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KR100721346B1 - Control Method of Electro-Hydraulic Braking System - Google Patents

Control Method of Electro-Hydraulic Braking System Download PDF

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Publication number
KR100721346B1
KR100721346B1 KR1020030030052A KR20030030052A KR100721346B1 KR 100721346 B1 KR100721346 B1 KR 100721346B1 KR 1020030030052 A KR1020030030052 A KR 1020030030052A KR 20030030052 A KR20030030052 A KR 20030030052A KR 100721346 B1 KR100721346 B1 KR 100721346B1
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South Korea
Prior art keywords
braking
hydraulic pressure
pedal
target
pressure
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KR20040097689A (en
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윤팔주
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주식회사 만도
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

본 발명의 운전자의 제동의지를 판단하고 그에 따라 능동적으로 브레이크 압력을 제어할 수 있는 전자유압식 제동장치의 제어방법에 관한 것으로, 제동시 브레이크 페달의 행정거리를 검출하고 그에 따른 목표 유압을 산출하는 하는 단계, 산출된 유압에 따라 상기 전자밸브를 구동하여 제동을 제어하는 단계를 포함함으로써, 브레이크 페달의 행정거리와 변화율을 기초로 하여 휠에 작용하는 유압을 제어함으로써, 운전자의 브레이크 페달의 답력이 약할 경우에도 안정적인 제동이 이루어지도록 함은 물론, 긴급 제동시에도 안정적인 제동을 행할 수 있도록 하는 효과가 있다.The present invention relates to a control method of an electro-hydraulic braking device that can determine the braking intention of the driver of the present invention and actively control the braking pressure. And controlling the braking by driving the solenoid valve according to the calculated hydraulic pressure, thereby controlling the hydraulic pressure acting on the wheel based on the stroke distance and the change rate of the brake pedal. In this case, as well as the stable braking is performed, there is an effect to perform a stable braking even during emergency braking.

Description

전자유압식 제동장치의 제어방법{Control method for electro-hydraulic brake}Control method for electro-hydraulic brake system

도 1은 본 발명에 따른 전자유압식 제동장치의 구성을 설명하기 위한 유압회로도이다.1 is a hydraulic circuit diagram for explaining the configuration of an electro-hydraulic brake system according to the present invention.

도 2는 본 발명에 따른 전자유압식 제동장치의 구성을 설명하기 위한 블록도이다.2 is a block diagram for explaining the configuration of the electrohydraulic brake system according to the present invention.

도 3은 본 발명에 따른 전자유압식 제동장치의 제어방법을 설명하기 위한 제어 흐름도이다.3 is a control flowchart illustrating a control method of the electrohydraulic brake system according to the present invention.

도 4는 본 발명에 따른 전자유압식 제동장치의 제어방법을 설명하기 위한 그래프이다.4 is a graph illustrating a control method of the electrohydraulic brake system according to the present invention.

* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

1:브레이크 페달 1a:마스터실린더1: brake pedal 1a: master cylinder

1b:페달운동시뮬레이터 3,4:전자밸브 1b: Pedal movement simulator 3, 4: Solenoid valve

5:컷밸브 6:모터5: cut valve 6: motor

10:페달행정감지부 30:실린더압력감지부 10: pedal stroke detection unit 30: cylinder pressure detection unit

51:FL차륜속도감지부 52:FR차륜속도감지부51: FL wheel speed detection unit 52: FR wheel speed detection unit

53:RL차륜속도감지부 54:RR차륜속도감지부 53: RL wheel speed detection unit 54: RR wheel speed detection unit                 

60:제어부 70:구동부60: control unit 70: drive unit

본 발명은 브레이크의 제동압력을 능동적으로 제어할 수 있는 전자유압식 제동장치의 제어방법에 관한 것이다.The present invention relates to a control method of an electro-hydraulic braking device capable of actively controlling the braking pressure of a brake.

