SYSTEM AND METHOD FOR VEHICLE STOP CONTROL

Abstract

Vehicle stop control procedure of a vehicle, wherein the vehicle stop control procedure comprises the following steps: a) Vehicle driving environment information, which is captured by several sensors attached to the vehicle, is converted by a controller into data to be used as system input information; b) The control system checks whether a control system relating to both the vehicle's drive and braking systems is functioning normally; c) Based on the recorded vehicle driving environment information, the control system determines whether the vehicle is traveling in reverse; and d) A vehicle emergency stop control is carried out by the control unit when it is detected that the vehicle is moving in reverse, requesting the application of the vehicle's electronic parking brake (EPB) and simultaneously controlling the vehicle's transmission to engage Park (P) gear, and if, despite the application of the electronic parking brake and the engagement of Park (P) gear, the vehicle does not come to a complete stop within a predetermined period, emergency braking of the vehicle is carried out by a gear locking device via a transmission control unit (TCU).

Description

BACKGROUND a) Technical field

[0001] The present disclosure relates generally to a vehicle stop control system and method, in particular the vehicle stop control system and method in which, when it is detected that a vehicle is moving in a direction opposite to the direction of an actual gear stage of the vehicle due to a misjudgment or error by the driver, the driver is warned and the vehicle enters an emergency braking state, thereby reducing the risk of an accident and improving the stability of a braking system. b) Description of the related technique

[0002] In modern vehicles, various mechanical elements that were traditionally installed in a vehicle are being converted into electronic elements that are operated by transmitting electrical signals (wiring), and the control method is also gradually changing from a physical control method using a cable, rod and hydraulics to an electronic control method using a sensor, an electronic control unit (ECU) and an actuator.

[0003] Recently, many vehicle components, such as the steering system, suspension system, braking system, and gearshift lever, have been replaced by X-by-Wire technology, which has significantly improved vehicle stability and comfort. Accordingly, X-by-Wire technology goes beyond existing technical limitations and can provide driver assistance functions, such as detecting a breakdown or emergency in a situation where the driver cannot intervene, thus enabling active control.

[0004] Unlike a manual transmission, an automatic transmission in a vehicle determines an optimal gear ratio and performs the gear change itself, without a driver changing the gear ratio via a gear lever in a driving situation, and implements appropriate cooperative engine control and lock-up clutch control to improve gear shift feel and fuel efficiency.

[0005] In particular, the shift control of a P / R / N / D gear, which in an existing vehicle with an automatic transmission can only be carried out by the driver operating a lever, can be performed without driver intervention by an automatic transmission to which an electronic gear shift (shift by wire) is applied, so that it is possible to implement a fully automatic parking system that is more advanced than the existing incomplete automatic parking system in which a driver has to operate a lever.

[0006] Furthermore, unlike the existing manual control of a parking brake, an electronic parking brake (EPB) is automatically applied or released according to the state of a vehicle and can enable more comfortable vehicle operation by eliminating the need for manual operation by a driver.

[0007] Furthermore, a vehicle equipped with such an EPB and shift-by-wire device can automatically control a parking brake without a driver applying the parking brake, and it can perform a safety function according to a failure and emergency response logic.

[0008] However, a vehicle controlled by such an electronic system is affected by the external environment, potential manufacturing variations, and the aging of vehicle components such as a battery, which is prone to frequent failures and malfunctions. Since a vehicle is intended to carry occupants, it requires, in particular, a reliable safety measure to effectively respond to a malfunction in the braking system, which performs braking and holding functions.

[0009] From US 2020 / 0 108 805 A1, a vehicle stop control method of a vehicle is known in which vehicle driving environment information, which is captured by several sensors attached to the vehicle, is processed.

[0010] In DE 10 2019 203 056 A1 a driving assistance system is described which is installed on a vehicle and includes a roll-back detection device.

[0011] US 2015 / 0239437A1 discloses a method for controlling a motor vehicle braking system when the motor vehicle is moving in reverse.

[0012] From US 2005 / 0187671A1, a control procedure for a motor vehicle is known that is used when the motor vehicle is traveling in reverse.

