Brake device and method of controlling brake device

Abstract

The invention relates to a brake device and a method of controlling the brake device. A brake apparatus includes a first hydraulic pressure supplier connected to a wheel cylinder of a vehicle, a second hydraulic pressure supplier connected to the wheel cylinder, a first controller configured to control the first hydraulic pressure supplier to provide a first hydraulic pressure to the wheel cylinder, and a second controller configured to control the second hydraulic pressure supplier to provide a second hydraulic pressure to the wheel cylinder. A second hydraulic pressure controller configured to control the second hydraulic pressure supplier to provide a second hydraulic pressure to the wheel cylinder; the first controller is configured to be connected to a first power source of the vehicle and a first pedal sensor of the vehicle, the second controller is configured to be connected to a second power source of the vehicle, the first pedal sensor and a second pedal sensor of the vehicle, and the second controller comprises a power source monitoring unit. The power monitoring unit is configured to monitor whether a current is supplied from the first controller to the first pedal sensor.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to an electro-hydraulic brake device and a method of controlling the electro-hydraulic brake device. Background Art

[0002] A vehicle must be equipped with a braking device for performing braking, and for the safety of a driver and passengers, braking devices for braking the vehicle in various ways have been proposed.

[0003] Recently, an electronic brake system has been widely used, which includes a cylinder-piston type hydraulic pressure supply device for receiving an electric signal of a driver's braking intention when the driver steps on a brake pedal and supplying hydraulic pressure required for braking to a wheel cylinder.

[0004] Furthermore, an electronic brake system is being developed that also includes an auxiliary supply device that is used when an electronically controlled hydraulic pressure supply device fails (eg, an electronic control unit (ECU) fails, a motor fails, or a power supply is cut off).

[0005] The hydraulic pressure supply device and the auxiliary supply device may acquire detection information from each of the plurality of sensors and perform a braking operation of the vehicle based on the acquired detection information.

[0006] However, when the detection information provided to the hydraulic pressure supply device cannot be checked due to a malfunction of the hydraulic pressure supply device, it is difficult to perform the braking work of the vehicle by the auxiliary supply device.

[0007] Therefore, there is a need for a brake device that can stably acquire detection information from each of a plurality of sensors in an auxiliary supply device used when a hydraulic pressure supply device fails, and a method of controlling the brake device. Summary of the invention

[0008] Therefore, one aspect of the present invention provides a brake device including an auxiliary supply device capable of stably acquiring a plurality of detection information from a plurality of sensors and used when a hydraulic pressure supply device fails, and a method of controlling the brake device.

[0009] Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0010] According to one aspect of the present invention, a braking device includes: a first hydraulic pressure supplier connected to one or more of the wheel cylinders of a vehicle, a second hydraulic pressure supplier connected to one or more of the wheel cylinders, a first controller configured to control the first hydraulic pressure supplier to supply a first hydraulic pressure to one or more of the wheel cylinders, and a second controller configured to control the second hydraulic pressure supplier to supply a second hydraulic pressure to one or more of the wheel cylinders; the first controller is configured to connect a first power source of the vehicle to a first pedal sensor of the vehicle, the second controller is configured to connect a second power source of the vehicle to the first pedal sensor and a second pedal sensor of the vehicle, and monitor a first current supplied from the first power source to the first pedal sensor, the second controller is configured to, in response to detecting that the first current from the first power source is not supplied to the first pedal sensor, supply a second current from the second power source to the first pedal sensor, and receive a first pedal signal and a second pedal signal from the first pedal sensor and the second pedal sensor, respectively.

[0011] The first controller may include: a first switch configured to selectively allow or block the first current of the first power supply from being supplied to the first pedal sensor, a second switch configured to selectively allow or block receiving the first pedal signal from the first pedal sensor, and a first processor configured to control at least one of the first switch and the second switch.

[0012] The second controller may include: a third switch configured to selectively allow or block the second current of the second power supply from being supplied to the first pedal sensor, a fourth switch configured to selectively allow or block receiving the first pedal signal from the first pedal sensor, and a second processor configured to control at least one of the third switch and the fourth switch.

[0013] The third switch may be connected to a power terminal of the first pedal sensor connected in series between the first controller and the second controller.

[0014] The fourth switch may be connected to a signal terminal of the first pedal sensor connected in series between the first controller and the second controller.

[0015] The second processor may be configured to control the third switch to supply the second current from the second power source to the first pedal sensor in response to a signal indicating that the first current from the first power source is not supplied to the first pedal sensor.

[0016] The second processor may be configured to control the fourth switch to selectively enable receipt of the first pedal signal from the first pedal sensor.

[0017] The power monitoring unit may include: a first power monitor configured to monitor whether the first current is supplied from the first power source; and a second power monitor configured to monitor whether the first current is supplied to the first pedal sensor.

[0018] The second processor may be configured to determine that the first power source fails in response to a monitoring result that the first current is not supplied from the first power source to the first pedal sensor.

[0019] The second processor may be configured to determine that the first processor fails in response to a monitoring result that the first current is supplied from the first power source but the first current is not supplied to the first pedal sensor.

[0020] According to another aspect of the present invention, a method for controlling a braking device includes: monitoring whether a first current from a first power supply of a vehicle is supplied to a first pedal sensor connected to a first controller, when the first current from the first power supply is not supplied to the first pedal sensor, supplying a second current from a second power supply of the vehicle from the second power supply and a second controller connected to the second pedal sensor to the first pedal sensor, receiving a first pedal signal from the first pedal sensor, and receiving a second pedal signal from the second pedal sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] These and / or other aspects of the present invention will become apparent and more easily understood from the following description of the embodiments in conjunction with the following drawings:

[0022] Figure 1 shows a configuration of a vehicle according to one embodiment;

[0023] Figure 2 and Figure 3 shows a configuration of a braking system according to an embodiment;

[0024] Figure 4 shows the configuration of a first controller and a second controller included in a braking system according to an embodiment;

[0025] Figure 5 An example of connection between a first controller, a second controller and a pedal sensor included in a brake system according to an embodiment is shown;

[0026] Figure 6An example of connection between a first controller, a second controller, and a pedal sensor included in a brake system according to various embodiments is shown;

[0027] Figure 7 An example of connection between a first controller, a second controller, and a pedal sensor included in a brake system according to various embodiments is shown;

[0028] Figure 8 shows the braking control operation of the second controller according to one embodiment; and

[0029] Fig. 9 Operation of a second controller for controlling a vehicle based on a first pedal signal and a second pedal signal according to one embodiment is shown. DETAILED DESCRIPTION

[0030] Throughout the specification, the same reference numerals represent the same parts. This specification does not describe all elements of the embodiment, and will omit general content or overlapping content between the embodiments in the technical field to which the present invention belongs. The terms "unit", "module", "component" and "block" used in the specification can be implemented as software or hardware, and according to the embodiment, multiple "units", "modules", "components" and "blocks" can be implemented as one component, or one "unit", "module", "component" and "block" can also include multiple components.

[0031] Throughout the specification, when a first component is described as being “connected” to a second component, this includes not only a case where the first component is directly connected to the second component but also a case where the first component is indirectly connected to the second component, and the indirect connection includes connection through a wireless communication network.

[0032] In addition, when a portion is described as “including” a certain component, it means that other components are also included, rather than excluding other components, unless specifically stated.

[0033] Throughout the specification, when a first member is described as being positioned “on” a second member, this includes a case where the first member is in contact with the second member and a case where a third member exists between the two members.

[0034] Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above terms.

[0035] A singular expression includes a plural expression unless the context clearly dictates otherwise.

[0036] In each step, identification symbols are used for convenience of description, and the identification symbols do not describe the order of each step, and each step may be performed in an order different from the specified order unless a specific order is clearly described in the context.

[0037] Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

[0038] Figure 1 A configuration of a vehicle according to one embodiment is shown.

[0039] The vehicle 1 may include a body forming the exterior of the vehicle and accommodating a driver and / or luggage, a chassis including components of the vehicle 1 other than the body, and wheels 11 , 12 , 13 , and 14 that rotate to move the vehicle 1 .

[0040] like Figure 1 As shown, for example, the wheels 11, 12, 13 and 14 may include: a first wheel 11, disposed on the right front side of the vehicle 1; a second wheel 12, disposed on the left front side of the vehicle 1; a third wheel 13, disposed on the right rear side of the vehicle 1; and / or a fourth wheel 14, disposed on the left rear side of the vehicle 1. The number of the wheels 11, 12, 13 and 14 is not limited to four.

[0041] Each of the wheels 11, 12, 13, and 14 may be provided with a disk coupled to each of the wheels 11, 12, 13, and 14 to rotate together with the wheels 11, 12, 13, and 14. In addition, each of the wheels 11, 12, 13, and 14 may be provided with a brake caliper that interferes with the rotation of the disk using friction. The rotation of the wheels 11, 12, 13, and 14 and the disk may be stopped by friction between a brake pad included in the brake caliper and the disk.

[0042] The brake caliper may be provided with wheel cylinders 21 , 22 , 23 , and 24 for containing a pressurized medium such as brake oil and moving brake pads such that the brake pads press the discs using pressure of the pressurized medium (hereinafter referred to as “hydraulic pressure”).

[0043] For example, the wheel cylinders 21, 22, 23, and 24 may include a first wheel cylinder 21 mounted on the first wheel 11, a second wheel cylinder 22 mounted on the second wheel 12, a third wheel cylinder 23 mounted on the third wheel 13, and a fourth wheel cylinder 24 mounted on the fourth wheel 14. The number of the wheel cylinders 21, 22, 23, and 24 is not limited to four.

[0044] The brake caliper may be provided with parking brakes 31 and 32 for moving the brake pads so that the brake pads press the discs using electromechanical force without hydraulic pressure. For example, the brake calipers associated with the third wheel 13 and the fourth wheel 14 provided at the rear of the vehicle may be provided with a first parking brake 31 and a second parking brake 32, respectively.

[0045] Each of the first parking brake 31 and the second parking brake 32 may include, for example, a motor having a rotating shaft and a spindle that moves linearly by the rotation of the rotating shaft. The brake pad may move linearly to press the disc by the linear movement of the spindle.

