KR101673316B1 - Vehicle control apparatus and control method - Google Patents

Abstract

A vehicle control apparatus and a control method thereof are disclosed. A vehicle control apparatus and a control method thereof according to an embodiment of the present invention include a sensing unit for sensing a value of a back electromotive force of a motor when the brake pedal is depressed; Estimates the current load of the motor by using the difference between the detected back-EMF value of the motor and the control target voltage value required for the braking that has been set in advance, and receives the hydraulic pressure from the hydraulic pressure supply device for generating the braking force based on the estimated current load of the motor Estimating means for estimating a current pumping amount of the operating motor and estimating a current brake pedal off amount which is a phenomenon that the brake pedal is lowered by the pumping operation of the motor based on the estimated current amount of the motor; A compensating unit for compensating a current braking force so that a necessary braking force corresponding to a force pressing the brake pedal is generated based on the estimated current brake pedal off amount; And a control unit for receiving a counter electromotive force value of the sensed motor, transmitting an estimation command to the estimation unit, and transmitting a compensation command to the compensation unit to supply the compensated braking force to the brake unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle control apparatus,

The present invention relates to a vehicle control apparatus and a control method thereof.

Generally, the conventional ESC (Electronic Stability Control) apparatus actively controls the braking force to prevent the vehicle from deviating from the running direction, thereby balancing the vehicle body.

However, in the conventional ESC (Electronic Stability Control) apparatus, when the braking force is actively controlled, a phenomenon occurs in which an excessive amount of force is output as compared with the force that the driver depresses the brake pedal in the process of pumping the brake fluid. There is a limit in braking the brake device.

The conventional braking method using the ESC (Electronic Stability Control) has a limitation in improving the braking efficiency because there is a limit in braking the braking device with the braking force intended by the driver.

Accordingly, in recent years, research has been continuously conducted on an improved vehicle control apparatus and its control method capable of improving the braking efficiency by braking the brake apparatus with the braking force intended by the driver.

In recent years, researches on an improved vehicle control device and its control method that can prevent the occurrence of a traffic accident further while improving the convenience of the bicycle have been continuously carried out.

Recently, an improved vehicle control apparatus and its control method capable of preventing the occurrence of traffic accidents by inducing driving of the driver while reducing anxiety of braking have been continuously studied.

An embodiment of the present invention is to provide a vehicle control apparatus and a control method thereof capable of improving the efficiency of braking.

The embodiments of the present invention also provide a vehicle control apparatus and a control method thereof capable of preventing the occurrence of a traffic accident while improving the convenience of the bicycle.

Further, an embodiment of the present invention is to provide a vehicle control apparatus and a control method thereof capable of preventing the occurrence of a traffic accident while reducing anxiety of braking.

According to an aspect of the present invention, there is provided a control apparatus for a vehicle, comprising: a sensing unit for sensing a value of a counter electromotive force of a motor when the brake pedal is depressed; Estimates the current load of the motor by using the difference between the detected back-EMF value of the motor and the control target voltage value required for the braking that has been set in advance, and receives the hydraulic pressure from the hydraulic pressure supply device for generating the braking force based on the estimated current load of the motor Estimating means for estimating a current pumping amount of the operating motor and estimating a current brake pedal off amount which is a phenomenon that the brake pedal is lowered by the pumping operation of the motor based on the estimated current amount of the motor; A compensating unit for compensating a current braking force so that a necessary braking force corresponding to a force pressing the brake pedal is generated based on the estimated current brake pedal off amount; And a control unit receiving the counter electromotive force value of the sensed motor, transmitting an estimation command to the estimation unit, and transmitting a compensation command to the compensation unit to supply the compensated braking force to the brake unit.

At this time, when the brake pedal is depressed, the sensing unit can sense the counter electromotive force value generated when the magnetic flux of the motor is cut off.

Further, the motor may be an electronic stability control (ESC) motor.

In addition, the control unit may further include a first identifying unit that identifies a situation in which the current brake pedal off amount is estimated when the current brake pedal off amount is estimated.

Further, the sensing unit further senses current access information with the current object; The control unit may further transmit a braking command to the braking device if the current access information with respect to the current object is already set reference access information.

According to another aspect of the present invention, there is provided a control method for a vehicle, comprising: a sensing step of sensing a value of a counter electromotive force of the motor when the brake pedal is depressed; Estimates the current load of the motor by using the difference between the detected back-EMF value of the motor and the control target voltage value required for the braking that has been set in advance, and receives the hydraulic pressure from the hydraulic pressure supply device for generating the braking force based on the estimated current load of the motor Estimating a current brake pedal off amount which is a phenomenon that the brake pedal is lowered by the pumping operation of the motor based on the estimated current amount of the pumping of the motor, estimating the current pumping amount of the operating motor; A compensating step of compensating a current braking force so that a necessary braking force corresponding to a force pressing the brake pedal is generated based on the estimated current brake pedal off amount; And a braking step of supplying a compensated braking force to the braking device.

The vehicle control apparatus and the control method thereof according to the embodiment of the present invention can improve the braking efficiency.

In addition, the vehicle control apparatus and the control method thereof according to the embodiment of the present invention can prevent the occurrence of a traffic accident while improving convenience at the same time.

Further, the vehicle control apparatus and the control method thereof according to the embodiment of the present invention can prevent occurrence of a traffic accident while reducing anxiety of braking.