[0013] DE 103 34 605 A1 discloses an automatic braking device for controlling a vehicle movement in the opposite direction to a movement intended by the driver. SUMMARY

[0014] Accordingly, the present disclosure proposes a system and a method for vehicle stop control in which, when it is detected that a vehicle is traveling in a direction opposite to the direction corresponding to the current gear stage of the vehicle due to a misjudgment or error by a driver while the vehicle is traveling on an inclined roadway, the driver is warned accordingly and a control signal requesting the activation of gear stage P and the actuation of the electronic parking brake (EPB) is transmitted to a transmission in such a way that the vehicle enters an emergency braking state, thereby reducing the risk of an accident and improving the stability of a braking system.

[0015] To solve the above problems, a vehicle stop control method for a vehicle according to claim 1 and a vehicle stop control system according to claim 11 are provided.

[0016] A vehicle stop control method of the present disclosure comprises the following steps: Vehicle driving environment information acquired by several sensors attached to the vehicle is converted by a controller into data to be used as system input information; the controller checks whether a control system relating to both the drive and braking systems of the vehicle is operating normally; based on the acquired vehicle driving environment information, the controller determines whether the vehicle is traveling in reverse; and a vehicle emergency stop control is performed by the controller when it is determined that the vehicle is traveling in reverse.

[0017] Vehicle driving environment information can include the vehicle's current gear stage, the position of a shift-by-wire device, vehicle speed, road inclination, and information on whether there are obstacles in front of and behind the vehicle.

[0018] Furthermore, the vehicle's drive and braking systems may include an engine management system (EMS), a transmission control unit (TCU), an electronic parking brake (EPB), an electronic stability control (ESC), and an electronic shift-by-wire system (SBW).

[0019] Furthermore, the procedure may also include: a step c-1) in which it is determined whether the vehicle emergency stop control is executed when it is verified that, after step c), the vehicle is moving in a direction opposite to a direction of an actual gear stage of the vehicle.

[0020] In this case, the procedure may further include: a step c-2), in which it is determined whether the acceleration and speed of the vehicle are each at or above a preset value when it is verified that the vehicle emergency stop control is not executed in step c-1).

[0021] Furthermore, if it is verified that the acceleration and speed of the vehicle in step c-2) each correspond to or exceed the preset value, a warning tone or message may be issued to inform a driver while the vehicle emergency stop control is being executed; however, if the acceleration and speed of the vehicle are each below the preset value, the current state of the vehicle may be maintained.

[0022] Furthermore, the procedure may also include: a step c-3), in which it is determined whether the current gear stage of the vehicle and a direction of travel of the vehicle are compatible when verifying that the vehicle emergency stop control is executed in step c-1).

[0023] In this case, the procedure may further include: a step c-4), in which it is determined whether the vehicle is completely stationary when it is checked that the current gear stage of the vehicle and the direction of travel of the vehicle match each other in step c-3).

[0024] Furthermore, if it is verified in step c-4) that the vehicle is completely stationary, the vehicle emergency stop control can then be released.

[0025] Meanwhile, in the vehicle emergency stop control from step d), the activation of an electronic parking brake (EPB) of the vehicle can be requested and at the same time a transmission of the vehicle can be controlled so that it performs the engagement of the P gear.

[0026] In this case, if the vehicle does not come to a complete stop within a predetermined period despite the application of the electronic parking brake and the engagement of P gear, an emergency braking of the vehicle can be carried out by a gear locking device via a control of a transmission control unit (TCU).

[0027] Furthermore, when the vehicle emergency stop control is released, a P, R or D gear shift operation by the driver can be assumed in such a way that the vehicle's gear stage is converted into a corresponding gear stage.

[0028] Meanwhile, a vehicle stop control system according to the present disclosure comprises: a controller to which vehicle driving environment information acquired by sensors attached to a vehicle is transmitted, wherein the controller is configured to recognize a current driving state of the vehicle based on the driving environment information and transmits a control signal to both an electronic parking brake (EPB) and a transmission control unit (TCU) so that an emergency vehicle stop control is carried out when it is detected that the vehicle is moving in a reverse direction.

[0029] The sensors can include a gear stage detection sensor, a shift-by-wire detection sensor, a vehicle speed detection sensor, and a road inclination detection sensor.

[0030] Furthermore, the control system can detect that the vehicle is moving in reverse if the vehicle is moving in a direction opposite to the direction of a current gear stage of the vehicle.

[0031] According to the vehicle stop control system and method as disclosed herein, when it is detected that a vehicle is traveling in a direction opposite to the direction of the vehicle's current gear stage due to a driver's misjudgment or error while traveling on an inclined roadway, the driver is warned accordingly, and a control signal requesting the activation of gear stage P and the EPB is transmitted to a transmission in such a way that the vehicle enters an emergency braking state, thereby reducing the risk of an accident and improving the stability of a braking system.

