KR20220090673A - A brake system for autonomous vehicles - Google Patents

A brake system for autonomous vehicles Download PDF

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Publication number
KR20220090673A
KR20220090673A KR1020200181234A KR20200181234A KR20220090673A KR 20220090673 A KR20220090673 A KR 20220090673A KR 1020200181234 A KR1020200181234 A KR 1020200181234A KR 20200181234 A KR20200181234 A KR 20200181234A KR 20220090673 A KR20220090673 A KR 20220090673A
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South Korea
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autonomous driving
vehicle
controller
force transmitting
braking
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KR1020200181234A
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Korean (ko)
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문장원
정민권
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주식회사 화인특장
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Priority to KR1020200181234A priority Critical patent/KR20220090673A/en
Publication of KR20220090673A publication Critical patent/KR20220090673A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60T13/746—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 and mechanical transmission of the braking action
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/3205—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration acceleration
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • 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
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/081—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/70—Gearings
    • B60Y2400/73—Planetary gearings

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

Abstract

본 발명은 자율주행차량의 제동장치에 관한 것으로, 자율주행차량에 탑재되어 자율주행을 제어하는 자율주행제어기(200)와, 자율주행차량에 설치된 각종 센서로부터 주행상태 및 주변 정보를 획득하여 상기 자율주행제어기로 전송하도록 상기 자율주행제어기와 캔통신으로 연결되고, 상기 자율주행제어기(200)로부터 수신된 자율주행제어명령을 구동부로 전달하는 하위제어기(300)와, 상기 하위제어기(300)에서 전달된 제어명령으로 제동력을 발생하는 제동력 발생부(400)와 제동력 전달부(420)를 포함하되, 상기 제동력 발생부(400)는 상기 하위제어기에서 전달된 제어신호에 따라 동작되는 모터(405)와, 상기 모터(405)에서 출력되는 회전수를 일정비율로 감속시켜 출력시키는 유성감속기어(410)로 이루어지고, 상기 제동력 전달부(420)는 상기 유성감속기어(410)의 출력축에 연결 설치되는 제1 회전력 전달부재(422)와, 상기 제1회전력 전달부재(422)의 말단에 결합되어 상기 제1회전력 전달부재(422)의 회동방향에 따라 브레이크 페달(450)의 상면에서 하강 또는 상승하는 제2회전력 전달부재(424)와, 상기 제2회전력 전달부재(424)의 하강시 페달(450)의 상면을 가압하여 제동력이 발생시키고, 제2회전력 전달부재(424)의 상승시 브레이크 페달(450)의 상면에서 이격되면서 가압력을 해제하도록 제2회전력 전달부재(424)의 외주연에 구비되는 가압부재(426);를 구비한 구성으로 이루어진다.The present invention relates to a braking device for an autonomous driving vehicle, and by acquiring driving state and surrounding information from an autonomous driving controller 200 mounted on the autonomous driving vehicle to control autonomous driving, and various sensors installed in the autonomous driving vehicle, The sub-controller 300 is connected to the autonomous driving controller through CAN communication to transmit it to the driving controller, and transmits the autonomous driving control command received from the autonomous driving controller 200 to the driving unit, and the sub-controller 300 transmits it. It includes a braking force generating unit 400 and a braking force transmitting unit 420 that generate braking force with a given control command, wherein the braking force generating unit 400 includes a motor 405 operated according to a control signal transmitted from the sub-controller; , consisting of a planetary reduction gear 410 for decelerating and outputting the number of revolutions output from the motor 405 at a certain rate, and the braking force transmitting unit 420 is connected to the output shaft of the planetary reduction gear 410 and installed The first rotational force transmitting member 422 and the first rotational force transmitting member 422 are coupled to the distal end to descend or rise from the upper surface of the brake pedal 450 according to the rotational direction of the first rotational force transmitting member 422 . When the second rotational force transmitting member 424 and the second rotational force transmitting member 424 are lowered, a braking force is generated by pressing the upper surface of the pedal 450, and when the second rotational force transmitting member 424 is raised, the brake pedal ( While being spaced apart from the upper surface of the 450), the pressing member 426 is provided on the outer periphery of the second rotational force transmitting member 424 to release the pressing force.

Description

자율주행차량의 제동장치{A brake system for autonomous vehicles}A brake system for autonomous vehicles

본 발명은 자율주행차량의 제동장치에 관한 것으로, 더욱 상세하게는 자율주행제어기로부터 제동신호를 수신한 하위제어기의 명령에 따라 모터 및 감속기의 회전수가 제어되어 제동력 전달부의 회동변위 조절로 차량의 페달에 일정한 가압력을 가하여 제동력이 발생될 수 있도록 하는 자율주행차량의 제동장치에 관한 것이다.The present invention relates to a braking device for an autonomous driving vehicle, and more particularly, to a pedal of a vehicle by controlling the rotational displacement of a braking force transmitting unit by controlling the rotational speed of a motor and a speed reducer according to a command from a sub-controller that has received a braking signal from an autonomous driving controller. The present invention relates to a braking system for an autonomous vehicle that applies a constant pressing force to a vehicle to generate braking force.