1 is a block diagram showing a state in which a vehicle control device according to a first embodiment of the present invention is connected to a brake pedal, a motor, a hydraulic pressure supply device, and a brake device.
FIG. 2 is a block diagram showing an example of the control device shown in FIG. 1; FIG.
FIG. 3 is a graph for illustrating a process of estimating a current load of a motor by using a difference between a counter-electromotive force value of a motor and a control target voltage value required for braking in the estimator shown in FIG.
4 is a flowchart showing a vehicle control method of the vehicle control device according to the first embodiment of the present invention.
5 is a block diagram showing an example of a vehicle control apparatus according to a second embodiment of the present invention.
6 is a flowchart showing a vehicle control method of a vehicle control device according to a second embodiment of the present invention.
7 is a block diagram showing an example of a vehicle control apparatus according to a third embodiment of the present invention.
8 is a flowchart showing a vehicle control method of the vehicle control device according to the third embodiment of the present invention.
9 is a block diagram showing an example of a vehicle control apparatus according to a fourth embodiment of the present invention.
10 is a flowchart showing a vehicle control method of a vehicle control device according to a fourth embodiment of the present invention.
11 is a block diagram showing an example of a vehicle control apparatus according to a fifth embodiment of the present invention.
12 is a flowchart showing a vehicle control method of a vehicle control device according to a fifth embodiment of the present invention.
13 is a block diagram showing an example of a vehicle control apparatus according to a sixth embodiment of the present invention.
14 is a flowchart showing a vehicle control method of the vehicle control device according to the sixth embodiment of the present invention.
15 is a block diagram showing an example of a vehicle control apparatus according to a seventh embodiment of the present invention.
16 is a flowchart showing a vehicle control method of a vehicle control device according to a seventh embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

1 is a block diagram showing a state in which a vehicle control apparatus according to a first embodiment of the present invention is connected to a brake pedal, a motor, a hydraulic pressure supply apparatus and a brake apparatus, and Fig. 2 is a block diagram showing a control apparatus shown in Fig. 1 as an example Fig.

FIG. 3 is a graph illustrating a process of estimating a current load of a motor by using a difference between a counter-electromotive force value of the motor and a control target voltage value required for braking in the estimator shown in FIG.

1 to 3, a vehicle control apparatus 100 according to a first embodiment of the present invention includes a sensing unit 102, an estimation unit 104, a compensation unit 106, and a control unit 108 .

The sensing unit 102 senses the value of the counter electromotive force of the motor 30 when the brake pedal 10 is depressed.

At this time, when the brake pedal 10 is depressed, the sensing unit 102 can sense the counter electromotive force value (BEMF) generated when the magnetic flux of the motor 30 is cut off.

That is, the sensing unit 102 can sense the counter electromotive force value (BEMF) at the point P where the magnetic flux of the motor 30 is disconnected when the brake pedal 10 is depressed.

Here, although not shown, the sensing unit 102 may be a motor detection sensor (not shown) for sensing a counter electromotive force value (BEMF) generated when the magnetic flux of the motor 30 is disconnected. (BEMF) that is generated when it is disconnected.

At this time, although not shown, the motor 30 may be an electronic stability control (ESC) motor (not shown).

The estimating unit 104 calculates the difference between the counter electromotive force value BEMF of the motor 30 sensed by the sensing unit 102 and the control target voltage value CTV necessary for braking that has already been set, And estimates the current load according to the control of the control unit 108 to be described later.

The estimating unit 104 calculates the current pumping amount of the motor 30 that operates by receiving the hydraulic pressure from the hydraulic pressure supply device 50 for generating the braking force based on the estimated current load of the motor 30, As shown in FIG.

The estimating unit 104 calculates a current brake pedal off amount which is a phenomenon that the brake pedal 10 is lowered by the pumping operation of the motor 30 based on the estimated current amount of the motor 30, Based on the control.

The compensation unit 106 compensates the current braking force by the control of the control unit 108 so that the necessary braking force corresponding to the force pressing the brake pedal 10 is generated based on the current brake pedal off- do.

The control unit 108 receives the counter electromotive force value (BEMF) of the motor 30 sensed by the sensing unit 102 and transmits an estimation command to the estimation unit 104. The braking force compensated from the compensation unit 106 And delivers the compensation command to the compensation unit 106 to supply the device 70. [

At this time, the estimating unit 104, the compensating unit 106, and the control unit 108 control and correct the overall operation of the main computer applied to the vehicle, although not shown, and the current load and current pumping amount of the motor 30, And an ECU (Electric Control Unit) (not shown) for estimating the present brake pedal off amount.

Although not shown, the estimating unit 104, the compensating unit 106 and the controlling unit 108 are provided with a processor, a memory, and an input / output unit in a single chip to control and compensate the overall operation, And a conventional MCU (Micro Control Unit, not shown) for estimating the current pumping amount and the current brake pedal off amount.

The estimating unit 104 and the compensating unit 106 and the control unit 108 are not limited to this, and may be configured to control and compensate the overall operation of the vehicle, and the current load and the current pumping amount of the motor 30, It is possible to use all the control means, the compensating means and the estimating means capable of estimating the amount of the light.

The estimating unit 104 and the compensating unit 106 and the control unit 108 may be integrally provided in an ECU (not shown) or an MCU (not shown) ). ≪ / RTI >

A vehicle control method for controlling the vehicle using the vehicle control device 100 according to the first embodiment of the present invention will now be described with reference to FIG.