[0046] Each of the first parking brake 31 and the second parking brake 32 can move the brake pad toward the disc in response to an engagement signal. In addition, each of the first parking brake 31 and the second parking brake 32 can separate the brake pad from the brake disc in response to a disengagement signal.

[0047] In addition, the vehicle 1 may also include: a brake pedal 50 for obtaining the driver's braking intention; and a first hydraulic pressure supply device 100 and a second hydraulic pressure supply device 200 for providing pressurized medium to the wheel cylinders 21, 22, 23 and 24 to brake the wheels 11, 12, 13 and 14.

[0048] The first hydraulic pressure supply device 100 may generate pressure of a pressurized medium (hereinafter referred to as "hydraulic pressure") for braking the wheels 11, 12, 13, and 14. The first hydraulic pressure supply device 100 may generate the hydraulic pressure based on the driver's braking intention obtained through the brake pedal 50, and distribute the generated hydraulic pressure to the wheel cylinders 21, 22, 23, and 24. The internal pressure of each of the wheel cylinders 21, 22, 23, and 24 may depend on the hydraulic pressure provided from the first hydraulic pressure supply device 100. The wheels 11, 12, 13, and 14 may be braked according to the internal pressures of the wheel cylinders 21, 22, 23, and 24, respectively.

[0049] The first hydraulic pressure supply device 100 may include: a first hydraulic pressure supplier 150 for supplying hydraulic pressure to the wheel cylinders 21, 22, 23, and 24; and a first controller 110 for controlling the first hydraulic pressure supplier 150. The first controller 110 may control the first hydraulic pressure supplier 150 to supply and / or distribute hydraulic pressure to the wheel cylinders 21, 22, 23, and 24 based on the driver's braking intention acquired through the brake pedal 50.

[0050] The second hydraulic pressure supply device 200 may be provided on a connection flow path connecting the first hydraulic pressure supply device 100 to some of the wheel cylinders 21, 22, 23, and 24, and generates hydraulic pressure for braking the wheels 11, 12, 13, and 14. Figure 1 As shown, the second hydraulic pressure supply device 200 may be disposed on a connection flow path connecting the first hydraulic pressure supply device 100 to the first wheel cylinder 21 and the second wheel cylinder 22 , and generates hydraulic pressure for braking the first wheel 11 and the second wheel 12 .

[0051] The second hydraulic pressure supply device 200 may be pre-set or dual-set relative to the first hydraulic pressure supply device 100. For example, the second hydraulic pressure supply device 200 may be deactivated during normal operation of the first hydraulic pressure supply device 100. In addition, when the power supplied to the first hydraulic pressure supply device 100 is cut off or the first hydraulic pressure supply device 100 fails, the second hydraulic pressure supply device 200 may generate hydraulic pressure instead of the first hydraulic pressure supply device 100.

[0052] Second hydraulic pressure supply device 200 may generate hydraulic pressure based on the driver's braking intention obtained through brake pedal 50, and distribute the generated hydraulic pressure to some of wheel cylinders 21, 22, 23, and 24. For example, second hydraulic pressure supply device 200 may supply hydraulic pressure to first wheel cylinder 21 and second wheel cylinder 22.

[0053] The second hydraulic pressure supply device 200 may include: a second hydraulic pressure supplier 250 for supplying hydraulic pressure to the first wheel cylinder 21 and the second wheel cylinder 22; and a second controller 210 for controlling the second hydraulic pressure supplier 250. The second controller 210 may control the second hydraulic pressure supplier 250 to supply and / or distribute hydraulic pressure to the wheel cylinders 21, 22, 23, and 24 based on the driver's braking intention acquired through the brake pedal 50.

[0054] The second hydraulic pressure supply device 200 may receive power from a power network that is different from the power network of the first hydraulic pressure supply device 100. For example, the second hydraulic pressure supply device 200 may receive power from a power source that is different from the power source of the first hydraulic pressure supply device 100. Figure 1As shown, the first hydraulic pressure supply device 100 may receive power from a first battery B1, while the second hydraulic pressure supply device 200 may receive power from a second battery B2 different from the first battery B1. As another example, the second hydraulic pressure supply device 200 may receive power from a power network different from the power network of the first hydraulic pressure supply device 100. The first hydraulic pressure supply device 100 may receive power from a first power network, while the second hydraulic pressure supply device 200 may receive power from a second power network different from the first power network.

[0055] As described above, first hydraulic pressure supply device 100 may supply hydraulic pressure to all of first wheel cylinders 21, second wheel cylinders 22, third wheel cylinders 23, and fourth wheel cylinders 24 to brake first wheel 11, second wheel 12, third wheel 13, and fourth wheel 14. Second hydraulic pressure supply device 200 may supply hydraulic pressure to first wheel cylinders 21 and second wheel cylinders 22 to brake first wheel 11 and second wheel 12. First parking brake 31 and second parking brake 32 may brake third wheel 13 and fourth wheel 14, respectively.

[0056] As described above, the second hydraulic pressure supply device 200 and the parking brakes 31 and 32 may be pre-set or doubly set to be used when the first hydraulic pressure supply device 100 fails.

[0057] Figure 2 and Figure 3 A configuration of a brake system according to one embodiment is shown.

[0058] The first hydraulic pressure supplying device 100 may include a reservoir 130 , a master cylinder 140 , a first hydraulic pressure supplier 150 , a first hydraulic pressure controller 160 , and a first controller 110 . Figure 2 and Figure 3 The illustrated storage tank 130 , master cylinder 140 , first hydraulic pressure supplier 150 , first hydraulic pressure controller 160 , and first controller 110 do not correspond to essential components of the first hydraulic pressure supplying device 100 , and at least some of the components may be omitted.

[0059] The reservoir 130 may store a pressurized medium such as brake oil. The reservoir 130 may be connected to each component element to supply or receive the pressurized medium. The reservoir 130 may be hydraulically connected to the master cylinder 140 through the reservoir flow paths 131 and 132 .

[0060] The master cylinder 140 may compress and discharge the pressurized medium contained in the master cylinder according to the pedal force of the brake pedal 50. The master cylinder 140 may include a first master chamber 141 and a second master chamber 142 formed by a master cylinder body 145. A first master piston 143 and a second master piston 144 are disposed in the first master chamber 141 and the second master chamber 142, respectively.

[0061] The first hydraulic pressure supplier 150 may provide hydraulic pressure of the pressurized medium in response to a control signal of the first controller 110 .

[0062] The first hydraulic pressure supplier 150 may include a cylinder 155 containing a pressurized medium, a hydraulic piston 153 disposed to reciprocate in the cylinder 155, and hydraulic pressure chambers 151 and 152 separated by the hydraulic piston 153. The cylinder 155, the hydraulic piston 153, and the hydraulic pressure chambers 151 and 152 do not correspond to essential components of the first hydraulic pressure supplier 150, and at least some of them may be omitted.

[0063] Hydraulic pressure may be generated in the hydraulic pressure chambers 151 and 152 by the reciprocating movement of the hydraulic piston 153. The hydraulic pressure in the hydraulic pressure chambers 151 and 152 may be transferred to the wheel cylinders 21, 22, 23, and 24 through the first hydraulic pressure controller 160.

[0064] The hydraulic pressure chambers 151 and 152 may include: a first hydraulic pressure chamber 151 located in front of the hydraulic piston 153 ( Figure 2 and a second hydraulic pressure chamber 152, located behind the hydraulic piston ( Figure 2 to the right of the hydraulic piston).

[0065] The first hydraulic pressure chamber 151 may be formed by the cylinder 155 and the front surface of the hydraulic piston 153, and the volume of the first hydraulic pressure chamber 151 may be changed according to the movement of the hydraulic piston 153. In addition, the second hydraulic pressure chamber 152 may be formed by the cylinder 155 and the rear surface of the hydraulic piston 153, and the volume of the second hydraulic pressure chamber 152 may be changed according to the movement of the hydraulic piston 153. The first hydraulic pressure chamber 151 and the second hydraulic pressure chamber 152 may each be hydraulically connected to the first hydraulic pressure controller 160 through a hydraulic pressure flow path.

[0066] The first hydraulic pressure supplier 150 may include a first motor 156 for providing torque for moving the hydraulic piston 153. In addition, the first hydraulic pressure supplier 150 may further include a power conversion unit for converting the torque of the first motor 156 into a translational movement of the hydraulic piston 153.

[0067] The first hydraulic pressure controller 160 may be provided between the first hydraulic pressure supplier 150 and the wheel cylinders 21, 22, 23, and 24. For example, the first hydraulic pressure controller 160 may include: a plurality of hydraulic pressure flow paths extending from the first hydraulic pressure supplier 150 to each of the wheel cylinders 21, 22, 23, and 24; and a first valve block 161 provided with a plurality of valves that may allow or block the flow of the pressurized medium on the plurality of flow paths.

[0068] like Figure 2 As shown, the first hydraulic pressure controller 160 can control the hydraulic pressure flow path to guide the hydraulic pressure generated by the first hydraulic pressure supplier 150 to the wheel cylinders 21, 22, 23 and 24, or control the hydraulic pressure flow path to return the hydraulic pressure of the wheel cylinders 21, 22, 23 and 24 to the first hydraulic pressure supplier 150.

[0069] For example, in response to an increase in the stroke of the brake pedal 50, the first hydraulic pressure controller 160 may control the hydraulic pressure flow path to guide the hydraulic pressure generated in the first hydraulic pressure chamber 151 to the wheel cylinders 21, 22, 23, and 24 while the hydraulic piston 153 moves forward. In addition, the first hydraulic pressure controller 160 may control the hydraulic pressure flow path to guide the hydraulic pressure generated in the second hydraulic pressure chamber 152 to the wheel cylinders 21, 22, 23, and 24 while the hydraulic piston 153 moves forward and then moves backward.

[0070] Furthermore, in response to the reduction in the stroke of the brake pedal 50, the first hydraulic pressure controller 160 may control the hydraulic pressure flow path to return the hydraulic pressure of the wheel cylinders 21, 22, 23, and 24 to the first hydraulic pressure chamber 151 while the hydraulic piston 153 moves forward. Furthermore, the first hydraulic pressure controller 160 may control the hydraulic pressure flow path to return the hydraulic pressure of the wheel cylinders 21, 22, 23, and 24 to the second hydraulic pressure chamber 152 while the hydraulic piston 153 moves backward after moving forward.

