Braking system

Abstract

A brake system includes a stroke sensor that outputs a detection signal indicating a detected state of a stroke of a brake pedal, and a first controller that receives the detection signal and generates an on-off signal according to displacement of the brake pedal based on a comparison result of the detection signal with a predetermined reference value. In particular, the on-off signal is provided to at least one second controller configured to control operation of other devices in a vehicle based on operation of the brake pedal.

Description

Technical Field

[0001] This disclosure relates to a braking system. Background Technology

[0002] The content in the background section is only provided as background information in relation to this disclosure and may not constitute prior art.

[0003] Typically, in a vehicle's braking system, the brake pedal, which receives input from the driver, includes a parking light switch for operating the vehicle's parking lights.

[0004] Typically, the parking light switch outputs a first output signal that has a low value before the brake pedal is operated and a high value when the brake pedal is operated, and a second output signal that has a high value before the brake pedal is operated and a low value when the brake pedal is operated. These first and second output signals are provided to various controllers that control other devices in the vehicle, depending on whether the brake pedal is operated, to control the operation of those other devices.

[0005] Additionally, the vehicle's brake pedal includes a travel sensor that detects the amount of brake operation, i.e., the brake travel. The travel detection signal output from the travel sensor is primarily used to determine the braking force (hydraulic pressure) of the braking system, which includes an integrated electric power booster.

[0006] As mentioned above, in existing braking systems, the repeated use of switches and sensors that determine whether the brake pedal has been operated increases the cost of the vehicle. In particular, the parking light switch needs to be wired to multiple controllers within the vehicle to transmit signals to each controller, which adversely affects the layout and configuration of the vehicle's internal components. Furthermore, since the parking light switch simply determines whether the brake pedal has been operated, it is impossible to provide the appropriate level of braking operation required by multiple controllers.

[0007] The content described in the prior art is only for the purpose of helping to understand the background of this disclosure and should not be regarded as corresponding to related technologies known to those skilled in the art. Summary of the Invention

[0008] This disclosure provides a braking system that can generate a signal corresponding to the output signal of the parking light switch based on the output signal of a travel sensor installed in the brake pedal, without using an existing parking light switch installed in the brake pedal.

[0009] According to one form of this disclosure, a braking system includes: a travel sensor configured to output a detection signal for detecting the travel of a brake pedal; and a first controller configured to receive the detection signal and generate a switching signal based on the displacement of the brake pedal according to a comparison of the detection signal with a predetermined reference value, wherein the switching signal is provided to at least one second controller configured to control the operation of other equipment in the vehicle based on the operation of the brake pedal.

[0010] In another form of this disclosure, the first controller can be connected to the travel sensor via wiring to receive detection signals, and the second controller can be connected to the first controller via a controller area network (CAN) to receive switching signals.

[0011] In one form of this disclosure, the detection signal may include a first channel signal whose duty cycle decreases linearly from a maximum duty cycle to a minimum duty cycle as the brake pedal travel increases, and a second channel signal whose duty cycle increases linearly from a minimum duty cycle to a maximum duty cycle, and the first channel signal and the second channel signal may have a complementary relationship based on a 50% duty cycle.

[0012] In other forms of this disclosure, the reference value may include a first reference value and a second reference value having a complementary relationship based on a 50% duty cycle, and the first controller may generate a first switching signal that transitions from a high state to a low state based on a comparison result between the first channel signal and the first reference value, and generate a second switching signal that transitions from a low state to a high state based on a comparison result between the second channel signal and the second reference value.

[0013] In one form of this disclosure, the first controller may be configured to generate a first switching signal that transitions from a high state to a low state based on a comparison result of a first channel signal and a reference value, and to generate a second switching signal by inverting the first switching signal.

[0014] In one form of this disclosure, the first controller may be configured to generate a second switching signal that transitions from a low state to a high state based on a comparison result of the second channel signal and a reference value, and to generate a first switching signal by inverting the second switching signal.

[0015] In an exemplary form of this disclosure, the reference value may include a plurality of reference values ​​having different values ​​for each of at least one second controller.