[0032] Furthermore, the vehicle stop control system of the present disclosure can flexibly respond to variables such as the failure of an existing vehicle due to production deviations and aging of vehicle parts, which in some existing vehicles represents a limitation of a braking system by an electronic control system, or to external environmental factors of the vehicle, thereby reducing the risk of an accident and improving the stability of a braking system in order to increase the reliability of the stop control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and further tasks, features, and other advantages of the present disclosure will be better understood from the following detailed description in conjunction with the accompanying drawings. These include: Fig. 1 a block diagram showing main parts of a vehicle stop control system according to the present disclosure, and Fig. 2 a flowchart in which a holding control process of a vehicle according to the present disclosure is sequentially described. DETAILED DESCRIPTION

[0034] It is understood that the term "vehicle" or "vehicle-related" or any other similar term as used herein includes motor vehicles in general, such as passenger cars including sports utility vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a range of boats and ships, aircraft and the like, as well as hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles and vehicles using other alternative fuels (e.g., fuels derived from resources other than petroleum). As used herein, a hybrid vehicle is a vehicle that has two or more energy sources, for example, vehicles that run on both gasoline and electricity.

[0035] The terminology used herein serves only to describe certain embodiments and is not intended to limit the disclosure. As used herein, the singular forms "a," "an," and "the" / "a" / "an" are to include the plural forms unless the context clearly indicates otherwise. It is further understood that the terms "includes" and / or "comprehensive," when used in this description, specify the presence of specified features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes all combinations of one or more of the related listed items.Unless explicitly stated otherwise, the term "include" and variants such as "includes" or ""comprehensive" throughout this description are to be understood as meaning the inclusion of specified elements, but not the exclusion of other elements. Furthermore, the terms "unit," "-er," "-or," and "module" used in this description refer to units for processing at least one function and one operation, which can be implemented by hardware components or software components and combinations thereof.

[0036] Furthermore, the control logic of the present disclosure can be embodied as non-volatile, computer-readable media on a computer-readable medium containing executable program instructions that are executed by a processor, a control unit, or the like. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes, floppy disks, flash drives, smart cards, and optical data storage devices. The computer-readable medium can also be distributed across networked computer systems, such that the computer-readable media are stored and executed in a distributed manner, for example, by a telematics server or a controller area network (CAN).

[0037] In the following, an embodiment of the present disclosure is described in detail with reference to the accompanying drawings, so that the person skilled in the art in the field to which the present disclosure belongs can easily implement the present disclosure.

[0038] However, the present disclosure can be implemented in several different forms and is not limited to the embodiment described herein. Furthermore, it should be noted that parts designated by the same reference numerals throughout the detailed description refer to the same components.

[0039] A system and a method for vehicle stop control according to the embodiment of the present disclosure are described in detail below with reference to the attached drawings.

[0040] Fig. Figure 1 is a block diagram illustrating the main parts of the vehicle stop control system as disclosed herein.

[0041] With reference to Fig. 1 The vehicle stop control system according to the present disclosure comprises several sensors 101 to 105 that detect the external driving environment of a vehicle, and a control unit 110 into which vehicle driving environment information detected by the sensors 101 to 105 is input. The vehicle stop control system further comprises an engine management system (EMS) 121 and a transmission control unit (TCU) 122, an electronic parking brake (EPB) 123, an electronic stability control (ESC) 124 and an electronic shift-by-wire (SBW) 125, which are control systems involved in the drive and braking systems of the vehicle and are controlled by the control unit 110.

[0042] The sensors that detect the external driving environment of a vehicle can include a gear stage detection sensor 101, which detects the current gear stage of the vehicle, a shift-by-wire detection sensor 102, which detects the position of the SBW device, a vehicle speed detection sensor 103, which detects the speed of the vehicle, a road inclination detection sensor 104, which detects the inclination of a road on which the vehicle is traveling, and an obstacle detection sensor 105, which can detect whether there are obstacles in front of or behind the vehicle.

[0043] Furthermore, the control unit 110 receives various pieces of information about the vehicle's external driving environment, such as the vehicle's current gear stage, the position of the SBW device, vehicle speed, road inclination, and whether there are obstacles in front of or behind the vehicle. These are detected by the gear stage detection sensor 101, the shift-by-wire detection sensor 102, the vehicle speed detection sensor 103, the road inclination detection sensor 104, and the obstacle detection sensor 105, respectively, in order to determine the vehicle's current driving state and control the vehicle's drive and braking systems according to a preset set of control logics (see Fig. 2) so that the emergency stop (emergency braking) of the vehicle is carried out or cancelled.