자동차는 수많은 부품들의 조합으로 이루어진 기술집합체의 제품으로, 자동차 기술의 고도화는 주변 산업기술의 첨단화와 연관성이 매우 높다.An automobile is a product of a technology group consisting of a combination of numerous parts, and the advancement of automobile technology is highly related to the advancement of surrounding industrial technology.

즉, 컴퓨터, S/W, IT, 카메라, 디스플레이, 센서, IoT, 통신 기술 등의 고도화로 인해 자동차 또한 이러한 관련기술의 적용을 통한 안전장치와 편의장치 및 주행장치에 첨단 기술이 적용된 자동차들이 등장하고 있다.In other words, due to the advancement of computer, S/W, IT, camera, display, sensor, IoT, communication technology, etc., automobiles with advanced technology applied to safety and convenience devices and driving devices also appeared through the application of these related technologies. are doing

특히, 자동차의 자율주행분야에서는 연관 산업의 발전으로 전통적인 자동차 제조업체 뿐만 아니라 통신 및 소프트웨어 관련 업체들에서도 자율주행자동차의 개발에 많은 관심을 기울이고 있는 실정이다.In particular, in the field of autonomous driving of automobiles, with the development of related industries, not only traditional automobile manufacturers but also communication and software-related companies are paying much attention to the development of autonomous vehicles.

자율주행자동차는 운전자가 운전을 하지 않아도 스스로 움직이는 자동차를 의미하는데, 자율주행자동차는 운전자의 운전을 지원하는 초기 수준에서 시작하여 운전자의 관여가 전혀 필요 없는 완전 자율주행차 수준까지 자동화 레벨에 따라 여러 단계로 구분하고 있다.Self-driving car refers to a car that moves by itself without the driver's driving. Autonomous car starts at the initial level that supports the driver's driving and goes up to the level of fully autonomous driving that does not require any driver's involvement, depending on the level of automation. It is divided into stages.

현재 자동차산업계 및 각국에서 자동화레벨에 따라 분류하고 있는 자율주행차량의 자동화레벨은 레벨1~레벨5 까지 구분하고 있다.The automation levels of autonomous vehicles, which are currently classified according to the level of automation in the automobile industry and each country, are classified into Level 1 to Level 5.

레벨1(Lv1)은 차량의 주행시스템 중 어느 한정된 영역, 차량의 종방향 또는 횡방향 운동제어의 서브테스크(sub-task)를 제어하여 운전자를 지원하는 단계이고, 레벨2(Lv2)는 레벨1(Lv1)을 업그레이드하여 일부 운전자동화를 수행하는 상태를 가리킨다.Level 1 (Lv1) is a stage to support the driver by controlling a sub-task of controlling a certain limited area of the vehicle's driving system, longitudinal or lateral motion control of the vehicle, and level 2 (Lv2) is level 1 It refers to the state in which some driver automation is performed by upgrading (Lv1).

또한, 레벨3(Lv3)은 차량의 자율주행제어시스템이 모든 동적운전테스크(DDT: Dynamic Driving Task)를 한정영역(ODD: Operational Design Domain)에서 실행하고, 작동연속이 곤란할 경우 시스템의 개입요구 등에 따라 운전자가 관여하는 조건부 운전자동화 상태이다.In addition, in Level 3 (Lv3), the autonomous driving control system of the vehicle executes all dynamic driving tasks (DDT) in a limited area (ODD: Operational Design Domain), and when operation continuation is difficult, system intervention is requested, etc. It is a conditional driver automation state in which the driver is involved.

또한, 레벨4(Lv4)는 차량의 자율주행제어시스템이 모든 동적운전테스크(DDT: Dynamic Driving Task)를 수행하고, 작동연속이 곤란할 경우의 응답을 한정영역(ODD: Operational Design Domain)에서 실행할 수 있는 고도 운전자동화 상태를 가리킨다.In addition, in Level 4 (Lv4), the autonomous driving control system of the vehicle performs all dynamic driving tasks (DDT), and it is possible to execute a response in the case of difficulty in operation continuation in the limited area (ODD: Operational Design Domain). Indicates the state of high-altitude driver automation.