[0016] In another exemplary form of this disclosure, multiple reference values ​​may be determined based on the travel of the brake pedal required by the control performed by the second controller.

[0017] In other forms of this disclosure, the first or second controller may include an integrated electric booster (IEB) controller configured to determine whether the braking system is malfunctioning, and the IEB controller may determine whether the braking system is malfunctioning based on at least one of a detection signal, an output signal of a pressure sensor configured to detect changes in fluid pressure based on the movement of a piston in a cylinder in the braking system, and an output signal of a solenoid valve current sensor configured to detect the current of a solenoid valve disposed in the flow path of the fluid in the braking system.

[0018] According to another form of this disclosure, a braking system includes: a travel sensor configured to output a result of detecting the travel of a brake pedal as a first channel signal in which the duty cycle linearly decreases from a maximum duty cycle to a minimum duty cycle as the travel of the brake pedal increases, and a second channel signal in which the duty cycle linearly increases from a minimum duty cycle to a maximum duty cycle; a first controller configured to generate a first switching signal transitioning from a high state to a low state and a second switching signal transitioning from a low state to a high state based on a comparison result of at least one of the first channel signal and the second channel signal with a predetermined reference value; and at least one second controller configured to control the operation of other equipment in the vehicle based on the operation of the brake pedal when receiving at least one of the first switching signal and the second switching signal.

[0019] In one form of this disclosure, a first controller is connected to a travel sensor via wiring to receive at least one of a first channel signal and a second channel signal, and a second controller is connected to the first controller via a controller area network (CAN) to receive at least one of a first switch signal and a second switch signal.

[0020] In an exemplary form of this disclosure, the first channel signal and the second channel signal may have a complementary relationship based on a 50% duty cycle.

[0021] In an exemplary form of this disclosure, the reference value may include a first reference value and a second reference value having a complementary relationship based on a 50% duty cycle, and the first controller may be configured to generate a first switching signal based on a comparison of a first channel signal with the first reference value, and to generate a second switching signal based on a comparison of a second channel signal with the second reference value.

[0022] In an exemplary form of this disclosure, the first controller may be configured to generate a first switching signal based on a comparison result of a first channel signal and a first reference value, and to generate a second switching signal by inverting the first switching signal.

[0023] In an exemplary form of this disclosure, the first controller may be configured to generate a second switching signal based on a comparison result between the second channel signal and a second reference value, and to generate a first switching signal by inverting the second switching signal.

[0024] In an exemplary form of this disclosure, the reference value may include a plurality of reference values ​​having different values ​​for each of at least one second controller.

[0025] In an exemplary form of this disclosure, multiple reference values ​​may be determined based on the travel of the brake pedal required for control performed by the second controller.

[0026] In an exemplary form of this disclosure, the first controller or the second controller may include an integrated electric booster (IEB) controller configured to determine whether the braking system is abnormal, and the IEB controller may determine whether the braking system is abnormal based on at least one of a detection signal, an output signal of a pressure sensor configured to detect changes in fluid oil pressure based on the movement of a piston in a cylinder in the braking system, and an output signal of a solenoid valve current sensor configured to detect the current of a solenoid valve disposed in the flow path of the fluid in the braking system.

[0027] Further areas of applicability will become apparent from the description provided herein. It should be understood that the descriptions and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0028] To better understand this disclosure, various forms of the disclosure will now be described by way of example and with reference to the accompanying drawings, wherein:

[0029] Figure 1 This is a view illustrating the configuration of a braking system according to an exemplary embodiment of the present disclosure;

[0030] Figure 2 This is a view illustrating an example of a detection signal output from a stroke sensor in a braking system according to an exemplary embodiment of the present disclosure;

[0031] Figure 3 This is a view illustrating an example of a switching signal generated in a braking system according to an exemplary embodiment of the present disclosure;

[0032] Figure 4 This is a view illustrating examples of applying different reference signals to each type of second controller in a braking system according to exemplary embodiments of the present disclosure; and

[0033] Figure 5 This is a view illustrating the operation of an IEB controller for determining abnormalities in a braking system according to an exemplary embodiment of the present disclosure.