4 is a flowchart showing a vehicle control method of the vehicle control device according to the first embodiment of the present invention.

Referring to FIG. 4, the vehicle control method 400 of the vehicle control apparatus 100 (FIGS. 1 and 2) according to the first embodiment of the present invention includes a sensing step S402 and an estimation step S404, S406, And a compensating step S410 and a braking step S412.

First, the sensing step (S402) senses the counter electromotive force value of the motor (30 in Fig. 2) in the sensing section (102 in Fig. 2) when the brake pedal (10 in Fig. 2) is depressed.

2) of the motor (30 in Fig. 2) is stopped by the sensing unit (102 in Fig. 2), the sensing unit S402 senses the counter electromotive force value (BEMF in Fig. 3) ).

2) of the motor (30 in Fig. 2) sensed by the sensing unit (102 in Fig. 2) and the control target (braking force required for braking already set in the estimator 104) 2) according to the control of the control unit (108 in Fig. 2) by using the difference of the voltage value (CTV in Fig. 3) (D in Fig. 3) .

Thereafter, the estimation step S406 supplies the hydraulic pressure from the hydraulic pressure supply device (50 in Fig. 2) to generate the braking force on the basis of the current load of the motor (30 in Fig. 2) 2) in accordance with the control of the control unit (108 in Fig. 2).

Thereafter, in the estimation step S408, based on the current pumping amount of the motor (30 in Fig. 2) estimated by the estimation unit (104 in Fig. 2), the brake pedal 2) 10 is lowered by the estimating section 104 in FIG. 2 according to the control of the control section (108 in FIG. 2).

Thereafter, in the compensation step S410, the current braking force is set such that the necessary braking force corresponding to the force pressing the brake pedal (10 in Fig. 2) is generated on the basis of the current brake pedal off- (106 in Fig. 2) according to the control of the control section (108 in Fig. 2).

Thereafter, the braking step S412 supplies the braking force compensated from the compensating section (106 in Fig. 2) to the braking device 70 under the control of the control section 108. [

The vehicle control apparatus 100 and the control method 400 according to the first embodiment of the present invention include the sensing unit 102, the estimating unit 104, the compensating unit 106, and the controlling unit 108 The sensing step S402, the estimating steps S404, S406, and S408, the compensating step S410, and the braking step S412 are performed.

Therefore, the vehicle control apparatus 100 and the control method thereof 400 according to the first embodiment of the present invention generate the necessary braking force corresponding to the pressing force of the brake pedal 10, so that the braking force (70) can be braked and the efficiency of braking can be improved.

5 is a block diagram showing an example of a vehicle control apparatus according to a second embodiment of the present invention.

5, the vehicle control apparatus 500 according to the second embodiment of the present invention includes a sensing unit 502 and an estimating unit 504 (refer to FIG. 2) similar to the vehicle control apparatus 100 according to the first embodiment And a compensation unit 506 and a control unit 508. [

The functions of the sensing unit 502, the estimator 504, the compensator 506, and the controller 508 of the vehicle control device 500 according to the second embodiment of the present invention and the organic connection relationship therebetween 2) of the vehicle control apparatus 100 (FIG. 2) according to the first embodiment, the estimating section 102 (FIG. 2), the estimating section 104 ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the vehicle control device 500 according to the second embodiment of the present invention further includes a first identification unit 510. [

That is, when estimating the current brake pedal off amount in the estimating unit 504, the first identifying unit 510 identifies the current brake pedal off amount under the control of the control unit 508.

At this time, although not shown, the first identification unit 510 includes at least one of an alarm (not shown), a speaker (not shown) and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle It is possible to identify that the current brake pedal off amount is estimated through at least one of the alarm operation of the alarm (not shown), the voice operation of the speaker (not shown), and the light emitting operation of the light emitting member (not shown).

Although not shown, the first identification unit 510 may include an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), both of which are mounted to interfere with a user and a machine ) Module (not shown) to estimate the current brake pedal off amount through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) You can identify the situation.

A vehicle control method for controlling the vehicle using the vehicle control device 100 according to the second embodiment of the present invention will now be described with reference to FIG.

6 is a flowchart showing a vehicle control method of the vehicle control device according to the second embodiment of the present invention.

6, the vehicle control method 600 of the vehicle control apparatus (500 of FIG. 5) according to the second embodiment of the present invention is similar to that of the vehicle control apparatus 100 of FIG. 2 S602, S604, S606, S608, and the compensation step S610 and the braking step S612 in the same manner as the method (400 in FIG. 4).

The sensing step S602, the estimating steps S604, S606, S608, and the compensating step S610 of the vehicle control method 600 of the vehicle control apparatus 500 of FIG. 5 according to the second embodiment of the present invention The function for the braking step S612 and the organic connection relationship therebetween are the same as those in the sensing step (S402 in Fig. 4) of the vehicle control method (400 in Fig. 4) of the vehicle control apparatus (100 in Fig. 2) (S404, S406, S408 in FIG. 4), the compensation step (S410 in FIG. 4) and the braking step (S412 in FIG. 4) and the organic connection relationship therebetween, Further explanations will be omitted below.

Here, the vehicle control method 600 of the vehicle control apparatus (500 of FIG. 5) according to the second embodiment of the present invention further includes a first identifying step (S607).