[0071] like Figure 3 As shown, when the first hydraulic pressure supplier 150 fails (such as being in an inoperable state), the first hydraulic pressure controller 160 can control the hydraulic pressure flow path to direct the hydraulic pressure generated by the master cylinder 140 to the cylinders 21, 22, 23 and 24, or control the hydraulic pressure flow path to return the hydraulic pressure of the wheel cylinders 21, 22, 23 and 24 to the master cylinder 140.

[0072] For example, in response to a failure of the first hydraulic pressure supplier 150 (such as being in an inoperable state), the first hydraulic pressure controller 160 can control the flow path to direct the hydraulic pressure generated in the first master chamber 141 to the first wheel cylinder 21 and the second wheel cylinder 22 while the first master piston 143 moves forward, and to direct the hydraulic pressure generated in the second master chamber 142 to the third wheel cylinder 23 and the fourth wheel cylinder 24 while the second master piston 144 moves forward.

[0073] Hereinafter, a state in which the master cylinder 140 and the wheel cylinders 21 , 22 , 23 , and 24 are hydraulically connected due to a failure in the first hydraulic pressure supplier 150 may be referred to as a fallback mode.

[0074] In addition, when power is not supplied to the first hydraulic pressure supply device 100 or the first hydraulic pressure supply device 100 malfunctions (such as being in an inoperable state), a flow path for directing the hydraulic pressure generated by the master cylinder 140 to the wheel cylinders 21, 22, 23 and 24 can be generated in the first hydraulic pressure controller 160.

[0075] As described above, the brake system may operate in the backup mode not only when a failure occurs in the first hydraulic pressure supplier 150 but also when a failure occurs in the first hydraulic pressure supply device 100 .

[0076] The first controller 110 may include a plurality of semiconductor devices and may have different names, such as an electronic control unit (ECU). The first controller 110 may include, for example, a plurality of processors and / or a plurality of memories.

[0077] The first controller 110 may receive a pedal signal indicating a user's braking intention from the pedal sensor 60. The pedal sensor 60 may detect movement of the brake pedal 50 moved according to the user's braking intention, and output an electrical signal (pedal signal) depending on the moving distance and / or moving speed of the brake pedal 50. The first controller 110 may provide an electrical signal for supplying hydraulic pressure to or returning hydraulic pressure from the wheel cylinders 21, 22, 23, and 24 to the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 in response to the pedal signal.

[0078] The first controller 110 may transmit data to or receive data from the second controller 210. For example, the first controller 110 may transmit data to or receive data from the second controller 210 through a vehicle communication network, or transmit data to or receive data from the second controller 210 through a data line directly connected to the second controller 210.

[0079] In a normal state, the first controller 110 may periodically send an electrical signal to the second controller 210. On the other hand, in a fault state, the first controller 110 may not send a periodic signal to the second controller 210.

[0080] The second hydraulic pressure supply device 200 may be disposed on a flow path between the first and second wheel cylinders 21 and 22 and the first hydraulic pressure supply device 100 .

[0081] The second hydraulic pressure supply device 200 may include a second hydraulic pressure supplier 250 , a second hydraulic pressure controller 260 , and a second controller 210 . Figure 2 and Figure 3 The illustrated second hydraulic pressure supplier 250 , the second hydraulic pressure controller 260 , and the second controller 210 do not correspond to essential components of the second hydraulic pressure supplying device 200 , and at least some of them may be omitted.

[0082] The second hydraulic pressure supplier 250 may provide hydraulic pressure of the pressurized medium in response to a control signal of the second controller 210 .

[0083] The second hydraulic pressure supplier 250 may include a pump 251 that rotates and pumps the pressurized medium and a second motor 256 for providing torque to drive the pump 251 .

[0084] The second hydraulic pressure controller 260 may be provided between the first hydraulic pressure supplier 150 and the second hydraulic pressure supplier 250 and the first wheel cylinder 21 and the second wheel cylinder 22. For example, the second hydraulic pressure controller 260 may include: a second valve block 261 provided with a plurality of hydraulic pressure flow paths extending from the second hydraulic pressure controller 260 to each of the first wheel cylinder 21 and the second wheel cylinder 22; and a plurality of valves that may allow or block the flow of the pressurized medium on the plurality of flow paths.

[0085] The second hydraulic pressure controller 260 may allow the hydraulic pressure flow path between the first hydraulic pressure supplier 150 and the first and second wheel cylinders 21 and 22, or close the hydraulic pressure flow path between the first hydraulic pressure supplier 150 and the first and second wheel cylinders 21 and 22. Figure 2 As shown, in the normal state of the first hydraulic pressure supplier 150, the second hydraulic pressure controller 260 can open the hydraulic pressure flow path between the first hydraulic pressure supplier 150 and the first wheel cylinder 21 and the second wheel cylinder 22. Figure 3 As shown, in the fault state of the first hydraulic pressure supplier 150 , the second hydraulic pressure controller 260 may block the hydraulic pressure flow path between the first hydraulic pressure supplier 150 and the first and second wheel cylinders 21 and 22 .

[0086] In addition, if Figure 3 As shown, in the fault state of the first hydraulic pressure supplier 150, the second hydraulic pressure controller 260 can control the hydraulic pressure flow path to direct the hydraulic pressure generated by the second hydraulic pressure supplier 250 to the first wheel cylinder 21 and the second wheel cylinder 22, or control the hydraulic pressure flow path to return the hydraulic pressure of the first wheel cylinder 21 and the second wheel cylinder 22 to the tank 130.

[0087] For example, in response to an increase in the stroke of brake pedal 50, second hydraulic pressure controller 260 may control the hydraulic pressure flow path to direct the hydraulic pressure provided from pump 251 to first wheel cylinder 21 and second wheel cylinder 22. In addition, in response to a decrease in the stroke of brake pedal 50, second hydraulic pressure controller 260 may control the hydraulic pressure flow path to return the hydraulic pressure of first wheel cylinder 21 and second wheel cylinder 22 to reservoir 130.

[0088] The second controller 210 may include a plurality of semiconductor devices and may have different names, such as ECU. The second controller 210 may include, for example, a plurality of processors and / or a plurality of memories.

[0089] The second controller 210 may transmit data to or receive data from the first controller 110. For example, the second controller 210 may transmit data to or receive data from the first controller 110 through a vehicle communication network, or transmit data to or receive data from the first controller 110 through a data line directly connected to the first controller 110.

[0090] In the normal state of the first controller 110, the second controller 210 may periodically receive an electrical signal from the first controller 110. The second controller 210 may recognize the normal state of the first controller 110 based on the periodic signal of the first controller 110. On the other hand, the second controller 210 may recognize the fault state of the first controller 110 based on not receiving the electrical signal from the first controller 110.

[0091] In the fault state of the first controller 110, the second controller 210 may receive a pedal signal indicating the user's braking intention from the pedal sensor 60. The second controller 210 may provide, in response to the pedal signal, an electrical signal for supplying hydraulic pressure to the first wheel cylinder 21 and the second wheel cylinder 22 to brake the first wheel 11 and the second wheel 12 to the second hydraulic pressure supplier 250 and the second hydraulic pressure controller 260. In addition, the second controller 210 may provide, in response to the pedal signal, an electrical signal for braking the third wheel 13 and the fourth wheel 14 to the first parking brake 31 and the second parking brake 32.

[0092] Figure 4The configuration of a first controller and a second controller included in a braking system according to an embodiment is shown.

[0093] Reference Figures 1 to 4 In the disclosed embodiment, the brake system may include a pedal sensor 60 , a wheel speed sensor 70 , parking brakes 31 and 32 , a first hydraulic pressure supply device 100 , and a second hydraulic pressure supply device 200 .

[0094] The first hydraulic pressure supply device 100 may include a first motor 156, a first valve block 161, and a first controller 110. In addition, the second hydraulic pressure supply device 200 may include a second motor 256, a second valve block 261, and a second controller 210. Here, the first motor 156, the first valve block 161, and the first controller 110 do not correspond to the necessary components of the first hydraulic pressure supply device 100, and at least some of them may be omitted. In addition, the second motor 256, the second valve block 261, and the second controller 210 do not correspond to the necessary components of the second hydraulic pressure supply device 200, and at least some of them may be omitted.

[0095] The pedal sensor 60 may detect movement of the brake pedal 50 according to the user's braking intention, and provide an electrical signal (pedal signal) indicating a moving distance and / or moving speed of the brake pedal 50 to the first controller 110 and the second controller 210 .

[0096] The pedal sensor 60 may include a first pedal sensor 61 and a second pedal sensor 62. Each of the first pedal sensor 61 and the second pedal sensor 62 may detect a moving distance and / or a moving speed of the brake pedal 50, and provide an electrical signal (a first pedal signal and a second pedal signal) indicating the detected moving distance and / or moving speed to the first controller 110 and the second controller 210.

[0097] The first pedal sensor 61 may obtain power from a different power source (e.g., a different battery or a different power network) than the second pedal sensor 62. For example, the first pedal sensor 61 may obtain power from the first battery B1 or the first power network through the first hydraulic pressure supply device 100, and the second pedal sensor 62 may obtain power from the second battery B2 or the second power network through the second hydraulic pressure supply device 200. Therefore, even when any one of the first pedal sensor 61 and the second pedal sensor 62 fails such as being powered off or unable to operate, the first controller 110 and the second controller 210 may obtain a pedal signal from the other pedal sensor and recognize the driver's braking intention.

[0098] The wheel speed sensor 70 can detect the rotation of the wheels 11, 12, 13 and 14 caused by the driving of the vehicle 1, and provide an electrical signal (wheel speed signal) corresponding to the rotation speed of the wheels 11, 12, 13 and 14 to the first controller 110 and the second controller 210.

[0099] Unlike the pedal sensor 60, the wheel speed sensor 70 may be provided with one sensor for each of the wheels 11, 12, 13, and 14. For example, four wheel speed sensors provided on each of the four wheels 11, 12, 13, and 14 may each provide a wheel speed signal to the first controller 110 and the second controller 210. In a fault state of the first hydraulic pressure supply device 100, the wheel speed sensor 70 may obtain power from the second hydraulic pressure supply device 200 and provide the wheel speed signal to the second controller 210 of the second hydraulic pressure supply device 200. In addition, in a normal state of the first hydraulic pressure supply device 100, the wheel speed sensor 70 may obtain power from the first hydraulic pressure supply device 100 and provide the wheel speed signal to the first controller 110 of the first hydraulic pressure supply device 100.