[0034] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Detailed Implementation

[0035] The following description is exemplary in nature only and is not intended to limit this disclosure, its application, or its uses. It should be understood that in all the drawings, corresponding reference numerals denote the same or corresponding parts and features.

[0036] In the following, the braking system according to various exemplary embodiments will be described in detail with reference to the accompanying drawings.

[0037] Figure 1 This is a view illustrating the configuration of a braking system according to an exemplary embodiment of the present disclosure.

[0038] Reference Figure 1 The braking system may include: a stroke sensor 11 that outputs a detection signal to detect the stroke of the brake pedal 10; and a first controller 100 that receives the detection signal from the stroke sensor 11, compares the received detection signal with a predetermined reference value, and generates a switching signal based on the displacement of the brake pedal 10 according to the comparison result.

[0039] The travel sensor 11 can be mounted on the brake pedal 10 and outputs a detection signal corresponding to the travel of the brake pedal 10 according to the driver's braking operation, i.e., the displacement of the brake pedal 10. (This is related to) the controller that controls the operation of the vehicle's brakes. Figure 1 The integrated electric booster controller 100 can understand the driver's braking intention when it receives a detection signal.

[0040] The first controller 100 can receive a detection signal from the travel sensor 11 corresponding to the travel length of the brake pedal 10, and use the received detection signal to generate a switching signal based on the displacement of the brake pedal.

[0041] The first controller 100 can be connected to the travel sensor 11 via wiring to receive detection signals from the travel sensor 11.

[0042] In various forms of this disclosure, the first controller 100 may be an integrated electric booster (IEB) 100 that calculates the braking pressure based on the detection signal received from the stroke sensor 11 and drives an electric motor such that the pressure in the master cylinder becomes the calculated braking pressure.

[0043] The switching signals generated by the first controller 100 can be provided to other controllers, namely the second controllers 110 to 150. The second controllers 110 to 150 receive the switching signals corresponding to the operation of the brake pedal and control other devices or components in the vehicle based on the switching signals. The first controller 100 and the second controllers 110 to 150 can communicate via a controller area network (CAN) set up for communication between controllers within the vehicle.

[0044] For example, the second controller may include an integrated central control unit (ICU) 110, which identifies and detects switch signals indicating the operation of the brake pedal and controls the on / off state of the vehicle's parking lights that indicate the operation of the brake pedal.

[0045] Additionally, the second controller may include an integrated body control unit (IBU) 120, which identifies and detects switch signals indicating brake pedal operation and performs vehicle start control so that the vehicle can only be started when the brake pedal is operated.

[0046] Additionally, the second controller may include an engine management system (EMS) 130, which identifies and detects switch signals indicating brake pedal operation and disengages cruise control and controls the idle stop and go (ISG) function.

[0047] Additionally, the second controller may include a shift-by-wire (SBW) controller 140, which releases the transmission shift lock by recognizing a switch signal that detects the operation of the brake pedal.

[0048] Additionally, the second controller may include a vehicle control unit (VCU) 150 that integrates the functions of the EMS 130 and the SBW controller 140.

[0049] exist Figure 1 For ease of description, EMS130, SBW controller 140 and VCU150 are shown. In the case of actual vehicles, internal combustion engine vehicles or hybrid vehicles with an engine typically include EMS130 and SBW controller 140, while electric vehicles without an engine and powered by an electric motor may include VCU150.

[0050] Figure 2This is a view showing an example of a detection signal output from a stroke sensor in a braking system according to an exemplary embodiment of the present disclosure.

[0051] like Figure 2 As shown, the stroke sensor 11 can output a duty cycle from the maximum duty cycle as the brake pedal 10 is displaced, i.e., the stroke increases. Figure 2 The 90% duty cycle is linearly reduced to the minimum duty cycle. Figure 2 The stroke sensor 11 outputs a signal with a 10% duty cycle and another signal with a duty cycle that linearly increases from the minimum duty cycle to the maximum duty cycle. That is, the detection signal output by the stroke sensor 11 may include a first channel signal CH1 with a duty cycle that decreases as the stroke increases and a second channel signal CH2 with a duty cycle that increases as the stroke increases.