For example, the first identifying step S607 may be performed before the estimating step S608.

As another example, the first identifying step S607 may be performed in synchronization with the estimating step S608, though not shown.

In the first identifying step S607, when estimating the current brake pedal off amount in the estimating part (504 in FIG. 5), it is judged that the current brake pedal off amount is estimated under the control of the control part (508 in FIG. 5) And is identified in the first identification unit (510 in FIG. 5).

The vehicle control apparatus 500 and the control method 600 according to the second embodiment of the present invention may include the sensing unit 502, the estimating unit 504, the compensating unit 506, the controlling unit 508, 1 identification unit 510 to perform the sensing step S602, the estimating steps S604, S606 and S608, the first identifying step S607, the compensating step S610 and the braking step S612.

Therefore, in the vehicle control device 500 and the control method 600 thereof according to the second embodiment of the present invention, since the required braking force corresponding to the pressing force of the brake pedal 10 is generated, (70) can be braked and the efficiency of braking can be improved.

In addition, the vehicle control device 500 and the control method 600 thereof according to the second embodiment of the present invention can identify the situation where the current brake pedal off amount is estimated.

Therefore, the vehicle control device 500 and the control method 600 according to the second embodiment of the present invention can recognize that the driver is in a situation of estimating the current brake pedal off amount, The occurrence of an accident can be prevented in advance.

7 is a block diagram showing an example of a vehicle control apparatus according to a third embodiment of the present invention.

7, the vehicle control apparatus 700 according to the third embodiment of the present invention includes the sensing unit 702 and the estimating unit 704 (see FIG. 2) similarly to the vehicle control apparatus 100 A compensation unit 706 and a control unit 708. [

The function of the sensing unit 702, the estimating unit 704, the compensating unit 706, and the controller 708 of the vehicle control apparatus 700 according to the third embodiment of the present invention and the organic connection relationship therebetween 2) of the vehicle control apparatus 100 (FIG. 2) according to the first embodiment, the estimating section 102 (FIG. 2), the estimating section 104 ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the vehicle control device 700 according to the third embodiment of the present invention further includes a second identification unit 712. [

That is, the second identification unit 712 identifies the supply of the compensated braking force to the braking device 70 when the compensated braking force is supplied from the compensating unit 706 to the braking device 70 under the control of the control unit 708 .

At this time, although not shown, the second identification unit 712 includes at least one of an alarm (not shown), a speaker (not shown) and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle It is possible to identify the supply of the braking force compensated through at least one of the alarm operation of the alarm (not shown), the voice operation of the speaker (not shown) and the light emission operation of the light emitting member (not shown) to the brake device 70 have.

Although not shown, the second identification unit 712 may include a HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), both of which are mounted to interfere with the user and the machine, ) Module (not shown) to display the compensated braking force through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) ) Can be identified.

A vehicle control method for controlling a vehicle using the vehicle control device 700 according to the third embodiment of the present invention will now be described with reference to FIG.

8 is a flowchart showing a vehicle control method of the vehicle control device according to the third embodiment of the present invention.

8, the vehicle control method 800 of the vehicle control device 700 (FIG. 7) according to the third embodiment of the present invention is similar to the vehicle control method 800 of the vehicle control device 100 of FIG. 2 S802, S804, S806, and S808, and the compensation step S810 and the braking step S812 in the same manner as the method (400 in FIG. 4).

The sensing step S802, the estimating steps S804, S806, S808, and the compensating step S810 of the vehicle control method 800 of the vehicle control apparatus 700 of FIG. 7 according to the third embodiment of the present invention The function for the braking step S812 and the organic connection relationship therebetween are the same as those in the sensing step (S402 in Fig. 4) of the vehicle control method (400 in Fig. 4) of the vehicle control device 100 (S404, S406, S408 in FIG. 4), the compensation step (S410 in FIG. 4) and the braking step (S412 in FIG. 4) and the organic connection relationship therebetween, Further explanations will be omitted below.

Here, the vehicle control method 800 of the vehicle control apparatus (700 of FIG. 7) according to the third embodiment of the present invention further includes a second identification step (S811).

For example, the second identification step S811 may be performed before the compensation step S810 and the braking step S812.

As another example, the second identification step S811 may be performed in synchronization with the braking step S812, though not shown.

The second discrimination step S811 is a step of supplying the compensated braking force to the braking device (70 in Fig. 7) when supplying the braking force compensated from the compensating part (706 in Fig. 7) to the braking device (712 in Fig. 7) in accordance with the control of the control unit (708 in Fig. 7).

The vehicle control apparatus 700 and the control method thereof 800 according to the third embodiment of the present invention may include a sensing unit 702, an estimating unit 704, a compensating unit 706, a controller 708, 2 identification unit 712 to perform the sensing step S802, the estimating steps S804, S806, and S808, the compensating step S810, the second identifying step S811, and the braking step S812.

Therefore, the vehicle control device 700 and the control method 800 thereof according to the third embodiment of the present invention generate the necessary braking force corresponding to the pressing force of the brake pedal 10, so that the braking force (70) can be braked and the efficiency of braking can be improved.

Further, the vehicle control apparatus 700 and the control method 800 thereof according to the third embodiment of the present invention can identify that the braking force is supplied to the braking device 70.

Therefore, the vehicle control apparatus 700 and the control method 800 thereof according to the third embodiment of the present invention can recognize that the driver supplies the braking force compensated to the braking device 70, It is possible to induce driving of the vehicle, and the occurrence of a traffic accident can be prevented in advance.