[0100] The parking brakes 31 and 32 may be provided on at least some of the wheels 11, 12, 13, and 14, and may restrict the rotation of the wheels 11, 12, 13, and 14. For example, the parking brakes 31 and 32 may be provided on the third wheel 13 and the fourth wheel 14 to drive the rotation of the third wheel 13 and the fourth wheel 14. Each of the parking brakes 31 and 32 may include a motor, and the torque provided by the motor provided in each of the parking brakes 31 and 32 may be converted into a translational movement of the spindle, by which the brake pad moves toward the disc.

[0101] The first motor 156 may provide power (torque) for generating hydraulic pressure of the pressurized medium to the cylinder 155 and the hydraulic piston 153. The hydraulic piston 153 may perform translational movement by the torque provided by the first motor 156.

[0102] The first valve block 161 may control a flow path of the pressurized medium extending from the first hydraulic pressure supplier 150 to the wheel cylinders 21, 22, 23, and 24. The first valve block 161 may include a plurality of solenoid valves disposed on the flow path of the pressurized medium.

[0103] The first controller 110 may provide an electrical signal for providing hydraulic pressure of the pressurized medium to the wheel cylinders 21 , 22 , 23 , and 24 in response to a user's braking intention represented by rotation speeds of the brake pedal 50 and the wheels 11 , 12 , 13 , and 14 .

[0104] The first controller 110 may include a first motor driver 112, a first valve driver 115, and a first processor 111. The first motor driver 112, the first valve driver 115, and the first processor 111 do not correspond to essential components of the first controller 110, and at least some of them may be omitted.

[0105] The first motor driver 112 may receive a control signal from the first processor 111, and provide a driving current for driving the first motor 156 of the first hydraulic pressure supplier 150 in response to the control signal of the first processor 111. For example, the first motor driver 112 may provide a driving current for moving the hydraulic piston 153 in a forward moving direction to the first motor 156, or provide a driving current for moving the hydraulic piston 153 in a backward moving direction to the first motor 156 in response to the control signal of the first processor 111. For example, the first motor driver 112 may include: an inverter circuit for controlling the driving current of the first motor 156; a gate driver for driving an input terminal of the inverter circuit; and the like.

[0106] The first valve driver 115 may receive a control signal from the first processor 111, and provide a driving current for driving the first valve block 161 of the first hydraulic pressure controller 160 in response to the control signal of the first processor 111. For example, in response to the control signal of the first processor 111, the first valve driver 115 may provide a driving current to each of the valves so that a flow path from the first hydraulic pressure chamber 151 of the first hydraulic pressure supplier 150 to the wheel cylinders 21, 22, 23, and 24 may be formed, or provide a driving current to each of the valves so that a flow path from the second hydraulic pressure chamber 152 of the first hydraulic pressure supplier 150 to the wheel cylinders 21, 22, 23, and 24 may be formed.

[0107] The first processor 111 may process output signals of the pedal sensor 60 and the wheel speed sensor 70 , and control the first hydraulic pressure supply device 100 based on the results of processing the output signals.

[0108] The first processor 111 may control the first motor driver 112 and / or the first valve driver 115 to drive the first motor 156 and / or the first valve block 161 based on the pedal signal of the pedal sensor 60. For example, the first processor 111 may receive a pedal signal indicating an increase or decrease in the stroke of the brake pedal 50 from the pedal sensor 60, and provide a control signal for controlling the first motor and / or the first valve block 161 to the first motor driver 112 and / or the first valve driver 115 based on the received pedal signal. Therefore, the first hydraulic pressure supply device 100 is capable of implementing a service brake.

[0109] The first processor 111 may control the first motor driver 112 and / or the first valve driver 115 to drive the first motor 156 and / or the first valve block 161 based on the wheel speed signal of the wheel speed sensor 70. For example, the first processor 111 may receive a wheel speed signal indicating the rotation speed of the wheels 11, 12, 13, and 14 from the wheel speed sensor 70, and provide a control signal for controlling the first motor 156 and / or the first valve block 161 to the first motor driver 112 and / or the first valve driver 115 based on the wheel speed signal. Therefore, the first hydraulic pressure supply device 100 can implement an anti-lock braking system (ABS).

[0110] The first processor 111 may include one or more semiconductor devices. The first processor 111 may include one core or multiple cores in the semiconductor device. In addition, the first processor 111 may have different names, such as a microcontroller unit (MCU).

[0111] In addition, the first processor 111 may include a memory for recording / storing a program and data for braking the vehicle based on the user's braking intention and / or the rotation speed of the wheels 11, 12, 13, and 14. The memory may provide the program and data to the first processor 111 and record temporary data generated during the calculation work of the first processor 111. The memory may include, for example, a volatile memory such as a static random access memory (SRAM) and a dynamic RAM (DRAM) and a non-volatile memory such as a read-only memory (ROM), an erasable programmable ROM (EPROM), and a flash memory.

[0112] The second motor 256 may provide power (torque) for generating hydraulic pressure of the pressurized medium to the pump 251. The pump 251 may pump the pressurized medium by the torque provided by the second motor 256.

[0113] The second valve block 261 may control a flow path of the pressurized medium extending from the first hydraulic pressure supplier 150 to the first wheel cylinder 21 and the second wheel cylinder 22 and a flow path of the pressurized medium extending from the second hydraulic pressure supplier 250 to the first wheel cylinder 21 and the second wheel cylinder 22. The second valve block 261 may include a plurality of solenoid valves disposed on the flow path of the pressurized medium.

[0114] The second controller 210 can provide an electrical signal for providing the hydraulic pressure of the pressurized medium to the first wheel cylinder 21 and the second wheel cylinder 22 or returning the hydraulic pressure of the pressurized medium from the first wheel cylinder 21 and the second wheel cylinder 22 in response to the user's braking intention reflected by the rotation speed of the brake pedal 50 and the wheels 11, 12, 13 and 14, or provide an electrical signal for engaging (disengaging) the parking brake.

[0115] The second controller 210 may include a second motor driver 212, a second valve driver 213, a parking driver 214, and a second processor 211. The second motor driver 212, the second valve driver 213, the parking driver 214, and the second processor 211 do not correspond to essential components of the second controller 210, and at least some of them may be omitted.

[0116] The second motor driver 212 may receive a control signal from the second processor 211, and provide a driving current for driving the second motor 256 of the second hydraulic pressure supplier 250 in response to the control signal of the second processor 211. For example, the second motor driver 212 may provide a driving current for allowing the pump 251 to pump the pressurized medium to the second motor 256 in response to the control signal of the second processor 211. For example, the second motor driver 212 may include: an H-bridge circuit for controlling the driving current of the second motor 256; a gate driver for driving the input terminal of the H-bridge circuit; and the like.

[0117] The second valve driver 213 may receive a control signal from the second processor 211, and provide a driving current for driving the second valve block 261 of the second hydraulic pressure controller 260 in response to the control signal of the second processor 211. For example, in response to the control signal of the second processor 211, the second valve driver 213 may provide a driving current to each of the valves so that a flow path from the pump 251 of the second hydraulic pressure supplier 250 to the first wheel cylinder 21 and the second wheel cylinder 22 may be formed, or provide a driving current to each of the valves so that a flow path from the first hydraulic pressure supplier 150 to the first wheel cylinder 21 and the second wheel cylinder 22 may be blocked.

[0118] The parking driver 214 may receive the engagement or disengagement signal of the second processor 211, and provide a driving current for engaging or disengaging the parking brakes 31 and 32 in response to the engagement or disengagement signal. For example, the parking driver 214 may apply a driving current for limiting or releasing the restriction on the rotation of the third wheel 13 and the fourth wheel 14 to the parking brakes 31 and 32 in response to the control signal. The parking driver 214 may include: an H-bridge circuit for controlling the driving current of the parking brakes 31 and 32; a gate driver for driving the input terminal of the H-bridge circuit; and the like.

[0119] The second processor 211 may process output signals of the pedal sensor 60 and the wheel speed sensor 70 , and control the second hydraulic pressure supply device 200 and the parking brakes 31 and 32 based on the results of processing the output signals.

[0120] The second processor 211 may send data and / or signals to or receive data and / or signals from the first processor 111 through various paths. For example, the second processor 211 may send data and / or signals to or receive data and / or signals from the first processor 111 through a signal line connected to the first processor 111, or send data and / or signals to or receive data and / or signals from the first processor 111 through a vehicle communication network.

[0121] The second processor 211 may send various types of data and / or signals to the first processor 111 or receive various types of data and / or signals from the first processor 111. For example, in a normal state, the first processor 111 may periodically send an electrical signal (e.g., a pulse signal) to the second processor 211.

[0122] The second processor 211 may receive a periodic signal (e.g., a pulse signal) from the first processor 111, and deactivate the second hydraulic pressure supply device 200 upon receiving the periodic signal from the first processor 111. For example, the second processor 211 may control the second motor driver 212 not to drive the second motor 256 upon receiving the periodic signal. When receiving the periodic signal, the second processor 211 may control the second valve driver 213 to allow the second valve block 261 to allow a flow path between the first hydraulic pressure supply device 100 and the first and second wheel cylinders 21 and 22.

[0123] The second processor 211 may be activated based on the failure to receive a periodic signal (e.g., a pulse signal) from the first processor 111. When the periodic signal is not received from the first processor 111, the second processor 211 may recognize that the first processor 111 is not in a normal state (i.e., the first processor 111 is in a fault state), and may be activated to perform at least some functions of the first processor 111.

[0124] In the fault state of the first hydraulic pressure supply device 100, the second processor 211 may control the second motor driver 212, the second valve driver 213 and / or the parking driver 214 based on the pedal signal of the pedal sensor 60 to drive the second motor 256, the second valve block 261 and / or the parking brakes 31 and 32. For example, the second processor 211 may receive a pedal signal indicating an increase or decrease in the stroke of the brake pedal 50 from the pedal sensor 60, and provide a control signal for controlling the second motor 256, the second valve block 261 and / or the parking brakes 31 and 32 to the second motor driver 212, the second valve driver 213 and / or the parking driver 214 based on the pedal signal. Therefore, in the fault state of the first hydraulic pressure supply device 100, the second hydraulic pressure supply device 200 can implement the service brake.