[0052] Here, duty cycle refers to the percentage of high states in a pulse signal, and the maximum and minimum duty cycles can be complementary based on a 50% duty cycle. That is, the magnitude between the maximum and 50% duty cycles is the same as the magnitude between the minimum and 50% duty cycles, and the first channel signal CH1 and the second channel signal CH2 can be complementary based on a 50% duty cycle.

[0053] like Figure 2 As shown, the first controller 100 can compare the detection signal of the stroke sensor 11 with a predetermined reference value (UR or LR) and generate a switching signal based on the comparison result.

[0054] Figure 3 This is a view illustrating an example of a switching signal generated in a braking system according to another embodiment of the present disclosure.

[0055] Reference Figure 3 The first controller 100 can compare the first channel signal CH1 output from the stroke sensor 11 with a predetermined first reference value UR, and generate a switch signal BS indicating a high state when the first channel signal CH1 is greater than the first reference value UR and indicating a low state when the first channel signal CH1 is less than or equal to the first reference value UR.

[0056] Additionally, the first controller 100 can compare the second channel signal CH2 output from the travel sensor 11 with a predetermined second reference value LR, and generate another switching signal BLS indicating a high state when the second channel signal CH2 is greater than the second reference value LR and indicating a low state when the second channel signal CH2 is less than or equal to the second reference value LR.

[0057] Here, the first reference value UR and the second reference value LR are predetermined reference values ​​used to determine the force applied to or released from the brake pedal. These reference values ​​can be determined based on the magnitude of the stroke that determines the force applied to the brake pedal. For example, if a switching signal needs to be generated even when the applied force to the brake pedal is very small, it can be done as follows: Figure 2 The duty cycle corresponding to the lower stroke is determined as the reference value. Since the first channel signal CH1 and the second channel signal CH2 are complementary based on a 50% duty cycle, the first reference value UR and the second reference value LR can be values ​​with the same magnitude difference based on a 50% duty cycle.

[0058] As another example, the first controller 100 can compare the first channel signal CH1 output from the travel sensor 11 with a predetermined first reference value UR, and generate a switch signal BS indicating a high state when the first channel signal CH1 is greater than the first reference value UR and a low state when the first channel signal CH1 is less than or equal to the first reference value UR. Furthermore, it generates another switch signal BLS by applying the generated switch signal BS to an inverting logic element or the like to generate an inverted signal. In this case, two switch signals can be generated using only one reference value.

[0059] Similarly, the first controller 100 can compare the second channel signal CH2 output from the travel sensor 11 with a predetermined second reference value LR, and generate a switch signal BLS indicating a high state when the second channel signal CH2 is greater than the second reference value LR and a low state when the second channel signal CH2 is less than or equal to the second reference value LR. It then generates another switch signal BS by applying the generated switch signal BLS to an inverting logic element or the like to generate an inverted signal. Likewise, in this case, two switch signals can be generated using only one reference value.

[0060] exist Figure 3 In this circuit, the time it takes for the two switching signals BS and BLS to transition from a high state to a low state or from a low state to a high state is a period of delay or other events that occur during circuit operation. In reality, this is a very short time (e.g., less than 1 / 100 of a second) and can therefore be ignored.

[0061] Figure 4 This is a view illustrating an example of applying different reference signals to each type of second controller in a braking system according to an exemplary embodiment of the present disclosure.

[0062] As mentioned above, the travel reference can be variably set as needed for determining the force required to depress the brake pedal.

[0063] Reference Figure 4The first controller 100 can generate switching signals for the second controllers 110 to 150 respectively based on different reference values ​​UR1 to UR4 and LR1 to LR4.