9 is a block diagram showing an example of a vehicle control apparatus according to a fourth embodiment of the present invention.

9, the vehicle control apparatus 900 according to the fourth embodiment of the present invention includes the sensing unit 902 and the estimating unit 904 (see FIG. 2) in the same manner as the vehicle control apparatus 100 And a compensation unit 906 and a control unit 908. [

The functions of the sensing unit 902, the estimator 904, the compensator 906, and the controller 908 of the vehicle control apparatus 900 according to the fourth embodiment of the present invention and the organic connection relationship therebetween 2) of the vehicle control apparatus 100 (FIG. 2) according to the first embodiment, the estimating section 102 (FIG. 2), the estimating section 104 ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the sensing unit 902 of the vehicle control device 900 according to the fourth embodiment of the present invention senses current access information (not shown) with the current object (not shown), though it is not shown.

The control unit 908 of the vehicle control device 900 according to the fourth embodiment of the present invention determines whether the current access information (not shown) with the current object (not shown) If it is the information, it transmits a brake command to the brake device 70 further.

Here, although the current object (not shown) is not shown, it is not shown in the other vehicles (not shown), motorcycles (not shown), bicycles (not shown), people (not shown), animals (not shown) It can be at least one.

At this time, the sensing unit 902 senses the current distance (not shown) between the current object (not shown) and the current object (not shown) corresponding to the current access information (not shown) (Not shown) between the current speed (not shown) and the current object (not shown).

Here, although not shown, the control unit 908 is provided in a general ECU (Electric Control Unit) (not shown) for controlling the overall operation with the main computer applied to the vehicle and transmitting the braking command to the brake unit 70 There is a number.

Although not shown, the control unit 908 includes a processor, a memory, and an input / output unit in a single chip to control the overall operation and to transmit a braking command to the brake unit 70, Time).

The control unit 908 is not limited to this, and may be any control means that controls the overall operation of the vehicle and can transmit a braking command to the braking device 70. [

The estimator 904 and the compensator 906 and the controller 908 may be integrally provided to an ECU (not shown) or an MCU (not shown) ). ≪ / RTI >

A vehicle control method for controlling the vehicle using the vehicle control device 900 according to the fourth embodiment of the present invention will now be described with reference to FIG.

10 is a flowchart showing a vehicle control method of the vehicle control device according to the fourth embodiment of the present invention.

10, a vehicle control method 1000 of a vehicle control device (900 of FIG. 9) according to a fourth embodiment of the present invention is a vehicle control method of a vehicle control device (100 of FIG. 2) S1002, S1006, S1008, and the compensation step S1010 and the braking step S1012 in the same manner as the method (400 in FIG. 4).

The sensing step S1002, the estimating steps S1004, S1006, S1008, and the compensating step S1010 of the vehicle control method 1000 of the vehicle control apparatus 900 of FIG. 9 according to the fourth embodiment of the present invention The function for the braking step S1012 and the organic connection relationship therebetween are the same as those in the sensing step (S402 in Fig. 4) of the vehicle control method (400 in Fig. 4) of the vehicle control apparatus 100 (S404, S406, S408 in FIG. 4), the compensation step (S410 in FIG. 4) and the braking step (S412 in FIG. 4) and the organic connection relationship therebetween, Further explanations will be omitted below.

Here, the vehicle control method 1000 of the vehicle control apparatus (900 of FIG. 9) according to the fourth embodiment of the present invention includes the sensing step S1013 and the braking steps S1015 and S1017 after the braking step S1012 .

That is, in the sensing step S1013, the current access information with the current object is sensed by the sensing unit (902 in Fig. 9) under the control of the control unit (908 in Fig. 9).

Thereafter, the braking steps (S1015 and S1017) are performed when the current access information with the current object sensed by the sensing unit (902 in Fig. 9) is the reference access information already set in the control unit (908 in Fig. 9) (708 in Fig. 9).

The vehicle control apparatus 900 and the control method 1000 according to the fourth embodiment of the present invention include the sensing unit 902, the estimating unit 904, the compensating unit 906, and the controlling unit 908 (S1002, S1013), estimation steps (S1004, S1006, S1008), compensation step (S1010), and braking steps (S1012, S1015, S1017).

Therefore, in the vehicle control apparatus 900 and the control method 1000 thereof according to the fourth embodiment of the present invention, the necessary braking force corresponding to the pressing force of the brake pedal 10 is generated. Therefore, (70) can be braked and the efficiency of braking can be improved.

In addition, the vehicle control device 900 and the control method 1000 according to the fourth embodiment of the present invention transmit a brake command to the brake device 70 when the current access information with respect to the current object is already set reference access information It becomes possible.

Therefore, the vehicle control device 900 and the control method thereof 1000 according to the fourth embodiment of the present invention can automatically brak in the brake device 700 according to the current access degree with respect to the current object, It is possible to further prevent the occurrence of traffic accidents while improving convenience.

11 is a block diagram showing an example of a vehicle control apparatus according to a fifth embodiment of the present invention.