종래의 유압식 제동장치는 운전자가 브레이크 페달을 밟은 답력이 부스터에 의해 증폭되고, 이어 마스터 실린더에서 압력이 생성되며, 이 압력에 의해 브레이크의 패드를 휠의 디스크에 압착함으로써 제동이 이루어졌다.In the conventional hydraulic braking system, the driver's stepping force on the brake pedal is amplified by the booster, and then pressure is generated in the master cylinder, and the braking is performed by pressing the pad of the brake onto the disk of the wheel.

그러나 운전자의 브레이크 페달이 답력이 약할 경우 정상적인 압력형성이 되지 않아 제동이 제대로 이루어지지 않았다. 또한 긴급 상황에서 급제동을 할 경우 상기와 같이 답력이 부족하면 유압이 충분히 발생하지 못하게 되고, 이에 따라 브레이크에 충분한 압력이 전달되지 못하여 제동이 정상적으로 이루어지지 않는 단점이 있었다.However, when the driver's brake pedal was weak, the brakes did not work properly because normal pressure was not generated. In addition, when the emergency braking in the emergency situation, if the lack of the above-mentioned, the hydraulic pressure is not generated sufficiently, accordingly there was a disadvantage that the braking is not normally performed because the sufficient pressure is not transmitted to the brake.

본 발명은 이와 같은 문제점을 해결하기 위한 것으로, 본 발명의 목적은 운전자의 제동의지를 판단하고 그에 따라 능동적으로 브레이크 압력을 제어할 수 있는 전자유압식 제동장치의 제어방법을 제공하는 것이다.The present invention is to solve such a problem, an object of the present invention is to provide a control method of an electro-hydraulic braking device that can determine the braking intention of the driver and actively control the brake pressure accordingly.

상기의 목적을 달성하기 위한 본 발명에 따른 전자유압식 제동장치의 제어방 법은, 제동시 브레이크 페달의 행정거리를 검출하고 그에 따른 목표 유압을 산출하는 하는 단계, 상기 산출된 유압에 따라 상기 전자밸브를 구동하여 제동을 제어하는 단계를 포함하는 것을 특징으로 한다.The control method of the electro-hydraulic braking device according to the present invention for achieving the above object, the step of detecting the stroke distance of the brake pedal during braking and calculating the target hydraulic pressure according to the, the solenoid valve according to the calculated hydraulic pressure It characterized in that it comprises a step of controlling the braking by driving.

이하에서는 첨부한 도면을 참조하여 본 발명을 상세하게 설명하도록 한다.Hereinafter, with reference to the accompanying drawings to describe the present invention in detail.

도 1은 본 발명에 따른 전자유압식 제동장치를 설명하기 위한 유압회로도이다.1 is a hydraulic circuit diagram for explaining the electro-hydraulic braking device according to the present invention.

도 1을 참조하면, 제동시 운전자에 의해 조작되는 브레이크 페달(1)과, 페달(1)로부터 힘이 전달되는 마스터실린더(1a)가 마련된다. 그리고, 생성된 브레이크 액압을 각 휠실린더(2)에 공급/제어하기 위한 다수의 전자밸브(3)(4)와, 브레이크 액을 펌핑하기 위한 모터(6) 및 펌프(7), 펌프(7)의 구동시 브레이크액을 저장하기 위한 축압기(8), 마스터 실린더와 휠사이의 유로를 개폐하기 위한 컷밸브가 마련되며, 이들은 모듈레이터 블록(9)에 콤팩트하게 설치된다.Referring to FIG. 1, a brake pedal 1 operated by a driver during braking and a master cylinder 1a through which force is transmitted from the pedal 1 are provided. In addition, a plurality of solenoid valves 3 and 4 for supplying / controlling the generated brake hydraulic pressure to each wheel cylinder 2, a motor 6, a pump 7, and a pump 7 for pumping brake fluid. An accumulator (8) for storing brake fluid at the time of driving) and a cut valve for opening and closing the flow path between the master cylinder and the wheel are provided, which are compactly installed in the modulator block (9).