[0064] For example, a switch signal transmitted from the first controller 100 to the ICU 110 to determine whether the vehicle's parking lights are on can be set to turn on the parking lights when the brake pedal travel is at its minimum (Pl). In this case, the first reference value UR1 compared to the first channel signal CH1 of the travel sensor 11 can have its maximum value, and the second reference value LR1 compared to the second channel signal CH2 can have its minimum value.

[0065] Additionally, when the first controller 100 transmits a switch signal to the EMS 130 or VCU 150 to determine the operating time of the vehicle's ISG function, the first reference value UR2 and the second reference value LR2 can be set such that the ISG operation is performed in state P2 where the travel ratio to the travel used to determine the turn-on of the parking lights is sufficiently large.

[0066] In addition, when the first controller 100 sends a switch signal to the IBU 120 to determine whether the brake is applied when starting the vehicle, since sufficient braking force must be ensured when starting the vehicle, the first reference value UR3 and the second reference value LR3 can be set such that the determination is made in state P3 where the travel ratio is sufficiently large to determine whether the ISG function has occurred.

[0067] In addition, when the first controller 100 sends a switch signal to the SBW controller 140 to determine whether to unlock the vehicle's transmission shift lock, since the vehicle needs to be able to stop safely even when it is being pushed or suddenly accelerated due to transmission shifting, the first reference value UR4 and the second reference value LR4 can be set such that unlocking occurs in state P4 where the travel ratio to the travel used to determine whether to apply the brake is sufficiently large.

[0068] Meanwhile, in the prior art, the IEB controller 100, used to control the operation of the vehicle braking system, determines whether an abnormality has occurred in the vehicle braking system, and if an abnormality has occurred, it uses the switching signal of the parking light switch to perform fail-safe control of the braking system. Furthermore, the IEB controller 100 uses the signal from the stroke sensor 11 and the output signal from the pressure sensor as redundancy for determining whether the braking system is abnormal, wherein the pressure sensor detects changes in fluid oil pressure based on the movement of the cylinder piston in the braking system.

[0069] As described above, in this disclosure, without using a parking light switch installed in the brake pedal, a signal substantially the same as the signal output from the parking light switch is generated from the travel sensor signal. That is, in this invention, a signal corresponding to the parking light switch signal is generated based on the travel sensor output; therefore, additional redundancy is needed to replace the parking light switch signal in order to determine whether the braking system is malfunctioning.

[0070] Figure 5 This is a view illustrating the operation of an IEB controller for determining abnormalities in a braking system according to an exemplary embodiment of the present disclosure.

[0071] like Figure 5 As shown, the IEB controller 100 can receive solenoid valve current information from a solenoid valve current sensor used to detect the current of a solenoid valve installed in the fluid flow path of the braking system in order to determine whether the braking system is abnormal.

[0072] For example, when the travel sensor 11 receives a channel signal CH1 or CH2 indicating the brake pedal travel, the IEB controller 100 can transmit a signal corresponding to the operation command to the solenoid valve of the braking system to change the operating current of the solenoid valve and operate it. If the solenoid valve current does not change even after the IEB controller 100 transmits the operation command, it can be determined that an abnormality has occurred in the braking system. Thus, the IEB controller 100 can determine whether the braking system is abnormal after receiving the sensing value of the current sensor that detects the solenoid valve current. The braking system may include multiple solenoid valves for providing hydraulic pressure, and as a redundant application, the solenoid valve used by the IEB controller 100 to determine the abnormality of the braking system may be a solenoid valve operated by the operation command of the IEB controller 100.

[0073] The foregoing has described an example of generating a switching signal when the IEB controller 100, connected via wiring to a travel sensor 11 disposed in the brake pedal 10, operates as a first controller. However, this disclosure is not limited thereto, and within the scope of this disclosure, the IEB controller 100 can be replaced by another controller connected to the travel sensor 11 and communicating via CAN with a second controller. For example, if a foldable pedal requiring mechanical and electrical control of the physical movement of the brake pedal is used as a brake pedal, a foldable pedal controller for controlling the foldable pedal can operate as a first controller. In this case, the IEB controller 100 can operate as a second controller that receives a switching signal generated by the foldable pedal controller based on the detection signal from the travel sensor.