11, a vehicle control apparatus 1100 according to a fifth embodiment of the present invention includes a sensing unit 1102 and an estimating unit 1104 (see FIG. 9) in the same manner as the vehicle control apparatus 900 of FIG. 9 A compensation unit 1106, and a control unit 1108. [

The functions of the sensing unit 1102, the estimating unit 1104, the compensating unit 1106 and the controlling unit 1108 of the vehicle control apparatus 1100 according to the fifth embodiment of the present invention and the organic connection relationship therebetween 9) of the vehicle control device 900 of FIG. 9 (900 of FIG. 9), the estimator 904 of FIG. 9, the compensator 906 of FIG. 9, ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the vehicle control device 1100 according to the fifth embodiment of the present invention further includes a third identification unit 1114. [

That is, when the control unit 1108 determines that the access information with respect to the current object is the reference access information, the third identification unit 1114 identifies the collision risk situation with the current object under the control of the control unit 1108.

At this time, although not shown, the third identification unit 1114 includes at least one of an alarm (not shown), a speaker (not shown) and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle It is possible to identify a dangerous situation of collision with a current object through at least one of an alarm operation of an alarm (not shown), a voice operation of a speaker (not shown), and a light emitting operation of a light emitting member (not shown).

Although not shown, the third identification unit 1114 may include an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), which are mounted to interfere with the user and the machine, ) Module (not shown) to display an HMI message of the HMI module (not shown) and a HUD message (not shown) of the HUD module Can be identified.

A vehicle control method for controlling the vehicle using the vehicle control device 1100 according to the fifth embodiment of the present invention will now be described with reference to FIG.

12 is a flowchart showing a vehicle control method of the vehicle control device according to the fifth embodiment of the present invention.

12, the vehicle control method 1200 of the vehicle control device (1100 of Fig. 11) according to the fifth embodiment of the present invention is similar to the vehicle control method 1200 of the vehicle control device 900 of Fig. 9 S1202 and S1213, the estimating steps S1204, S1206 and S1208, the compensating step S1210, and the braking steps S1212, S1215 and S1217, in the same manner as the method of FIG.

The detection steps S1202 and S1213 and the estimating steps S1204, S1206, and S1208 and the compensation step S1210 of the vehicle control method 1200 of the vehicle control apparatus (1100 of FIG. 11) according to the fifth embodiment of the present invention, And the braking steps S1212, S1215, and S1217 and the organic connection relationship therebetween are the same as those of the vehicle control method (900 of FIG. 9) of the vehicle control method (1000 of FIG. 10) (S1010, S1015, and S1017 in FIG. 10) and the functions of the estimating step (S1004, S1006, and S1008 in FIG. 10) Respectively, and therefore, respective further explanations thereof will be omitted below.

Here, the vehicle control method 1200 of the vehicle control device (1100 of FIG. 11) according to the fifth embodiment of the present invention further includes a third identification step (S1216).

For example, the third identification step S1216 may be performed before the braking step S1217.

As another example, the third identification step S1216 may be performed in synchronization with the braking step S1217, though not shown.

If it is determined that the access information to the current object is the reference access information, the third identification step S1216 of FIG. 11 determines whether or not the current collision danger state with the current object is the control of the control unit 1108 (1114 in Fig. 11).

The vehicle control apparatus 1100 and the control method 1200 thereof according to the fifth embodiment of the present invention may include a sensing unit 1102, an estimation unit 1104, a compensation unit 1106, a control unit 1108, S1215 and S1217) and the third identification step (S1216), including the identification step 1114, in the sensing step (S1202, S1213), the estimating step (S1204, S1206, S1208), the compensating step (S1210), the braking step .

Therefore, in the vehicle control apparatus 1100 and the control method 1200 thereof according to the fifth embodiment of the present invention, the necessary braking force corresponding to the pressing force of the brake pedal 10 is generated. Therefore, (70) can be braked and the efficiency of braking can be improved.

In addition, the vehicle control apparatus 1100 and the control method 1200 thereof according to the fifth embodiment of the present invention may transmit a brake command to the brake device 70 when the current access information with respect to the current object is already set reference access information It becomes possible.

Therefore, the vehicle control device 1100 and the control method 1200 according to the fifth embodiment of the present invention can automatically brak in the brake device 700 according to the current access degree with respect to the current object, It is possible to further prevent the occurrence of traffic accidents while improving convenience.

Furthermore, the vehicle control apparatus 1100 and the control method 1200 thereof according to the fifth embodiment of the present invention can identify a collision risk situation with the current object.

Accordingly, the vehicle control apparatus 1100 and the control method 1200 according to the fifth embodiment of the present invention can recognize that the driver is in a dangerous state of collision with an object at present, So that it is possible to prevent the occurrence thereof.

13 is a block diagram showing an example of a vehicle control apparatus according to a sixth embodiment of the present invention.

13, the vehicle control apparatus 1300 according to the sixth embodiment of the present invention includes the sensing unit 1302 and the estimating unit 1304 (see FIG. 9) in the same manner as the vehicle control apparatus And a compensation unit 1306 and a control unit 1308. [

The functions of the sensing unit 1302, the estimating unit 1304, the compensating unit 1306, and the controller 1308 of the vehicle control apparatus 1300 according to the sixth embodiment of the present invention and the organic connection relationship therebetween 9) of the vehicle control device 900 of FIG. 9 (900 of FIG. 9), the estimator 904 of FIG. 9, the compensator 906 of FIG. 9, ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the vehicle control device 1300 according to the sixth embodiment of the present invention further includes a fourth identifying unit 1316. [

That is, when the control unit 1308 transmits the braking command to the braking device 70, the fourth identifying unit 1316 identifies the automatic braking by the control unit 1308 under the control of the control unit 1308.