[0125] In the fault state of the first hydraulic pressure supply device 100, the second processor 211 can control the second motor driver 212, the second valve driver 213 and / or the parking driver 214 to drive the second motor 256, the second valve block 261 and / or the parking brakes 31 and 32 based on the wheel speed signal of the wheel speed sensor 70. For example, the second processor 211 can receive the wheel speed signal indicating the rotation speed of the wheels 11, 12, 13 and 14 from the wheel speed sensor 70, and provide the second motor driver 212, the second valve driver 213 and / or the parking driver 214 with a control signal for controlling the second motor 256, the second valve block 261 and / or the parking brakes 31 and 32 based on the wheel speed signal. Therefore, in the fault state of the first hydraulic pressure supply device 100, the second hydraulic pressure supply device 200 can implement ABS.

[0126] The second processor 211 may send a periodic signal (eg, a pulse signal) to the first processor 111 during normal operation. The first processor 111 may confirm whether the second processor 211 is in a normal state based on whether the periodic signal of the second processor 211 is received.

[0127] The second processor 211 may include one or more semiconductor devices. The second processor 211 may include one core or multiple cores in the semiconductor device. In addition, the second processor 211 may have different names, such as MCU.

[0128] In addition, the second processor 211 may include a memory for recording / storing a program and data for braking the vehicle based on the user's braking intention and / or the rotation speeds of the wheels 11, 12, 13, and 14. The memory may provide the program and data to the second processor 211, and record temporary data generated during the calculation work of the second processor 211. The memory may include, for example, a volatile memory such as SRAM and DRAM, and a non-volatile memory such as ROM, EPROM, and flash memory.

[0129] As described above, the braking system of the vehicle 1 may include the first hydraulic pressure supply device 100, and brake the vehicle 1 in response to the user's braking intention and parking. In addition, the braking system may further include the second hydraulic pressure supply device 200 to provide redundancy. When the first hydraulic pressure supply device 100 is in a faulty state, the second hydraulic pressure supply device 200 may brake the vehicle in response to the user's braking intention and / or parking command. Therefore, even when the first hydraulic pressure supply device 100 does not work properly, the braking system may brake the vehicle 1 through the operation of the second hydraulic pressure supply device 200.

[0130] Figure 5An example of connection among a first controller, a second controller, and a pedal sensor included in a brake system according to an embodiment is shown.

[0131] Reference Figure 5 The braking system may include a pedal sensor 60 , a first controller 110 , and a second controller 210 .

[0132] The pedal sensor 60 may include a reference Figure 4 The first pedal sensor 61 and the second pedal sensor 62 are described, the first pedal sensor 61 may be connected to the first controller 110 , and the second pedal sensor 62 may be connected to the second controller 210 .

[0133] The first pedal sensor 61 may provide a first pedal signal corresponding to the moving distance and / or moving speed of the brake pedal 50 to the first controller 110, and provide a second pedal signal corresponding to the moving distance and / or moving speed of the brake pedal 50 to the second controller 210. The signals provided by the pedal sensors 61 and 62 may include information indicating the state of the pedal sensors. Therefore, in the event of a failure of the sensor, since the signal provided by the pedal sensor 60 includes information indicating the failure of the pedal sensor, the first controller 110 or the second controller 210 may identify the failure of the pedal sensor 60. For example, although the pedal sensors 61 and 62 may provide signals to the first controller 110 and the second controller 210 using a single edge nibble transmission (SENT) communication protocol, the present invention is not limited thereto.

[0134] The first controller 110 may include a first switch 113, a second switch 114, and a first processor 111. In various embodiments, the first controller 110 may further include a first motor driver 112, a first valve driver 115, and a first analog filter circuit (not shown). The first motor driver 112, the first switch 113, the second switch 114, the first valve driver 115, the first analog filter circuit, and the first processor 111 do not correspond to essential components of the first controller 110, and at least some of them may be omitted.

[0135] The first controller 110 may obtain power from the first power source Vdd1 . In other words, the first current provided from the first power source Vdd1 may flow to the common ground GND through the first controller 110 .

[0136] The first controller 110 may include: a first terminal 116a connected to the power terminal 63a of the first pedal sensor 61; and a second terminal 116b connected to the signal terminal 63b of the first pedal sensor 61. In addition, the first controller 110 includes: a third terminal 116c connected to the ground terminal 63c of the first pedal sensor 61, and the third terminal 116c may be connected to the common ground GND of the first controller 110.

[0137] The first terminal 116a of the first controller 110 may be connected to the first power supply Vdd1, and the first switch 113 may be provided on a line connecting the first terminal 116a to the first power supply Vdd1. The second terminal 116b of the first controller 110 may be connected to the first processor 111, and the second switch 114 may be provided on a line connecting the second terminal 116b to the first processor 111.

[0138] The first current provided from the first power source Vdd1 may be supplied to the first pedal sensor 61 through the first switch 113 .

[0139] The first switch 113 may be disposed on a conductive line between the first power source Vdd1 and the first pedal sensor 61 , and may allow or block an electrical connection between the first power source Vdd1 and the first pedal sensor 61 in response to a control signal of the first processor 111 .

[0140] The second switch 114 may be provided on a conductive line between the first processor 111 and the first pedal sensor 61 , and may allow or block an electrical connection between the first processor 111 and the first pedal sensor 61 in response to a control signal of the first processor 111 .

[0141] In a normal state of the first hydraulic pressure supply device 100, the first processor 111 may provide an on signal for maintaining the on state of the first switch 113 to the first switch 113. Therefore, in a normal state of the first hydraulic pressure supply device 100, the first switch 113 may maintain the on state and allow current to be supplied from the first power supply Vdd1 to the first pedal sensor 61.

[0142] In a fault state of the first hydraulic pressure supply device 100, the first processor 111 may provide a disconnection signal for disconnecting the first switch 113 to the first switch 113. Therefore, in a fault state of the first hydraulic pressure supply device 100, the first switch 113 may maintain an open state and block current from being supplied from the first power source Vdd1 to the first pedal sensor 61. In addition, the first switch 113 may be disconnected when no control signal is received due to a fault of the first processor 111.

[0143] In a normal state of the first hydraulic pressure supply device 100, the first processor 111 may provide an on signal for maintaining the on state of the second switch 114 to the second switch 114. Therefore, in a normal state of the first hydraulic pressure supply device 100, the second switch 114 may maintain the on state and allow the first pedal sensor 61 to provide a pedal signal.

[0144] In the fault state of the first hydraulic pressure supply device 100, the first processor 111 may provide the second switch 114 with a disconnection signal for disconnecting the second switch 114. Therefore, in the fault state of the first hydraulic pressure supply device 100, the second switch 114 may maintain the disconnection state and block the pedal signal of the first pedal sensor 61. In addition, the second switch 114 may be disconnected when no control signal is received due to the fault of the first processor 111.

[0145] The first controller 110 may include a fourth terminal 117a and a fifth terminal 117b connected to a plurality of terminals of the second controller 210. The fourth terminal 117a may be connected to a line connecting the first switch 113 to the first terminal 116a, and the fifth terminal 117b may be connected to a line connecting the second switch 114 to the second terminal 116b. Thus, the second controller 210 may monitor whether current or voltage is supplied to the first pedal sensor 61, and receive a first pedal signal from the first pedal sensor 61.

[0146] The second controller 210 may include a third switch 215, a fourth switch 216, a fifth switch 217, a sixth switch 218, a power monitoring unit 219, and a second processor 211. In various embodiments, the second controller 210 may further include a second motor driver 212, a second valve driver 213, a parking driver 214, and a second analog filtering circuit (not shown). The second motor driver 212, the second valve driver 213, the parking driver 214, the second analog filtering circuit, the third switch 215, the fourth switch 216, the fifth switch 217, the sixth switch 218, the power monitoring unit 219, and the second processor 211 do not correspond to essential components of the second controller 210, and at least some of them may be omitted.

[0147] The second controller 210 may obtain current from the second power supply Vdd2 and / or the third power supply Vdd3. The second current provided from the second power supply Vdd2 may flow to the common ground GND of the first controller 110 through the second controller 210 and the first controller 110. According to various embodiments, the third current provided from the third power supply Vdd3 may flow to the common ground GND of the second controller 210 through the second controller 210.

[0148] The second controller 210 may include: a sixth terminal 220a connected to the power terminal 64a of the second pedal sensor 62; and a seventh terminal 220b connected to the signal terminal 64b of the second pedal sensor 62. In addition, the second controller 210 may include: an eighth terminal 220c connected to the ground terminal 64c of the second pedal sensor 62, and the eighth terminal 220c may be connected to the common ground GND of the second controller 210.

[0149] The sixth terminal 220a of the second controller 210 may be connected to the third power supply Vdd3, and the fifth switch 217 may be provided on a line connecting the sixth terminal 220a to the third power supply Vdd3. The seventh terminal 220b of the second controller 210 may be connected to the second processor 211, and the sixth switch 218 may be provided on a line connecting the seventh terminal 220b to the second processor 211.

[0150] The third current provided from the third power source Vdd3 may be supplied to the second pedal sensor 62 through the fifth switch 217 .

[0151] The fifth switch 217 may be disposed on a conductive line between the second power source Vdd3 and the second pedal sensor 62 , and may allow or block electrical connection between the third power source Vdd3 and the second pedal sensor 62 in response to a control signal of the second processor 211 .

[0152] The sixth switch 218 may be disposed on a conductive line between the second processor 211 and the second pedal sensor 62 , and may allow or block an electrical connection between the second processor 211 and the second pedal sensor 62 in response to a control signal of the second processor 211 .

[0153] In the normal state of the second hydraulic pressure supply device 200, the second processor 211 may provide the fifth switch 217 with an on signal for maintaining the on state of the fifth switch 217. Therefore, in the normal state of the second hydraulic pressure supply device 200, the fifth switch 217 may maintain the on state and allow current to be supplied from the third power supply Vdd3 to the second pedal sensor 62.