[0074] As described above, the braking system according to various embodiments of the present disclosure can eliminate wiring between the parking light switch and various controllers of the vehicle by removing the parking light switch provided in the brake pedal in the prior art. Therefore, the cost of the vehicle can be reduced and the freedom of component layout in the vehicle can be increased.

[0075] Furthermore, the braking system according to various embodiments of this disclosure can eliminate quality problems caused by parking light switch malfunctions, thereby improving the overall vehicle quality.

[0076] Furthermore, the braking system according to various embodiments of this disclosure can appropriately adjust reference values ​​to generate switching signals for other controllers when the brake moves to a desired position, thereby achieving precise vehicle control.

[0077] The effects that can be obtained in this disclosure are not limited to those described above, and those skilled in the art will clearly understand from the above description other effects not mentioned.

[0078] Although this disclosure has been shown and described with reference to exemplary embodiments, it will be apparent to those skilled in the art that various modifications and changes can be made to this disclosure without departing from its spirit and scope.

Claims

1. A braking system for a vehicle, comprising: The travel sensor outputs a detection signal indicating the travel status of the brake pedal; as well as A first controller receives the detection signal and generates a switching signal based on the displacement of the brake pedal, according to a comparison between the detection signal and a predetermined reference value. The switch signal is provided to at least one second controller, which controls the operation of other devices in the vehicle based on the operation of the brake pedal. The detection signal includes a first channel signal whose duty cycle linearly decreases from a maximum duty cycle to a minimum duty cycle as the brake pedal travel increases, and a second channel signal whose duty cycle linearly increases from a minimum duty cycle to a maximum duty cycle. The first controller generates at least one switching signal, including a first switching signal that transitions from a high state to a low state and / or a second switching signal that transitions from a low state to a high state, based on a comparison result between at least one of the first channel signal and the second channel signal and the reference value.

2. The braking system according to claim 1, wherein, The first controller is connected to the travel sensor via wiring to receive the detection signal, and the at least one second controller is connected to the first controller via a controller area network (CAN) to receive the switch signal.

3. The braking system according to claim 1, wherein, The first channel signal and the second channel signal have a complementary relationship based on a 50% duty cycle.

4. The braking system according to claim 3, wherein, The reference values ​​include a first reference value and a second reference value that have a complementary relationship based on the 50% duty cycle, and The first controller generates a first switching signal that transitions from the high state to the low state based on a comparison between the first channel signal and the first reference value, and generates a second switching signal that transitions from the low state to the high state based on a comparison between the second channel signal and the second reference value.

5. The braking system according to claim 3, wherein, The first controller generates a first switching signal that transitions from the high state to the low state based on a comparison between the first channel signal and the reference value, and generates a second switching signal by inverting the first switching signal.

6. The braking system according to claim 3, wherein, The first controller generates a second switching signal that transitions from the low state to the high state based on the comparison result between the second channel signal and the reference value, and generates the first switching signal by inverting the second switching signal.

7. The braking system according to claim 1, wherein, The reference values ​​include multiple reference values ​​with different values ​​for each of the at least one second controller.

8. The braking system according to claim 7, wherein, The plurality of reference values ​​are determined based on the travel of the brake pedal required for control performed by the at least one second controller.

9. The braking system according to claim 1, wherein, The first controller or the at least one second controller includes an integrated electric booster (IEB) controller for determining whether the braking system is malfunctioning, and The IEB controller determines whether the braking system is abnormal based on at least one of the detection signal, the output signal of a pressure sensor that detects changes in oil pressure of the fluid based on the movement of the piston in the cylinder of the braking system, and the output signal of a solenoid valve current sensor that detects the current of a solenoid valve located in the flow path of the fluid in the braking system.