Although not shown, the fourth identification unit 1316 includes at least one of an alarm (not shown), a speaker (not shown), and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle It is possible to identify that the automatic braking is performed through at least one of an alarm operation of an alarm (not shown), a voice operation of a speaker (not shown), and a light emitting operation of a light emitting member (not shown).

Although not shown, the fourth identification unit 1316 may include a HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), both of which are mounted to interfere with the user and the machine, ) Module (not shown) to automatically perform the braking operation through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) You can.

A vehicle control method for controlling the vehicle using the vehicle control device 1300 according to the sixth embodiment of the present invention will now be described with reference to FIG.

14 is a flowchart showing a vehicle control method of the vehicle control device according to the sixth embodiment of the present invention.

14, the vehicle control method 1400 of the vehicle control device (1300 of FIG. 13) according to the sixth embodiment of the present invention is similar to the vehicle control method of the vehicle control device 900 of FIG. 9 (900 of FIG. 9) S1415 and S1417 as well as the sensing steps S1402 and S1413 and the estimating steps S1404, S1406 and S1408 and the compensating step S1410 and the braking steps S1412 and S1415 and S1417 in the same manner as the method of FIG.

The detection steps S1402 and S1413 and the estimating steps S1404, S1406, and S1408 and the compensation step S1410 of the vehicle control method 1400 of the vehicle control apparatus 1300 according to the sixth embodiment of the present invention And the braking steps S1412, S1415, and S1417 and the organic connection relationship therebetween are the same as those of the vehicle control method (900 of Fig. 9) of the vehicle control method (1000 of Fig. 10) (S1010, S1015, and S1017 in FIG. 10) and the functions of the estimating step (S1004, S1006, and S1008 in FIG. 10) Respectively, and therefore, respective further explanations thereof will be omitted below.

Here, the vehicle control method 1400 of the vehicle control device (1300 of FIG. 13) according to the sixth embodiment of the present invention further includes a fourth identifying step (S1418).

For example, the fourth identifying step S1418 may be performed after the braking step S1417.

The fourth identifying step S1418 is a step in which the braking is automatically performed by the control unit 1308 of Fig. 13 (70 of Fig. 13) to the braking device (70 of Fig. 13) And identifies it in the fourth identification unit (1316 in Fig. 13).

The vehicle control apparatus 1300 and the control method 1400 according to the sixth embodiment of the present invention may include the sensing unit 1302, the estimating unit 1304, the compensating unit 1306, the controlling unit 1308, S1415 and S1418 as well as the sensing steps S1402 and S1413 and the estimating steps S1404, S1406 and S1408 and the compensating step S1410 and the braking steps S1412, S1415 and S1417, .

Therefore, the vehicle control device 1300 and the control method thereof 1400 according to the sixth embodiment of the present invention generate the necessary braking force corresponding to the pressing force of the brake pedal 10, so that the braking force (70) can be braked and the efficiency of braking can be improved.

In addition, the vehicle control device 1300 and the control method 1400 according to the sixth embodiment of the present invention transmit the brake command to the brake device 70 when the current access information with the current object is already set reference access information It becomes possible.

Therefore, the vehicle control device 1300 and the control method 1400 according to the sixth embodiment of the present invention can automatically brak in the brake device 700 according to the current access degree with respect to the current object, It is possible to further prevent the occurrence of traffic accidents while improving convenience.

Furthermore, the vehicle control apparatus 1300 and the control method thereof 1400 according to the sixth embodiment of the present invention can identify that the automatic braking is performed.

Therefore, the vehicle control apparatus 1100 and the control method 1200 according to the fifth embodiment of the present invention can recognize that the driver performs the braking automatically, and therefore, So that the occurrence of a traffic accident can be prevented in advance.

15 is a block diagram showing an example of a vehicle control apparatus according to a seventh embodiment of the present invention.

15, a vehicle control device 1500 according to a seventh embodiment of the present invention includes a sensing unit 1502 and an estimating unit 1504 (see FIG. 9) in the same manner as the vehicle control apparatus 900 And a compensation unit 1506 and a control unit 1508. [

The functions of the sensing unit 1502, the estimating unit 1504, the compensating unit 1506, and the controller 1508 of the vehicle control device 1500 according to the seventh embodiment of the present invention and the organic connection relationship therebetween 9) of the vehicle control device 900 of FIG. 9 (900 of FIG. 9), the estimator 904 of FIG. 9, the compensator 906 of FIG. 9, ), And the organic connection relationship therebetween, and therefore, respective additional descriptions thereof will be omitted below.

Here, the vehicle control device 1500 according to the seventh embodiment of the present invention further includes a fifth identification unit 1518. [

That is, when the fifth identification unit 1518 receives the braking completion signal from the braking device 70, the fifth identification unit 1518 identifies that the braking performance is automatically completed under the control of the control unit 1508.

At this time, the fifth identification unit 1518 includes at least one of an alarm (not shown), a speaker (not shown) and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle It is possible to identify that the braking performance is automatically completed through at least one of an alarm operation of an alarm (not shown), a voice operation of a speaker (not shown), and a light emitting operation of a light emitting member (not shown).

Although not shown, the fifth identification unit 1518 may include an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display), both of which are mounted for interfacing the user and the machine, ) Module (not shown) to indicate that the braking operation is automatically completed through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) You can.