상기 전자밸브(3)(4)는 휠실린더(2)로 공급된 브레이크 액압을 유입 또는 유출하기 위해 휠실린더(2)의 입구측과 출구측에 각각 배설되는데, 전자밸브(3)(4)는 평상시(off) 폐쇄상태를 유지하는 노말클로즈형(NC) 비례 솔레노이드 밸브이다. 또한, 컷밸브(5)는 평상시(off) 개방상태를 유지하는 노말오픈형(NO) 솔레노이드 밸브이다.The solenoid valves 3 and 4 are respectively disposed at the inlet side and the outlet side of the wheel cylinder 2 for inflow or outflow of the brake hydraulic pressure supplied to the wheel cylinder 2, and the solenoid valves 3 and 4 are respectively provided. Is a normally closed (NC) proportional solenoid valve that maintains an off-closed state. The cut valve 5 is a normally open (NO) solenoid valve that maintains an open state.

또한 본 발명에 따른 전자 유압식 제동장치는, 각 휠(2)에는 휠(2)에 인가되는 유압을 검출하기 위해 각각의 유압감지부(21, 22, 23, 24)가 마련되며, 마스터실린더(1a)의 유압을 감지하기 위하여 마스터실린더(1a)의 유로 상에는 실린더유압 감지부(30)가 마련되며, 축압기(8)의 유압을 감지하기 위한 축압기유압감지부(40)가 축압기(8)의 유로상에 마련된다. In addition, the electro-hydraulic braking device according to the present invention, each wheel 2 is provided with respective hydraulic pressure sensing unit (21, 22, 23, 24) for detecting the hydraulic pressure applied to the wheel (2), the master cylinder ( A cylinder hydraulic pressure sensing unit 30 is provided on the flow path of the master cylinder 1a in order to detect the hydraulic pressure of 1a), and the accumulator hydraulic pressure sensing unit 40 for sensing the hydraulic pressure of the accumulator 8 is provided with an accumulator ( It is provided on the flow path of 8).

또한 본 발명에 따른 전자유압식 제동장치는, 브레이크 페달(1)의 행정을 감지하기 위한 페달행정감지부(10)를 구비하고, 컷밸브(5) 작동시 페달반력을 발생시키기 위한 폐달운동 시뮬레이터(1b)가 마스터실린더(1a)의 유로상에 마련된다.In addition, the electro-hydraulic braking apparatus according to the present invention includes a pedal stroke sensing unit 10 for sensing a stroke of the brake pedal 1, and a pedal movement exercise simulator for generating pedal reaction force when the cut valve 5 is operated ( 1b) is provided on the flow path of the master cylinder 1a.

도 2는 본 발명에 따른 전자유압식 제동장치를 설명하기 위한 블록도이다. 도 2를 참조하면, 본 발명에 따른 차량은 전자유압식 제동장치는, 전체동작을 제어하는 제어부(60)를 구비하고, 상기 제어부(60)에는 각 휠의 유압을 검출하는 전륜 좌측의 유압을 감지하기 위한 FL유압감지부(21), 전륜 우측의 유압을 감지하기 위한 FR유압감지부(22), 후륜 좌측의 유압을 감지하기 위한 RL유압감지부(23) 및 후륜 우측의 유압을 감지하기 위한 RR유압감지부(24)가 접속된다. 또한 브레이크 페달(1)의 행정거리를 검출하는 페달행정감지부(10)와, 마스터 실린더(1a)의 유압을 감지하는 실린더유압감지부(30)와, 축압기(8)의 유압을 감지하는 축압기유압감지부(40)가 제어부(60)에 접속된다.2 is a block diagram illustrating an electrohydraulic brake system according to the present invention. 2, the vehicle according to the present invention, the electro-hydraulic braking device has a control unit 60 for controlling the overall operation, the control unit 60 detects the oil pressure on the left side of the front wheel for detecting the oil pressure of each wheel FL hydraulic pressure sensing unit 21 for detecting, FR hydraulic pressure sensing unit 22 for detecting the hydraulic pressure on the right side of the front wheel, RL hydraulic pressure sensing unit 23 for detecting the hydraulic pressure on the left side of the rear wheel, and for detecting the hydraulic pressure on the right side of the rear wheel The RR hydraulic pressure sensing section 24 is connected. In addition, the pedal stroke detection unit 10 for detecting the stroke distance of the brake pedal 1, the cylinder hydraulic pressure detection unit 30 for detecting the hydraulic pressure of the master cylinder (1a), and the hydraulic pressure of the accumulator (8) The accumulator hydraulic pressure sensing unit 40 is connected to the control unit 60.