10. The braking system according to claim 1, wherein, The first controller is an integrated electric booster controller (IEB controller), which calculates the braking pressure based on the stroke detected by the stroke sensor and controls the vehicle so that the pressure in the master cylinder becomes the calculated braking pressure; and The at least one second controller includes at least one of the following components: an integrated central control unit (ICU) that controls the on / off state of the parking lights; an integrated body control unit (IBU) that performs vehicle start control to start the vehicle when the brake pedal is operated; an engine management system (EMS) that recognizes and detects the switch signal of the brake pedal operation and disengages the vehicle's cruise control and controls idle stop and drive (ISG) functions; a shift-by-wire controller (SBW) that disengages the transmission shift lock when the brake pedal is operated; and a vehicle control unit (VCU) that integrates the functions of the EMS and the SBW controller.

11. The braking system according to claim 1, wherein, The first controller is a foldable pedal controller, and The at least one second controller includes at least one of the following components: an integrated electric booster controller (IEB) controller that calculates the braking pressure based on the travel detected from the travel sensor and controls the pressure in the master cylinder of the vehicle to be the calculated braking pressure; an integrated central control unit (ICU) that controls the on / off of the parking lights; an integrated body control unit (IBU) that performs vehicle start control to start the vehicle when the brake pedal is operated; an engine management system (EMS) that recognizes the switch signal that detects the operation of the brake pedal and disengages the vehicle's cruise control and controls idle stop and drive (ISG) functions; a shift-by-wire (SBW) controller that disengages the transmission shift lock when the brake pedal is operated; and a vehicle control unit (VCU) that integrates the functions of the EMS and the SBW controller.

12. A braking system for a vehicle, comprising: A travel sensor detects the travel of the brake pedal and, based on the displacement of the brake pedal travel, outputs a first channel signal whose duty cycle linearly decreases from the maximum duty cycle to the minimum duty cycle and a second channel signal whose duty cycle linearly increases from the minimum duty cycle to the maximum duty cycle. A first controller generates a first switching signal that transitions from a high state to a low state and a second switching signal that transitions from a low state to a high state based on a comparison result between at least one of the first channel signal and the second channel signal and a predetermined reference value. as well as At least one second controller, upon receiving at least one of the first switch signal and the second switch signal, controls the operation of other devices in the vehicle based on the operation of the brake pedal.

13. The braking system according to claim 12, wherein, The first controller is connected to the travel sensor via wiring to receive at least one of the first channel signal and the second channel signal, and the at least one second controller is connected to the first controller via a controller area network, i.e., CAN, to receive at least one of the first switch signal and the second switch signal.

14. The braking system according to claim 12, wherein, The first channel signal and the second channel signal have a complementary relationship based on a 50% duty cycle.

15. The braking system according to claim 14, wherein, The predetermined reference values ​​include a first reference value and a second reference value having a complementary relationship based on the 50% duty cycle, and The first controller generates a first switch signal based on the comparison result of the first channel signal and the first reference value, and generates a second switch signal based on the comparison result of the second channel signal and the second reference value.

16. The braking system according to claim 15, wherein, The first controller generates the first switch signal based on the comparison result between the first channel signal and the first reference value, and generates the second switch signal by inverting the first switch signal.

17. The braking system according to claim 15, wherein, The first controller generates the second switch signal based on the comparison result between the second channel signal and the second reference value, and generates the first switch signal by inverting the second switch signal.

18. The braking system according to claim 12, wherein, The predetermined reference values ​​include multiple reference values ​​with different values ​​for each of the at least one second controller.

19. The braking system according to claim 18, wherein, The plurality of reference values ​​are determined based on the travel of the brake pedal required for control performed by the at least one second controller.

20. The braking system according to claim 12, wherein, The first controller or the at least one second controller includes an integrated electric booster controller, i.e., an IEB controller, for determining whether the braking system is malfunctioning. The IEB controller determines whether the braking system is malfunctioning based on at least one of the first channel signal, the second channel signal, the output signal of a pressure sensor that detects changes in fluid oil pressure based on the movement of the piston in the cylinder of the braking system, and the output signal of a solenoid valve current sensor that detects the current of a solenoid valve located in the flow path of the fluid in the braking system.

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