[0044] The control unit 110 receives information about the vehicle's driving environment from sensors 101 to 105 and determines the vehicle's current driving state. For example, if the control unit 110 detects that a vehicle is traveling in reverse, i.e., in a direction opposite to the direction of the vehicle's current gear selection, it can send control signals to the EPB 123 and the TCU 122 to initiate an emergency vehicle stop.

[0045] Fig. 2 is a flowchart, in which, based on the in Fig. In the vehicle stop control system shown in the present disclosure, the stop control logic of a vehicle is described sequentially.

[0046] With regard to the Fig. 1 and Fig. 2. In accordance with the vehicle stop control procedure as disclosed herein, information about the external driving environment of a vehicle, such as a gear stage, a shift-by-wire position and speed of a vehicle currently traveling, a road inclination and whether there are obstacles in front of or behind the vehicle, is first acquired by the gear stage detection sensor 101, the shift-by-wire detection sensor 102, the vehicle speed detection sensor 103, the road inclination detection sensor 104 and the obstacle detection sensor 105, which are attached to the vehicle, and transmitted to the controller 110, and the controller 110 performs at S201 the work of converting the acquired various information about the external driving environment into data to be used as system input information for the vehicle stop control.

[0047] Next, the control unit 110 determines whether the roadway on which the vehicle is currently located is inclined and whether there are obstacles in front of or behind the vehicle, and checks at S202 whether a control unit that is related to the vehicle's drive and braking systems, such as the EMS 121, the TCU 122, the EPB 123, the ESC 124 and the SBW unit 125, is functioning normally.

[0048] When S202 checks that the control system relating to the vehicle's drive and braking systems is functioning normally, S203 also determines, based on the various driving environment information of the vehicle acquired in S201, whether the vehicle is traveling in a direction opposite to the direction of the vehicle's current gear stage.

[0049] For example, if, due to a driver misjudgment or error, the gear position of a vehicle's electronic shift-by-wire transmission is set to R (reverse) while the vehicle is on a downhill slope, the vehicle may, due to the gradient of the road, travel forward in a direction opposite to the direction of its current gear position, even though the vehicle's gear position is set to R (reverse). In this case, if the vehicle is traveling at a speed of 3 km / s or more, one of the vehicle's engines may shut off. The S203 system, as described above, can detect whether the vehicle is traveling in a direction opposite to the direction of its current gear position.

[0050] Accordingly, if it is detected that a vehicle is traveling in a direction (the vehicle's forward direction) that is opposite to the direction of the vehicle's current gear setting (for example, reverse gear), the vehicle's engine can be switched off, leading to a dangerous situation in which the vehicle is not braked. Consequently, the control unit 110 can send a control signal to a message unit 126 located on the vehicle's dashboard to warn the driver that the vehicle is traveling in a direction opposite to its current gear setting, and can simultaneously send a control signal to the EPB 123 to request activation of the EPB and initiate an emergency vehicle stop, in which, in the case of S210, the transmission engages park (P).

[0051] If, in S203, it is determined that the vehicle is not moving in the direction opposite to the current gear stage, the vehicle can be controlled in such a way that it maintains its current driving state, so that in S208 the vehicle drives normally in a current driving environment.

[0052] However, if S203 detects that the vehicle is moving in the opposite direction to the current gear stage, the vehicle goes to S204, and S204 determines whether the vehicle is currently subject to emergency stop control (an emergency stop indicator is on).

[0053] If the check reveals that the vehicle emergency stop control is not being activated, the vehicle enters stage S209, and it is determined whether the vehicle's acceleration and speed each reach or exceed a preset value. If both the acceleration and speed reach or exceed a preset value, causing the vehicle to continuously reverse because the driver does not stop the vehicle or the vehicle's braking system fails, the vehicle enters stage S210. The driver is warned that the vehicle is currently in an emergency braking state, and a control signal is sent to EPB 123 to request urgent activation of the EPB and initiate the vehicle emergency stop control, during which the transmission engages Park (P) at stage S210.