[0154] In the fault state of the second hydraulic pressure supply device 200, the second processor 211 may provide the fifth switch 217 with a disconnection signal for disconnecting the fifth switch 217. Therefore, in the fault state of the second hydraulic pressure supply device 200, the fifth switch 217 may maintain the disconnection state and block the current from being supplied from the third power supply Vdd3 to the second pedal sensor 62. In addition, the fifth switch 217 may be disconnected when no control signal is received due to the fault of the second processor 211.

[0155] In the normal state of the second hydraulic pressure supply device 200, the second processor 211 may provide an on signal for maintaining the on state of the sixth switch 218 to the sixth switch 218. Therefore, in the normal state of the second hydraulic pressure supply device 200, the sixth switch 218 may maintain the on state and allow the second pedal sensor 62 to provide a pedal signal.

[0156] In the fault state of the second hydraulic pressure supply device 200, the second processor 211 may provide the sixth switch 218 with a disconnection signal for disconnecting the sixth switch 218. Therefore, in the fault state of the second hydraulic pressure supply device 200, the sixth switch 218 may maintain the disconnected state and block the pedal signal of the second pedal sensor 62. In addition, the sixth switch 218 may be disconnected when no control signal is received due to the fault of the second processor 211.

[0157] According to the disclosed embodiment, the second controller 210 may include a plurality of terminals (i.e., a ninth terminal 221a and a tenth terminal 221b respectively connected to the fourth terminal 117a and the fifth terminal 117b of the first controller 110). The ninth terminal 221a may be connected to the fourth terminal 117a of the first controller 110, and the tenth terminal 221b may be connected to the fifth terminal 117b of the first controller 110. Thus, the second controller 210 may monitor whether current or voltage is supplied to the first pedal sensor 61, and receive a first pedal signal from the first pedal sensor 61.

[0158] The second current provided from the second power source Vdd2 may be supplied to the first pedal sensor 61 through the third switch 215 .

[0159] The third switch 215 may be disposed on a conductive line between the second power source Vdd2 and the first controller 110 , and may allow or block an electrical connection between the second power source Vdd2 and the first controller 110 in response to a control signal of the second processor 211 .

[0160] The fourth switch 216 may be provided on a conductive line between the second processor 211 and the first controller 110 , and may allow or block an electrical connection between the second processor 211 and the first controller 110 in response to a control signal of the second processor 211 .

[0161] The power monitoring unit 219 may detect whether current or voltage is supplied from the first power source Vdd1 to the first pedal sensor 61, and transmit a detection signal related thereto to the second processor 211. For example, when the voltage supplied to the first pedal sensor 61 is 0V, the power monitoring unit 219 may generate a detection signal indicating this, and transmit the detection signal to the second processor 211. For example, the power monitoring unit 219 may include a current sensor and / or a voltage sensor, and determine whether power is supplied by comparing the measured current or voltage with a predetermined threshold value.

[0162] The second processor 211 may periodically receive a detection signal from the power monitoring unit 219. The second processor 211 may provide an on-signal for maintaining the on-state of the third switch 215 to the third switch 215 based on the received detection signal. For example, the second processor 211 may receive a detection signal from the power monitoring unit 219 indicating that the voltage provided to the first pedal sensor 61 is 0V. The second processor 211, which has received the detection signal, may provide an on-signal for maintaining the on-state of the third switch 215 to the third switch 215. Therefore, the third switch 215 may maintain the on-state and allow current to be supplied from the second power supply Vdd2 to the first pedal sensor 61.

[0163] The second processor 211 may provide an on signal for maintaining the on state of the fourth switch 216 to the fourth switch 216. Therefore, the fourth switch 216 may maintain the on state and allow the pedal signal to be provided from the first pedal sensor 61. In addition, the second processor 211 may provide an on signal for maintaining the on state of the sixth switch 218 to the sixth switch 218. Therefore, the sixth switch 218 may maintain the on state and allow the pedal signal to be provided from the second pedal sensor 62.

[0164] In this embodiment, although the work of receiving the first pedal signal and the second pedal signal in sequence has been described, the present invention is not limited to this, and these works can be performed at least simultaneously, or either one of the first pedal signal and the second pedal signal can be provided, and then the other of the first pedal signal and the second pedal signal can be provided.

[0165] The second processor 211 may control the braking operation of the vehicle 1 based on the first pedal signal received from the first pedal sensor 61 and the second pedal signal received from the second pedal sensor 62. Specifically, the second processor 211 may control the braking operation of the vehicle 1 based on whether the first pedal signal matches the second pedal signal. For example, when the first pedal signal matches the second pedal signal, the second processor 211 may perform braking driving based on either the first pedal signal or the second pedal signal.

[0166] When the first pedal signal does not match the second pedal signal, the second processor 211 can send a notification signal for safety control of vehicle 1 to a driving assistance system (not shown) of vehicle 1, so that the driving assistance system can perform vehicle safety control, such as moving and parking vehicle 1 to a safe area (e.g., the shoulder of the road).

[0167] According to various embodiments, the second processor 211 may receive a first pedal signal or a second pedal signal including information indicating a failure of the first pedal sensor 61 or the second pedal sensor 62 from the first pedal sensor 61 or the second pedal sensor 62. The second processor 211 receiving the pedal signal may send a notification signal for safety control of the vehicle 1 to the driving assistance system to perform vehicle safety control through the driving assistance system.

[0168] As described above, when the first hydraulic pressure supply device 100 is in a fault state due to a failure of the first hydraulic pressure supply device 100 and no current is supplied from the first power supply Vdd1 to the first pedal sensor 61, the first pedal sensor 61 can obtain power from the second power supply Vdd2 through the second controller 210 and provide a first pedal signal to the second processor 211 of the second controller 210.

[0169] Figure 6 An example of connection among a first controller, a second controller, and a pedal sensor included in a brake system according to various embodiments is shown.

[0170] Reference Figure 6 The braking system may include a pedal sensor 60 , a first controller 110 , and a second controller 210 .

[0171] The description of the pedal sensor 60 can be referred to in Figure 5 The description of the pedal sensor is replaced by the description.

[0172] The first controller 110 may include a first switch 113, a second switch 114, and a first processor 111. In various embodiments, the first controller 110 may further include a first motor driver 112, a first valve driver 115, and a first analog filter circuit (not shown). The first motor driver 112, the first switch 113, the second switch 114, the first valve driver 115, the first analog filter circuit, and the first processor 111 do not correspond to essential components of the first controller 110, and at least some of them may be omitted.

[0173] The description of the first switch 113, the second switch 114 and the first processor 111 can be referred to as Figure 5 The description of the first switch, the second switch and the first processor are replaced.

[0174] In addition to reference Figure 5 In addition to the terminals described above, the first controller 110 may further include an eleventh terminal 118 connected to a specific terminal (i.e., a twelfth terminal 222 of the second controller) of the second controller 210. The eleventh terminal 118 may be connected to a line connecting the first power source Vdd1 to the first switch 113. Therefore, the second controller 210 may monitor whether current or voltage is supplied from the first power source Vdd1 to the first pedal sensor 61.

[0175] The second controller 210 may include a third switch 215, a fourth switch 216, a fifth switch 217, a sixth switch 218, a power monitoring unit 219, and a second processor 211. In various embodiments, the second controller 210 may further include a second motor driver 212, a second valve driver 213, a parking driver 214, and a second analog filtering circuit (not shown). The second motor driver 212, the second valve driver 213, the parking driver 214, the second analog filtering circuit, the third switch 215, the fourth switch 216, the fifth switch 217, the sixth switch 218, the power monitoring unit 219, and the second processor 211 do not correspond to essential components of the second controller 210, and at least some of them may be omitted.

[0176] The description of the third switch 215, the fourth switch 216, the fifth switch 217 and the sixth switch 218 can be referred to as Figure 5 The description of the third switch, the fourth switch, the fifth switch and the sixth switch described herein are replaced.

[0177] According to the disclosed embodiment, the second controller 210 may include a twelfth terminal 222 connected to a specific terminal (i.e., the eleventh terminal 118) of the first controller 110. In other words, the twelfth terminal 222 may be connected to the eleventh terminal 118 of the first controller 110. Therefore, the second controller 210 may monitor whether a current or a voltage is supplied from the first power supply Vdd1 to the first pedal sensor 61 according to the on-state of the first switch 113, and receive a first pedal signal from the first pedal sensor 61.

[0178] The power monitoring unit 219 may include a first power monitoring unit 219a and a second power monitoring unit 219b.

[0179] The first power monitoring unit 219a may detect whether current or voltage is supplied from the first power source Vdd1 to the first pedal sensor 61, and transmit a first detection signal related thereto to the second processor 211. When the voltage supplied from the first power source Vdd1 is 0V, the first power monitoring unit 219a may generate a first detection signal indicating this, and transmit the first detection signal to the second processor 211.

[0180] The second power supply monitoring unit 219b may detect whether current or voltage is supplied to the first pedal sensor 61, and send a second detection signal related thereto to the second processor 211. For example, when an on signal for maintaining the on state of the first switch 113 is not provided, the first switch 113 may be in an off state. In this case, the current supply from the first power supply Vdd1 to the first pedal sensor 61 may be blocked, and the voltage supplied to the first pedal sensor 61 may be detected as 0V. When the voltage supplied to the first pedal sensor 61 is 0V, the second power supply monitoring unit 219b may generate a second detection signal indicating this, and send the second detection signal to the second processor 211.

[0181] The second processor 211 may periodically receive the first detection signal and the second detection signal from the power monitoring unit 219. The second processor 211 may determine whether the first controller 110 is in a normal state based on the received first detection signal and the second detection signal.

[0182] Specifically, the second processor 211 may determine whether the power supply of the first controller 110 has failed and / or whether the first processor 111 has failed based on the received first detection signal and the second detection signal. For example, when a first detection signal indicating that the voltage supplied from the first power supply Vdd1 is 0V is received from the first power supply monitoring unit 219a, the second processor 211 may determine that the first power supply Vdd1 has failed.

[0183] In this case, the second processor 211 may provide the third switch 215 with an on signal for maintaining the on state of the third switch 215. Therefore, the third switch 215 may maintain the on state and allow current to be supplied to the first pedal sensor 61 from the second power source Vdd2.

