gear positions of the vehicle's transmission. as well as In response to a change in the gear position of the transmission, the controller maintains the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path for a first reference time after the gear position change.

10. The method of claim 9, wherein, The steps for maintaining the hydraulic pressure of the wheel cylinder include: The inlet valve is closed and configured to open or close the flow path for supplying hydraulic pressure to the wheel cylinder.

11. The method of claim 9, wherein, The steps for maintaining the hydraulic pressure of the wheel cylinder include: Maintain the hydraulic pressure generated by operating the hydraulic supply device.

12. The method according to claim 9, further comprising the step of: In response to an additional change in the gear position of the transmission within a first reference time following a change in the gear position of the transmission, the controller maintains the hydraulic pressure of the wheel cylinder within the first reference time following the additional change in the gear position.

13. The method of claim 9, further comprising the step of: In response to the gear position of the transmission changing sequentially in the order of parking position, reverse position, neutral position and drive position, the controller maintains the hydraulic pressure of the wheel cylinder for the first reference time whenever the gear position of the transmission changes.

14. The method of claim 9, further comprising the step of: Even if the position of the vehicle's brake pedal is the reference position during the first reference time after the gear position changes, the controller maintains the hydraulic pressure of the wheel cylinder or the hydraulic pressure of the flow path without discharging the hydraulic pressure of the wheel cylinder.

15. The method of claim 9, further comprising the step of: Based on the first reference time elapsed after the gear position change, the controller discharges the hydraulic pressure from the wheel cylinder or the hydraulic pressure from the flow path.

16. The method of claim 9, further comprising the step of: Based on the reference position of the gear being in a driving state and the position of the vehicle's brake pedal after the first reference time has elapsed, the controller maintains the hydraulic pressure of the wheel cylinder during the second reference time.

17. A braking control device, the braking control device comprising: A hydraulic supply device configured to provide hydraulic pressure to the wheel cylinders of a vehicle; A flow path extending from the hydraulic supply device to the wheel cylinder; At least one valve, the at least one valve being configured to open or close the flow path; as well as A controller, electrically connected to the hydraulic supply unit and the at least one valve, The controller is configured as follows: Receive information about the position of the gearshift lever of the vehicle, and In response to a change in the position of the shift lever, at least one of the hydraulic supply device and the at least one valve is controlled to maintain the hydraulic pressure of the wheel cylinder or the flow path for a third reference time after the change in the lever position.

18. The braking control device according to claim 17, wherein, The at least one valve includes an inlet valve configured to open or close the flow path extending from the hydraulic supply device to the wheel cylinder; and The controller is configured to close the inlet valve within the third reference time to maintain the hydraulic pressure of the wheel cylinder.

19. The brake control apparatus according to claim 17, wherein The controller is configured to operate the hydraulic supply device within the third reference time period to maintain the hydraulic pressure in the flow path.

20. The brake control apparatus according to claim 17, wherein The controller is configured to control at least one of the hydraulic supply device and the at least one valve, based on the third reference time elapsed after the change of the lever position, to discharge the hydraulic pressure from the wheel cylinder or the flow path.

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