[0054] In S209, the “preset value” against which the acceleration and speed of the vehicle are compared is a value at which the speed of the vehicle, traveling in a direction opposite to the current gear stage of the vehicle, may be judged to be dangerous if the speed of the vehicle increases, i.e. a value that is preset as a threshold at which the engine of the vehicle is switched off, and such a preset value may be quantitatively different according to the weight and engine power of the vehicle.

[0055] When the vehicle enters emergency braking mode at S210, the control unit 110 also sends a signal to the message unit 126 located on the vehicle's dashboard to inform the driver, by means of a warning tone or message, that the vehicle is under emergency stop control. In this case, if the vehicle's acceleration and speed do not reach the preset values ​​at S209, the vehicle is controlled to maintain its current driving state at S208.

[0056] However, if S204 reveals that the vehicle is currently subject to emergency stop control, the vehicle enters S205 to check whether the vehicle's emergency stop control needs to be released, and S205 determines whether the vehicle's current gear stage and direction of travel are compatible.

[0057] If the vehicle's current gear setting and direction of travel do not match, the state of the emergency stop control currently being executed is maintained at S208. However, if the vehicle's current gear setting and direction of travel do match, the vehicle enters S206 to check whether the emergency stop control can currently be released, and at S206 it is determined whether the vehicle has come to a complete stop.

[0058] In this case, S206 determines whether the vehicle whose stop control is being performed has come to a complete stop and whether there are any obstacles in front of or behind the vehicle, in order to check whether it is appropriate to release the vehicle stop control. If it turns out that the vehicle has not come to a complete stop, the current status of the vehicle subject to the emergency stop control is maintained at S208. If, on the other hand, the check shows that the vehicle has come to a complete stop, the vehicle emergency stop control is released at S207 (an emergency stop flag is deactivated).

[0059] In this case, the control unit 110, in the S208 and S210 where the vehicle emergency stop control is performed, sends an additional control signal to the TCU 122 if it turns out that the EPB or the SBW device of the vehicle has a malfunction or that the vehicle does not come to a complete stop within a predetermined period of time, even though the EPB has been activated and the transmission has been put into P gear, so that the TCU 122 is able to apply a gear lock, so that, secondly, the emergency braking of the vehicle can be carried out.

[0060] When the vehicle emergency stop control is released in the S207, the vehicle's shift system also accepts a P, R or D gear shift operation by the driver as a normal operation, so that the vehicle's gear is converted to the assigned gear shifted by the driver, in order to maintain the vehicle's normal driving condition.

[0061] Furthermore, in the vehicle stop control procedure, even if this is shown in the flowchart of Fig. 2 is not shown, it must be determined whether the control of the gear locking device 130 by the TCU 122 is required before S210, in which the vehicle stop control is carried out in a case in which the vehicle enters S210, in which the vehicle stop control is carried out, since at S209 the acceleration and speed of a vehicle reach preset values ​​or more.

[0062] In this case, before entering S209 from S209, the control unit 110 can determine whether the TCU 122 needs to activate the gear locking device 130 to perform vehicle stop control via a general braking system (activation of the EPB and engagement of P gear), or whether the TCU 122 can apply the gear locking device 130 to perform emergency vehicle stop control.

[0063] In this case, the failure and malfunction of the drive and braking systems, which must be taken into account during the vehicle emergency stop control by the gear locking device described above, can result in a vehicle not stopping due to a physical failure of a brake pedal in a D / R gear stage, a parking brake not being applied due to a failure / wiring problem of an EPB control, an N gear stage not being locked or a D / R gear stage not being engaged due to a physical failure of an SBW device, the P gear not being engaged due to the failure of a parking electromagnet controlled by a TCU, and a vehicle sliding because it is accidentally shifted into an N gear stage.

[0064] The control process described above preferably does not end as a one-time process, but rather returns to an initial step after the vehicle stop control or after the release of the stop control is complete, such that the control process is repeated in the same way. Furthermore, if the vehicle stop control is performed by the vehicle stop control logic at S201 to S204 and S209 and S210, only one stop control trigger condition at S205 and S206 is checked to trigger the vehicle stop control. If the vehicle stop control is triggered via the process of S205 and S206, only the conditions of S201 to S204 and S209 and S210 are checked again to perform the vehicle stop control. Accordingly, the execution and release of the vehicle stop control can be controlled complementarily.

[0065] According to the vehicle stop control system and method of the present disclosure described above, when it is detected that a vehicle is traveling in a direction opposite to the direction of the vehicle's current gear stage due to a driver's misjudgment or error while traveling on an inclined roadway, the driver is warned accordingly, and a control signal requesting the activation of gear stage P and the actuation of the EPB is transmitted to a transmission in such a way that the vehicle enters an emergency braking state, thereby reducing the risk of an accident and improving the stability of a braking system.