또한 본 발명에 따른 전자유압식 제동장치는 각 차륜의 속도를 감지할 수 있도록 FL차륜속도 감지부(51)와, FR차륜속도 감지부(52)와, RL차륜속도 감지부(53)와, RR차륜속도 감지부(54)를 구비하며, 상기 제어부(60)의 제어에 따라 각 전자밸브(3 및 4), 컷밸브(5) 및 모터(6)를 구동하는 구동부(70)를 포함한다.
In addition, the electro-hydraulic brake system according to the present invention, FL wheel speed detection unit 51, FR wheel speed detection unit 52, RL wheel speed detection unit 53, RR to detect the speed of each wheel The vehicle includes a wheel speed detecting unit 54 and a driving unit 70 for driving each of the solenoid valves 3 and 4, the cut valve 5, and the motor 6 under the control of the controller 60.

이하에서는 본 발명에 따른 전자유압식 제동장치의 동작을 설명하도록 한다. Hereinafter will be described the operation of the electro-hydraulic braking device according to the present invention.                     

도 3은 본 발명에 따른 전자유압식 제동장치의 제어방법을 설명하기 위한 제어흐름도이다.3 is a control flowchart illustrating a control method of the electrohydraulic brake system according to the present invention.

제어부(60)는 제동여부를 판단한다(S10). 운전자가 브레이크 페달(1)을 밟으면 페달행정감지부(20)는 브레이크 페달(1)의 행정거리에 따른 신호를 제어부(60)로 전송한다. 또한 실린더유압감지부(30)는 브레이크 페달(1)의 작동에 따라 마스터실린더(1a)에서 발생된 유압에 따를 신호를 제어부(60)로 전송한다. 이에 따라 제어부(60)는 페달행정감지부(10) 및 실린더유압감지부(30)로부터 전송되는 신호를 수신함으로써 운전자의 제동의지를 감지할 수 있다.The controller 60 determines whether braking (S10). When the driver presses the brake pedal 1, the pedal stroke detection unit 20 transmits a signal according to the stroke distance of the brake pedal 1 to the controller 60. In addition, the cylinder hydraulic pressure sensing unit 30 transmits a signal to the controller 60 according to the hydraulic pressure generated in the master cylinder 1a according to the operation of the brake pedal 1. Accordingly, the controller 60 may sense the driver's braking intention by receiving signals transmitted from the pedal stroke sensing unit 10 and the cylinder hydraulic pressure sensing unit 30.

상기와 같이 단계(S10)에서 운전자의 제동의지가 감지되면 제어부(60)는 구동부(70)를 제어하여 컷밸브(5)를 닫는다. 컷밸브(5)가 닫힘에 따라 운전자가 브레이크 페달(1)을 밟은 답력은 페달운동시뮬레이터(1b)로 전달되고, 페달운동시뮬레이터(1b)에 의해 운전자는 실제 제동감각을 느끼게 된다.As described above, when the driver's braking intention is detected in step S10, the controller 60 controls the driving unit 70 to close the cut valve 5. As the cut valve 5 is closed, the driver's stepping on the brake pedal 1 is transmitted to the pedal motion simulator 1b, and the driver feels the actual braking sensation by the pedal motion simulator 1b.