A vehicle control method for controlling the vehicle using the vehicle control device 1500 according to the seventh embodiment of the present invention will now be described with reference to FIG.

16 is a flowchart showing a vehicle control method of the vehicle control device according to the seventh embodiment of the present invention.

16, the vehicle control method 1600 of the vehicle control device 1500 (FIG. 15) according to the seventh embodiment of the present invention is similar to the vehicle control method of the vehicle control device 900 of FIG. 9 (900 of FIG. 9) S1606 and S1608, and the compensation step S1610 and the braking steps S1612, S1615 and S1617 in the same manner as the method (1000 of FIG. 10).

The detection steps S1602 and S1613 and the estimating steps S1604, S1606, and S1608 and the compensation step S1610 of the vehicle control method 1600 of the vehicle control apparatus 1500 (FIG. 15) according to the seventh embodiment of the present invention, And the braking steps S1612, S1615, and S1617, and the organic connection relationship therebetween are the same as those of the vehicle control method (900 of Fig. 9) of the vehicle control method (1000 of Fig. 10) (S1010, S1015, and S1017 in FIG. 10) and the functions of the estimating step (S1004, S1006, and S1008 in FIG. 10) Respectively, and therefore, respective further explanations thereof will be omitted below.

Here, the vehicle control method 1600 of the vehicle control apparatus (1500 of FIG. 15) according to the seventh embodiment of the present invention further includes a fifth identifying step (S1618).

For example, the fifth identification step S1618 may be performed after the braking step S1617.

If the fifth identification step S1618 receives the braking completion signal from the braking device (70 of Fig. 15), the fifth identification step S1618 determines that the braking performance is automatically completed based on the control of the control part (1508 in Fig. 15) 1518 in Fig. 15).

The vehicle control apparatus 1500 and the control method 1600 according to the seventh embodiment of the present invention may include a sensing unit 1502, an estimating unit 1504, a compensating unit 1506, a controller 1508, S1615, S1615, and S1617) and the fifth identification step (S1618), including the identification step (S1512), the identification step (S1512) .

Therefore, in the vehicle control device 1500 and the control method 1600 thereof according to the seventh embodiment of the present invention, the necessary braking force corresponding to the pressing force of the brake pedal 10 is generated, (70) can be braked and the efficiency of braking can be improved.

In addition, the vehicle control device 1500 and the control method 1600 according to the seventh embodiment of the present invention may transmit a brake command to the brake device 70 when the current access information with respect to the current object is already set reference access information It becomes possible.

Accordingly, the vehicle control device 1500 and the control method 1600 according to the seventh embodiment of the present invention can automatically brak in the braking device 700 according to the current access degree with respect to the current object, It is possible to further prevent the occurrence of traffic accidents while improving convenience.

Furthermore, the vehicle control device 1500 and the control method thereof 1600 according to the seventh embodiment of the present invention can identify that the braking performance is automatically completed.

Therefore, the vehicle control device 1500 and the control method 1600 according to the seventh embodiment of the present invention can recognize that the braking performance is automatically completed by the driver, So that the occurrence of a traffic accident can be prevented in advance.

Claims (6)

A sensing unit for sensing a value of a counter electromotive force of the motor when the brake pedal is depressed;
Estimating a current load of the motor by using a difference between a value of a counter electromotive force of the sensed motor and a control target voltage value required for braking that has been already set and estimating a current load of the motor based on a current load of the motor, Estimating a present pumping amount of the motor that operates based on the current pumping amount of the motor and estimating a current brake pedal off amount that is a phenomenon that the brake pedal is lowered by the pumping operation of the motor based on the estimated current amount of the motor, ;
A first discrimination unit for discriminating that the current brake pedal off amount is estimated when the current brake pedal off amount is estimated;
A compensating unit that compensates a current braking force so that a necessary braking force corresponding to a force pressing the brake pedal is generated based on the estimated current brake pedal off amount; And
And a control unit for receiving a counter electromotive force value of the sensed motor, transmitting an estimation command to the estimation unit, and transmitting a compensation command to the compensation unit to supply the compensated braking force to the brake unit. The method according to claim 1,
The sensing unit includes:
And detects a counter electromotive force value which is generated when the magnetic flux of the motor is cut off when the brake pedal is depressed. The method according to claim 1,
Wherein the motor is an ESC (Electronic Stability Control) motor. delete The method according to claim 1,
The sensing unit further senses current access information with the current object;
Wherein,
And transmits a braking command to the braking device if the current access information with the current object is already set reference access information. A sensing step of sensing a value of a counter electromotive force of the motor when the brake pedal is depressed;
Estimating a current load of the motor by using a difference between a value of a counter electromotive force of the sensed motor and a control target voltage value required for braking that has been already set and estimating a current load of the motor based on a current load of the motor, Estimating a present pumping amount of the motor that operates in response to a current pumping amount of the motor and estimating a current brake pedal off amount which is a phenomenon that the brake pedal is lowered by a pumping operation of the motor based on the estimated current amount of the motor, ;
A first discriminating step of discriminating that the current brake pedal off amount is estimated when estimating the current brake pedal off amount;
A compensating step of compensating a current braking force so that a necessary braking force corresponding to a force pressing the brake pedal is generated based on the estimated current brake pedal off amount; And
And a braking step of supplying the compensated braking force to the braking device.

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