[0184] In various embodiments, when a first detection signal indicating that the voltage supplied from the first power supply Vdd1 is 5V is received from the first power supply monitoring unit 219a and a second detection signal indicating that the voltage supplied from the first pedal sensor 61 is 0V is received from the second power supply monitoring unit 219b, the second processor 211 can determine that the first processor 111 has failed or the first switch 113 has failed.

[0185] In this case, the second processor 211 may provide an on signal for maintaining the on state of the third switch 215 to the third switch 215. Therefore, the third switch 215 may maintain the on state and allow current to be supplied from the second power supply Vdd2 to the first pedal sensor 61. The second processor 211 may provide an on signal for maintaining the on state of the fourth switch 216 to the fourth switch 216. Therefore, the fourth switch 216 may maintain the on state and allow the pedal signal to be provided from the first pedal sensor 61.

[0186] In various embodiments, when a first detection signal indicating that the voltage supplied from the first power supply Vdd1 is 0V is received from the first power supply monitoring unit 219a and a second detection signal indicating that the voltage supplied from the first pedal sensor 61 is 0V is received from the second power supply monitoring unit 219b, the second processor 211 can determine that the first power supply Vdd1 and the first processor 111 have failed.

[0187] In this case, the second processor 211 may provide an on-signal for maintaining the on-state of the third switch 215 to the third switch 215. Therefore, the third switch 215 may maintain the on-state and allow current to be supplied from the second power supply Vdd2 to the first pedal sensor 61. The second processor 211 may provide an on-signal for maintaining the on-state of the fourth switch 216 to the fourth switch 216. Therefore, the fourth switch 216 may maintain the on-state and allow the pedal signal to be provided from the first pedal sensor 61. In addition, the second processor 211 may provide an on-signal for maintaining the on-state of the sixth switch 218 to the sixth switch 218. Therefore, the sixth switch 218 may maintain the on-state and allow the pedal signal to be provided from the second pedal sensor 62.

[0188] The second processor 211 can control the braking operation of the vehicle 1 based on the first pedal signal received from the first pedal sensor 61 and the second pedal signal received from the second pedal sensor 62. Figure 5 The description of the second processor is replaced by the description.

[0189] Figure 7 An example of connection among a first controller, a second controller, and a pedal sensor included in a brake system according to various embodiments is shown.

[0190] Reference Figure 7 The braking system may include a pedal sensor 60 , a first controller 110 , and a second controller 210 .

[0191] The description of the pedal sensor 60 can be referred to in Figure 5 The description of the pedal sensor is replaced by the description.

[0192] The first controller 110 may include a first switch 113, a second switch 114, a first mode switch 116, a first communication module 117, and a first processor 111. In various embodiments, the first controller 110 may further include a first motor driver 112, a first valve driver 115, and a first analog filter circuit (not shown). The first motor driver 112, the first switch 113, the second switch 114, the first valve driver 115, the first analog filter circuit, the first mode switch 116, the first communication module 117, and the first processor 111 do not correspond to essential components of the first controller 110, and at least some of them may be omitted.

[0193] The description of the first switch 113, the second switch 114 and the first processor 111 can be referred to as Figure 5 The description of the first switch, the second switch and the first processor are replaced.

[0194] As described above, the first controller 110 may include the first mode switch 116 and the first communication module 117 .

[0195] The first mode switch 116 may provide a first switch switching signal switched at a predetermined frequency to the second mode switch 220 of the second controller 210, and receive a second switch switching signal from the second mode switch 220. The provided first switch switching signal may be used to identify a normal state, a fault state, etc. of the first controller 110.

[0196] The first communication module 117 may use the vehicle communication network to transmit and receive data to and from the second controller 210. For example, the vehicle communication network may be a controller area network (CAN) communication, but is not limited thereto, and various vehicle communication networks may be used to transmit or receive data between the first controller 110 and the second controller 210.

[0197] According to various embodiments, when it is determined that the first controller 110 does not normally control the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 or at least one of the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 is not working properly, the first processor 111 may send fault data indicating a fault of the first controller 110 or a fault of at least one of the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 to the second controller 210 through the first communication module 117.

[0198] The second controller 210 may include a third switch 215, a fourth switch 216, a fifth switch 217, a sixth switch 218, a power monitoring unit 219, a second mode switch 220, a second communication module 221, and a second processor 211. In various embodiments, the second controller 210 may also include a second motor driver 212, a second valve driver 213, a parking driver 214, and a second analog filtering circuit (not shown).

[0199] The second motor driver 212, the second valve driver 213, the parking driver 214, the second analog filtering circuit, the third switch 215, the fourth switch 216, the fifth switch 217, the sixth switch 218, the power supply monitoring unit 219, the second mode switch 220, the second communication module 221 and the second processor 211 do not correspond to necessary components of the second controller 210, and at least some of them can be omitted.

[0200] The description of the third switch 215, the fourth switch 216, the fifth switch 217, the sixth switch 218, the power monitoring unit 219 and the second processor 211 can be referred to as Figure 5 The description of the third switch, the fourth switch, the fifth switch, the sixth switch, the power monitoring unit and the second processor are replaced.

[0201] According to the disclosed embodiment, the second controller 210 may include a second mode switch 220 and a second communication module 221 .

[0202] The second mode switch 220 may provide a second switch switching signal switched at a predetermined frequency to the first mode switch 116 of the first controller, and receive the first switch switching signal from the first mode switch 116. The provided second switch switching signal may be used to identify a normal state, a fault state, etc. of the second controller 210.

[0203] The second communication module 221 may use the vehicle communication network to transmit and receive data to and from the first controller 110. For example, the vehicle communication network may be CAN communication, but is not limited thereto, and various vehicle communication networks may be used to transmit or receive data between the first controller 110 and the second controller 210.

[0204] According to the disclosed embodiment, the second processor 211 can identify whether the first controller 110 is in a normal state or in a fault state using the first switch switching signal received from the first mode switch 116. For example, when the first switch switching signal is switched to a frequency different from a specified frequency or is stuck, the second processor 211 can determine that the first controller 110 has failed.

[0205] When it is determined that the first controller 110 has failed, the second processor 211 may determine whether power is supplied to the first pedal sensor 61 based on the detection signal received from the power monitoring unit 219. Specifically, when it is determined based on the detection signal that the voltage supplied to the first pedal sensor 61 is 5V, the second processor 211 does not supply power to the first pedal sensor 61. The second processor 211 may provide an on signal for maintaining the on state of the fourth switch 216 to the fourth switch 216, so that the fourth switch 216 may maintain the on state and receive the first pedal signal from the first pedal sensor 61.

[0206] When it is determined that the voltage supplied to the first pedal sensor 61 is 0V, in order to supply power to the first pedal sensor 61, the second processor 211 may provide an on signal for maintaining the on state of the third switch 215 to the third switch 215, so that the third switch 215 may maintain the on state and supply the second current from the second power supply Vdd2 to the first pedal sensor 61. Subsequently, the second processor 211 may provide an on signal for maintaining the on state of the fourth switch 216 to the fourth switch 216, so that the fourth switch 216 may maintain the on state and receive the first pedal signal from the first pedal sensor 61. In addition, the second processor 211 may provide an on signal for maintaining the on state of the sixth switch 218 to the sixth switch 218, so that the sixth switch 218 may maintain the on state and receive the second pedal signal from the second pedal sensor 62.

[0207] The second processor 211 may control a braking operation of the vehicle 1 based on a first pedal signal received from the first pedal sensor 61 and a second pedal signal received from the second pedal sensor 62 .

[0208] According to various embodiments, the second processor 211 may receive fault data from the first controller 110 through the second communication module 221, and identify at least one of a fault of the first controller 110 and a fault of at least one of the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 based on the received fault data. Specifically, the second processor 211 may receive fault data indicating that the first controller 110 has failed or at least one of the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 has failed from the first controller 110 through the second communication module 221. For example, the fault of the first controller 110 may include a situation where the first controller 110 cannot normally control the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160, but is not limited thereto. The fault of at least one of the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 may include a situation where at least one of the first hydraulic pressure supplier 150 and the first hydraulic pressure controller 160 cannot work normally, but is not limited thereto.

[0209] The second processor 211 that has received the fault data may determine whether to supply power to the first pedal sensor 61 based on the detection signal received from the power monitoring unit 219. When it is determined that no power is supplied from the first controller 110 to the first pedal sensor 61, an on signal for maintaining the on state of the third switch 215 may be provided to the third switch 215 so that the third switch 215 may maintain the on state and supply current from the second power supply Vdd2 to the first pedal sensor 61. Subsequently, the second processor 211 may provide an on signal for maintaining the on state of the fourth switch 216 to the fourth switch 216 so that the fourth switch 216 may maintain the on state and receive the first pedal signal from the first pedal sensor 61.

[0210] When it is determined that power is supplied from the first controller 110 to the first pedal sensor 61, the second processor 211 can provide an on signal to the fourth switch 216 for maintaining the on state of the fourth switch 216, so that the fourth switch 216 can maintain the on state and receive the first pedal signal from the first pedal sensor 61.

[0211] The second processor 211 may control a braking operation of the vehicle 1 based on a first pedal signal received from the first pedal sensor 61 and a second pedal signal received from the second pedal sensor 62 .

[0212] Figure 8 The brake control operation of the second controller according to one embodiment is shown.

[0213] Reference Figure 8 When the second controller 210 determines whether the first current is supplied from the first controller 110 to the first pedal sensor 61 (step 800) and determines that the first current is not supplied to the first pedal sensor 61, the second controller 210 may supply the second current of the second controller 210 to the first pedal sensor 61 based on the determination that the first current is not supplied (step 810).

[0214] Specifically, the second processor 211 of the second controller 210 may receive a detection signal from the power monitoring unit 219, and determine whether power is supplied to the first pedal sensor 61 based on the received detection signal. When the detection signal includes information indicating that the voltage supplied from the first power supply Vdd1 of the first controller 110 to the first pedal sensor 61 is 0V, the second processor 211 may determine that it is in a state where the first current is not supplied to the first pedal sensor 61. In this case, the second processor 211 may determine that the first controller 110 fails or the first power supply Vdd1 fails. When it is determined that the first controller 110 fails or the first power supply Vdd1 fails, the second processor 211 may provide an on signal for maintaining the on state of the third switch 215 to supply power to the first pedal sensor 61, so that the third switch 215 may maintain the on state and supply the second current from the second power supply Vdd2 to the first pedal sensor 61.