그리고 제어부(60)는 페달행정감지부(10)를 통하여 브레이크 페달(1)의 행정거리를 산출한다(S20). 단계(S20)에서 페달행정거리가 산출되면 제어부(60)는 산출된 브레이크 페달(1)의 행정거리를 기초로 하여 각 휠(2)에 작용할 목표유압을 산출하며, 이는 [식 1]에 의해 산출된다(S30).In addition, the controller 60 calculates the stroke distance of the brake pedal 1 through the pedal stroke sensing unit 10 (S20). When the pedal stroke distance is calculated in step S20, the controller 60 calculates a target hydraulic pressure to act on each wheel 2 based on the calculated stroke distance of the brake pedal 1, which is expressed by Equation 1 below. It is calculated (S30).

[식 1] [Equation 1]

Figure 112003016826235-pat00001
Figure 112003016826235-pat00001

Ptarget : 목표유압 P target : Target hydraulic pressure

a0, a1, a2 : 상수a0, a1, a2: constant

Tpedal:브레이크 페달의 행정거리T pedal : Stroke length of brake pedal

상기에서 상수의 값에 따라서 1차 혹은 2차함수로 설정할 수 있다.In the above, it may be set as a first-order or second-order function depending on the value of the constant.

상기 [식 1]에 의해 목표유압이 산출되면 제어부(60)는 미리 설정된 최대 및 최소압력을 제한을 통해 과도한 압력을 제한하고 최소한의 압력을 확보하도록 하여 최종 압력을 설정한다(S40). 그리고 제어부(60)는 단계(S40)에서 설정된 내용에 따라 구동부(70)를 제어함으로써 압력제어를 실시한다(S50).When the target hydraulic pressure is calculated by the above [Equation 1], the control unit 60 sets the final pressure by limiting the excessive pressure and securing the minimum pressure by limiting the preset maximum and minimum pressure (S40). The control unit 60 performs pressure control by controlling the driving unit 70 according to the contents set in step S40 (S50).

상기한 바와 같이 브레이크 페달의 행정거리에 따른 함수에 의해 목표유압을 산출함으로써 휠(2)에 작용하는 유압을 제어할 수 있다.
As described above, the hydraulic pressure acting on the wheel 2 can be controlled by calculating the target hydraulic pressure as a function of the stroke distance of the brake pedal.

본 발명에 따른 또 다른 실시예로써 브레이크 페달의 행정거리에 대한 변화율을 이용하여 압력제어를 할 수 있으며 다음과 같다.In another embodiment according to the present invention it is possible to control the pressure by using the rate of change for the stroke distance of the brake pedal as follows.

상기 단계(S30)에서 목표유압을 산출하기 위한 [식 1]은 브레이크 페달(1)의 행정거리를 기초로 하는 식으로써, 브레이크 페달(1)의 행정거리와 이의 변화율을 기초로 하여 각 휠(2)에 작용할 유압을 산출할 수 있는데, 이는 [식 2]와 같다.[Equation 1] for calculating the target hydraulic pressure in the step (S30) is a formula based on the stroke distance of the brake pedal 1, each wheel (based on the stroke distance and the rate of change of the brake pedal 1) The hydraulic pressure to act on 2) can be calculated, which is the same as [Equation 2].

[식 2][Equation 2]

Figure 112003016826235-pat00002
Figure 112003016826235-pat00002

Ptarget : 목표압력 P target : Target pressure

a0, a1, a2, b : 상수a0, a1, a2, b: constant

Tpedal : 브레이크 페달의 행정거리T pedal : Stroke length of brake pedal

dTpedal/dt : Tpedal의 변화율
dT pedal / dt: change rate of T pedal

즉, 본 발명에 따른 기본식인 [식 1]에 시간에 따른 브레이크 페달 행정거리의 변화율(dTpedal/dt)을 추가함으로써, 운전자가 브레이크 페달(1)을 밟는 속도에 따라 적절한 압력의 상승속도를 제어할 수 있는 것이다. That is, by adding the change rate (dT pedal / dt) of the brake pedal stroke distance with time to the basic formula [Equation 1] according to the present invention, according to the speed at which the driver stepped on the brake pedal (1), It can be controlled.