[0066] The embodiment of the present disclosure has been described above; however, the scope of the present disclosure is not limited to such a specific embodiment, and the person skilled in the relevant field is able to modify the embodiment to the extent of the claims of the present disclosure.

Claims

[1] Vehicle stop control procedure of a vehicle, wherein the vehicle stop control procedure comprises the following steps: a) Vehicle driving environment information, which is captured by several sensors attached to the vehicle, is converted by a controller into data to be used as system input information; b) The control system checks whether a control system relating to both the vehicle's drive and braking systems is functioning normally; c) Based on the recorded vehicle driving environment information, the control system determines whether the vehicle is traveling in reverse; and d) A vehicle emergency stop control is carried out by the control unit when it is detected that the vehicle is moving in reverse, requesting the application of the vehicle's electronic parking brake (EPB) and simultaneously controlling the vehicle's transmission to engage Park (P) gear, and if, despite the application of the electronic parking brake and the engagement of Park (P) gear, the vehicle does not come to a complete stop within a predetermined period, emergency braking of the vehicle is carried out by a gear locking device via a transmission control unit (TCU). [2] Method according to claim 1, wherein the vehicle driving environment information includes a current gear stage of the vehicle, a position of a shift-by-wire device, a vehicle speed, a road gradient and an indication of whether there are obstacles in front of and behind the vehicle. [3] Method according to claim 1 or 2, wherein the drive and braking system of the vehicle comprises an engine management system (EMS), a transmission control unit (TCU), an electronic parking brake (EPB), an electronic stability control (ESC) and a shift-by-wire device (SBW). [4] Method according to any one of the preceding claims, further comprising: a step c-1), in which it is determined whether the vehicle emergency stop control is executed when it is checked that the vehicle is moving in a direction opposite to a direction of an actual gear stage of the vehicle after step c). [5] Method according to claim 4, further comprising: a step c-2), in which it is determined whether the acceleration and speed of the vehicle are each at or above a preset value, while verifying that the vehicle emergency stop control is not executed in step c-1). [6] Method according to claim 5, wherein, when it is checked that the acceleration and speed of the vehicle in step c-2) each correspond to the preset value or more, a warning tone or a warning message is issued to inform a driver that the vehicle emergency stop control is being executed, but if the acceleration and speed of the vehicle are each below the preset value, the current state of the vehicle is maintained. [7] Method according to any one of claims 4 to 6, further comprising: a step c-3), in which it is determined whether the current gear stage of the vehicle and a direction of travel of the vehicle match each other when it is checked that the vehicle emergency stop control is executed in step c-1). [8] Method according to claim 7, further comprising: a step c-4), in which it is determined whether the vehicle is completely stationary when checking that the current gear stage of the vehicle and the direction of travel of the vehicle match each other in step c-3). [9] Method according to claim 8, wherein when it is verified that in step c-4) the vehicle is completely stationary, the vehicle emergency stop control is released. [10] Method according to claim 9, wherein, when the vehicle emergency stop control is released, a P, R or D gear shift operation by the driver is assumed such that the transmission stage of the vehicle is converted into a corresponding transmission stage. [11] Vehicle stop control system with: a control unit to which vehicle driving environment information acquired by several sensors mounted on a vehicle is transmitted, wherein the control unit is configured to recognize a current driving state of the vehicle based on the driving environment information and transmits a control signal to both an electronic parking brake (EPB) and a transmission control unit (TCU) so that an emergency vehicle stop control is carried out when it is detected that the vehicle is moving in a reverse direction, requesting the application of an electronic parking brake (EPB) of the vehicle and simultaneously controlling a transmission of the vehicle to engage the P gear, and wherein the control unit is configured to operate if the vehicle does not come to a complete stop within a predetermined period despite the application of the electronic parking brake and the engagement of the P gear.to perform an emergency braking of the vehicle by means of a gear locking device via control of a transmission control unit (TCU). [12] System according to claim 11, wherein the sensors comprise a gear stage detection sensor, a shift-by-wire detection sensor, a vehicle speed detection sensor and a road inclination detection sensor. [13] System according to claim 11 or 12, wherein the control system detects that the vehicle is moving in the reverse direction when the vehicle is moving in a direction opposite to a direction of an actual gear stage of the vehicle.

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