Emergency Braking Control With Brake Judder Compensation
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Solution Overview
Problem
Existing emergency braking systems fail to effectively address brake judder, leading to degraded braking performance and inaccurate dangerous situation determination due to the inability to associate brake judder with forward collision-avoidance assist (FCA) systems, resulting in inadequate deceleration and yaw rate compensation.
Innovation Solution
An emergency braking apparatus that predicts brake judder occurrence and adjusts FCA emergency braking by determining required deceleration and yaw rate compensation values based on judder magnitude, using look-up tables and compensation coefficients to improve braking performance and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If brake judder detection technology is implemented, then judder occurrence can be detected, but braking performance cannot be effectively improved because detection is not associated with braking control
Solution Approach 1:
The patent combines the judder detection function with the forward collision-avoidance assist (FCA) braking control system. The emergency braking controller integrates both detection and control capabilities, allowing the system to not only detect brake judder but also automatically adjust braking force distribution to compensate for judder effects, thereby improving actual braking performance.
Solution Approach 2:
The system implements a feedback mechanism where the emergency braking controller continuously monitors judder detection information and adjusts braking control parameters in real-time. When judder is detected, the controller modifies the required deceleration and yaw rate compensation values based on the detected judder magnitude, creating a closed-loop control system that actively compensates for brake judder effects.
2Productivity
If ESC controller performs braking control based on FCA system requirements, then emergency braking can be executed, but braking control becomes inappropriate when brake judder occurs
Solution Approach 1:
The emergency braking controller pre-calculates compensation values for required deceleration and yaw rate based on predicted judder occurrence before actual braking is applied. By preparing compensation parameters in advance based on judder detection information, the system can immediately apply appropriate corrections when braking begins, maintaining both rapid response and accurate control.
3Ease of operation
If FCA emergency braking logic transmits required deceleration to ESC controller, then braking control is initiated, but deceleration values become inaccurate when judder occurs
Solution Approach 1:
The system dynamically changes the required deceleration parameter based on judder detection information. When judder is detected, the emergency braking controller modifies the required deceleration value by applying compensation coefficients that account for the reduced braking effectiveness caused by judder, ensuring that the transmitted deceleration command remains accurate despite the adverse braking conditions.
Data Source
AI summary
An embodiment emergency braking apparatus for a vehicle includes a memory storing a required control amount determination algorithm for non-occurrence of a judder and a required control amount determination algorithm for occurrence of the judder and an emergency braking controller that determines whether the judder occurs based on judder prediction information, determines whether a current situation is a dangerous situation based on vehicle forward detection information and a dangerous situation determination criterion for the occurrence of the judder, operates based on the required control amount determination algorithm for the occurrence of the judder, determines a primary required control amount based on the required control amount determination algorithm for the non-occurrence of the judder, selects a compensation coefficient corresponding to a judder magnitude, determines a compensation value based on the compensation coefficient, and determines a final required control amount by applying the compensation value to the primary required control amount.