[식 2]에 의하면 도 4에 도시한 바와 같이 상기 변화율에 의해 브레이크 페달(1)을 빠르게 밟을수록 화상표 방향과 같이 압력 상승속도가 증가함을 알 수 있다. According to Equation 2, as shown in FIG. 4, as the brake pedal 1 is rapidly depressed by the change rate, the pressure increase speed increases as shown in the image table direction.

이상에서 상세히 설명한 바와 같이, 본 발명에 따른 전자유압식 제동장치는 브레이크 페달의 행정거리와 변화율을 기초로 하여 휠에 작용하는 유압을 제어함으로써, 운전자의 브레이크 페달의 답력이 약할 경우에도 안정적인 제동이 이루어지도록 함은 물론, 긴급 제동시에도 안정적인 제동을 행할 수 있도록 하는 효과가 있다. As described in detail above, the electro-hydraulic braking device according to the present invention controls the hydraulic pressure acting on the wheel based on the stroke distance and the change rate of the brake pedal, thereby making stable braking even when the driver's brake pedal is weak. Of course, there is an effect to perform a stable braking even during emergency braking.

Claims (4)

전자밸브의 개폐에 의해 유압을 제어하여 제동을 실시하는 전자유압식 제동장치의 제어방법에 있어서,In the control method of the electro-hydraulic braking device which brakes by controlling the oil pressure by opening and closing the solenoid valve, 제동시 브레이크 페달의 행정거리를 검출하고 그에 따른 목표 유압을 산출하는 하되, 상기 목표 유압은, 식 1 또는 식 2 중 어느 하나의 식을 통해 산출되는 단계;Detecting the stroke distance of the brake pedal during braking and calculating the target hydraulic pressure according to the braking pedal, wherein the target hydraulic pressure is calculated through one of Equation 1 or 2; 식 1:
Figure 112007003334925-pat00009
Equation 1:
Figure 112007003334925-pat00009
 (Ptarget : 목표압력, a0, a1, a2: 상수, Tpedal : 브레이크 페달의 행정거리)(P target : target pressure, a0, a1, a2: constant, T pedal : stroke distance of brake pedal) 식 2:
Figure 112007003334925-pat00004
Equation 2:
Figure 112007003334925-pat00004
 (Ptarget : 목표압력, a0, a1, a2, b : 상수, Tpedal : 브레이크 페달의 행정거리) (P target : target pressure, a0, a1, a2, b: constant, T pedal : stroke distance of brake pedal) 상기 산출된 유압에 따라 상기 전자밸브를 구동하여 제동을 제어하는 단계를 포함하는 것을 특징으로 하는 전자유압식 제동장치의 제어방법.And controlling the braking by driving the solenoid valve in accordance with the calculated hydraulic pressure. 삭제delete 삭제delete 제 1 항에 있어서,The method of claim 1, 상기 목표유압 산출 후 산출된 목표 유압이 미리 설정된 최대 및 최소유압의 범위이내가 되도록 제한하는 단계를 더 포함하는 것을 특징으로 하는 전자유압식 제동장치의 제어방법.And limiting the target hydraulic pressure calculated after the target hydraulic pressure is within a range of a preset maximum and minimum hydraulic pressure.
KR1020030030052A 2003-05-13 2003-05-13 Control Method of Electro-Hydraulic Braking System Expired - Fee Related KR100721346B1 (en)

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Publication number Priority date Publication date Assignee Title
KR20020050705A (en) * 2000-12-21 2002-06-27 사이토 아키히코 A brake control apparatus for vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020050705A (en) * 2000-12-21 2002-06-27 사이토 아키히코 A brake control apparatus for vehicle
JP2002187537A (en) * 2000-12-21 2002-07-02 Toyota Motor Corp Vehicle braking control device

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