[0215] After executing step 810 or when the first current is supplied to the first pedal sensor 61 in step 800, the second controller 210 may acquire the first pedal signal and the second pedal signal from the first pedal sensor 61 and the second pedal sensor 62 (step 820). Specifically, the second processor 211 of the second controller 210 may provide an on signal for maintaining the on state of the fourth switch 216 to the fourth switch 216, so that the fourth switch 216 may maintain the on state and receive the first pedal signal from the first pedal sensor 61. Subsequently, the second processor 211 may provide an on signal for maintaining the on state of the sixth switch 218 to the sixth switch 218, so that the sixth switch 218 may maintain the on state and receive the second pedal signal from the second pedal sensor 62.

[0216] Reference Fig. 9 The operation of the second controller 210 for controlling the vehicle 1 based on the first pedal signal provided from the first pedal sensor 61 and the second pedal signal provided from the second pedal sensor 62 is described in more detail.

[0217] Fig. 9 Operation of a second controller for controlling a vehicle based on a first pedal signal and a second pedal signal according to one embodiment is shown.

[0218] Reference Fig. 9 , the second controller 210 can determine whether the acquired first pedal signal is different from the acquired second pedal signal (step 900), and when it is determined that the two signals are different from each other, send a notification signal for safety control of vehicle 1 to the driving assistance system of vehicle 1 (step 910).

[0219] Specifically, the second processor 211 of the second controller 210 may determine whether the moving distance and / or moving speed of the brake pedal 50 that can be calculated by the first pedal signal is different from the moving distance and / or moving speed of the brake pedal 50 that can be calculated by the second pedal signal. When the two values ​​are different from each other, the second processor 211 may determine that normal braking work is impossible, and send a notification signal for safety control of the vehicle 1 to the driving assistance system so that the driving assistance system can perform vehicle safety control work.

[0220] When it is determined that the first pedal signal matches the second pedal signal, the second controller 210 may perform braking actuation based on the first pedal signal and the second pedal signal (step 920). Specifically, when the two values ​​are the same, the second processor 211 of the second controller 210 may determine that normal braking operation is possible, determine the pedal force of the brake pedal based on at least one of the first pedal signal and the second pedal signal according to the driver's braking intention, and perform braking actuation based on the determined pedal force of the brake pedal.

[0221] In various embodiments, since the first pedal signal provided from the first pedal sensor 61 includes state information indicating a normal state or a fault state of the first pedal sensor 61, the second processor 211 may receive the first pedal signal including state information indicating a fault state of the first pedal sensor 61 from the first pedal sensor 61. In this case, the second processor 211 may perform a brake drive using the second pedal signal provided from the second pedal sensor 62, or transmit a notification signal for safety control of the vehicle 1 to the driving assistance system so that the driving assistance system may perform a vehicle safety control operation.

[0222] According to various embodiments, the second processor 211 may determine whether at least one of the first pedal signal and the second pedal signal is a normal signal or a fault signal using various sensors provided in the vehicle 1. For example, the various sensors may include: a vehicle speed sensor for detecting the speed of the vehicle 1; an acceleration sensor for detecting the longitudinal and lateral accelerations of the vehicle 1; a gyroscope sensor for detecting the yaw rate, roll rate, and pitch rate of the vehicle 1; and / or a wheel sensor for detecting the wheel speed and wheel direction of the vehicle 1, but is not limited thereto, and may include a sensor for measuring a measurement value, which may be used to calculate the moving distance and / or moving speed of the brake pedal 50.

[0223] Specifically, the second processor 211 may use the measurement values ​​measured by the wheel sensor, the yaw sensor, the vehicle speed sensor, the acceleration sensor, and / or the gyro sensor to calculate the moving distance or moving speed of the brake pedal 50. Subsequently, the second processor 211 may calculate the moving distance or moving speed of the brake pedal 50 based on the first pedal signal, and calculate the moving distance or moving speed of the brake pedal 50 based on the second pedal signal.

[0224] The second processor 211 can calculate a first difference between a moving distance or a moving speed calculated based on the measurement value of the sensor and a moving distance or a moving speed calculated based on the first pedal signal, and a second difference between a moving distance or a moving speed calculated based on the measurement value of the sensor and a moving distance or a moving speed calculated based on the second pedal signal.

[0225] The second processor 211 may determine whether each of the first difference and the second difference is less than a preset critical value, and when each of the first difference and the second difference is less than the critical value, recognize that both the first pedal sensor 61 and the second pedal sensor 62 are in a normal state. When it is determined that both the first pedal sensor 61 and the second pedal sensor 62 are in a normal state, the second processor 211 may control the braking operation based on the first pedal signal and the second pedal signal.

[0226] When the first difference and the second difference are both greater than or equal to the critical value, the second processor 211 can identify that both the first pedal sensor 61 and the second pedal sensor 62 are in a fault state. When it is determined that both the first pedal sensor 61 and the second pedal sensor 62 are in a fault state, the second processor 211 can send a notification signal for safety control of the vehicle 1 to the driving assistance system.

[0227] When either the first difference or the second difference is greater than or equal to the critical value, the second processor 211 may identify that either the first pedal sensor 61 or the second pedal sensor 62 is in a fault state. When it is determined that either the first pedal sensor 61 or the second pedal sensor 62 is in a fault state, the second processor 211 may control the braking operation based on the first pedal signal that has been determined to be in a normal state. For example, when it is determined that the first pedal signal is a fault signal, the second processor 211 may control the braking drive based on the second pedal signal.

[0228] As is apparent from the above description, using the auxiliary supply device of the brake device when a failure occurs in the hydraulic pressure supply device of the brake device can stably acquire a plurality of detection information from a plurality of sensors.

[0229] Furthermore, according to the disclosed embodiments, the auxiliary supply device may perform safety control of the vehicle by detecting a failure of the hydraulic pressure supply device and each of the plurality of sensors.

[0230] In addition, the disclosed embodiments can be implemented in the form of a recording medium in which computer-executable commands are stored. These commands can be stored in the form of program code, and when executed by a processor, a program module is generated to perform the work of the disclosed embodiments. The recording medium can be implemented as a computer-readable recording medium.

[0231] The computer-readable recording medium includes any type of recording medium in which a command decodable by a computer is stored, such as a ROM, RAM, a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, etc.

[0232] The device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory storage medium" is a tangible device and only means that signals (e.g., electromagnetic waves) are not included, and the term does not distinguish between situations where data is semi-permanently and temporarily stored in the storage medium. For example, a "non-transitory storage medium" may include a buffer memory that temporarily stores data.

[0233] As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those skilled in the art to which the present invention belongs will understand that the present invention may be implemented in a form different from the disclosed embodiments even without changing the technical spirit or basic features of the present invention. The disclosed embodiments are illustrative and should not be interpreted as limiting.

Claims

1. A braking device, wherein: include: a first hydraulic pressure supplier connected to one or more of the wheel cylinders of the vehicle, a second hydraulic pressure supplier connected to one or more of the wheel cylinders, a first controller configured to control the first hydraulic pressure supplier to supply a first hydraulic pressure to one or more of the wheel cylinders, and a second controller configured to control the second hydraulic pressure supplier to supply a second hydraulic pressure to one or more of the wheel cylinders; The first controller is configured to connect a first power source of the vehicle to a first pedal sensor of the vehicle, The second controller is configured to connect a second power source of the vehicle to the first pedal sensor and a second pedal sensor of the vehicle and monitor a first current supplied from the first power source to the first pedal sensor, The second controller is configured to, in response to detecting that the first current from the first power supply is not supplied to the first pedal sensor, supply the second current from the second power supply to the first pedal sensor, and receive a first pedal signal and a second pedal signal from the first pedal sensor and the second pedal sensor, respectively.

2. The braking device according to claim 1, wherein: The first controller comprises: a first switch configured to selectively allow or block the first current of the first power source from being supplied to the first pedal sensor, a second switch configured to selectively enable or block receiving the first pedal signal from the first pedal sensor, and A first processor is configured to control at least one of the first switch and the second switch.

3. The braking device according to claim 2, wherein: The second controller comprises: a third switch configured to selectively allow or block the second current of the second power source from being supplied to the first pedal sensor, a fourth switch configured to selectively allow or block receiving the first pedal signal from the first pedal sensor, and The second processor is configured to control at least one of the third switch and the fourth switch.

4. The braking device according to claim 3, wherein: The third switch is connected to a power terminal of the first pedal sensor connected in series between the first controller and the second controller, The fourth switch is connected to a signal terminal of the first pedal sensor connected in series between the first controller and the second controller.

5. The braking device according to claim 3, wherein: The second processor is configured to control the third switch in response to a signal indicating whether the first current from the first power source is supplied to the first pedal sensor.

6. The braking device according to claim 5, wherein: The second processor is configured to control the fourth switch to selectively enable receipt of the first pedal signal from the first pedal sensor.

7. The braking device according to claim 5, wherein: The second controller also includes: a first power supply monitor configured to monitor whether the first current is supplied from the first power supply; and A second power supply monitor is configured to monitor whether the first current is supplied to the first pedal sensor.

8. The braking device according to claim 7, wherein: The second processor is configured to determine that the first power source fails in response to a monitoring result that the first current is not supplied from the first power source to the first pedal sensor.

9. The braking device according to claim 8, wherein: The second processor is configured to determine that the first processor fails in response to a monitoring result that the first current is supplied from the first power source but the first current is not supplied to the first pedal sensor.

10. A method for controlling a braking device, wherein: The method for controlling a braking device comprises: monitoring whether a first current from a first power source of the vehicle is supplied to a first pedal sensor connected to the first controller, supplying a second current from a second power source of the vehicle to the first pedal sensor from the second power source and a second controller connected to the second pedal sensor when the first current from the first power source is not supplied to the first pedal sensor, receiving a first pedal signal from the first pedal sensor, and A second pedal signal is received from the second pedal sensor.

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