마지막으로, 레벨5(Lv5)는 차량의 자율주행제어시스템이 모든 동적운전테스크(DDT: Dynamic Driving Task)를 수행하고, 작동연속이 곤란할 경우의 응답을 무제한으로 실행할 수 있도록 구성되어 완전 운전자동화 상태에 이르는 것을 가리킨다.Lastly, in Level 5 (Lv5), the autonomous driving control system of the vehicle performs all dynamic driving tasks (DDT) and is configured to execute unlimited responses when operation continuation is difficult to achieve complete driver automation. refers to reaching

이와 같이, 자율주행차량의 자동화레벨에 따라 일정 단계별로 구분하고 있으며, 각국의 도로상황이나 각종 법규제 등에 따라 다양한 레벨로 자율주행차량에 관련된 기술들이 개발되면서 세계 각국에서는 자율주행차량의 초기 단계에서부터 고도화 단계에 이르는 다양한 형태의 차량을 개발하여 시험 및 일부 실용화단계에 접어들고 있다.In this way, the autonomous vehicle is divided into certain stages according to the level of automation, and as technologies related to autonomous vehicles are developed at various levels according to the road conditions and various laws and regulations of each country, in countries around the world, from the initial stage of autonomous vehicles to Various types of vehicles up to the advanced stage have been developed and are entering the test and some commercialization stages.

본 발명은 자율주행의 주행시 돌발상황 발생이나 신호등 대기, 보행자 출현, 목적지 도착시에 차량을 정차시키기 위한 운전자 미 개입상태에서의 자율주행 제동장치에 관한 것이다.The present invention relates to an autonomous driving braking system in a state in which a driver does not intervene to stop a vehicle when an unexpected situation occurs during autonomous driving, waiting for a traffic light, an appearance of a pedestrian, or arrival at a destination.

상술한 바와 같이, 자율주행차량은 다양한 단계로 기술개발이 이루어지고 있으며, 특히 운전자가 탑승한 상태에서 자율주행이 이루어지는 경우와 운전자가 탑승하지 않은 상태에서 자율주행이 이루어지고 있는 두 가지 형태로 구분할 수 있으나, 어떠한 상태에서도 차량이 자율주행을 수행하기 위해서는 자율주행에 필요한 주행장치, 조향장치 및 제동장치가 필수적이다.As described above, technology development for autonomous vehicles is carried out in various stages, and in particular, it can be divided into two types: a case in which autonomous driving is performed with a driver on board, and a case in which autonomous driving is carried out in a state where the driver is not riding. However, in order for a vehicle to perform autonomous driving in any state, a driving device, steering device, and braking device necessary for autonomous driving are essential.

자율주행에 관여하는 주행장치, 조향장치 및 제동장치 등은 차량의 자율주행제어시스템이 탑재된 자율주행제어기를 통해 차량 운행이 제어되며, 자율주행제어기에서 하달된 각 장치의 제어명령은 하위제어기를 통해 해당 장치의 동작에 직접 관여하는 최하위 장치로 전달되어 일정한 동작이 발생되도록 함으로써 필요한 주행, 조향 및 제동이 이루어지게 된다.Driving devices, steering devices, and braking devices involved in autonomous driving control vehicle operation through the autonomous driving controller equipped with the vehicle’s autonomous driving control system, and the control commands of each device issued from the autonomous driving controller send the sub-controller. It is transmitted to the lowest level device directly involved in the operation of the corresponding device through the system to generate a certain motion, so that necessary driving, steering and braking are performed.

통상, 차량에 탑재된 자율주행제어기는 차량에 장착된 다양한 전자장치 및 각종 센서모듈들로부터 수집된 정보를 하위제어기를 통해 전달받고, 자율주행제어기는 하위제어기로부터 수신된 각종 정보를 분석, 가공하여 다시 하위제어기로 필요한 자율주행 제어명령을 하달하며, 하위제어기는 그 상위제어기로부터 수신된 명령을 각 장치 및 부속장치로 전달하여 필요한 차량 제어가 이루어지도록 하면서 목표지점까지 차량이 안전하게 자율주행이 이루지도록 제어하게 된다.Typically, an autonomous driving controller mounted on a vehicle receives information collected from various electronic devices and various sensor modules mounted on the vehicle through a sub-controller, and the autonomous driving controller analyzes and processes various information received from the sub-controller. The sub-controller again issues the necessary autonomous driving control commands, and the sub-controller transmits the commands received from the upper controller to each device and accessory so that the necessary vehicle control is achieved and the vehicle safely autonomously drives to the target point. will take control

이와같이, 차량의 자율주행에 직접 관여하는 중요 장치들은 운전자가 탑승한 상태에서도 운전자의 개입없이 자율주행명령에 따라 자율주행 제어를 수행하게 되지만, 운전자가 개입할 경우 해당 제어장치는 수동으로 전환되어 운전자의 수동 조작으로 차량 운행이 이루어지게 된다.As such, important devices directly involved in autonomous driving of the vehicle perform autonomous driving control according to the autonomous driving command without driver intervention even when the driver is on board. The vehicle is operated by manual operation of

따라서, 자율주행차량의 제어기술이 고도화되더라도 운전자가 차량에 탑승한 상태를 가정하여 각 주요장치가 수동조작과 자동제어가 가능한 두가지 모드를 만족할 수 있도록 구성될 필요성이 있는 것이다.Therefore, even if the control technology of the autonomous driving vehicle is advanced, it is necessary to configure each major device to satisfy two modes in which manual operation and automatic control are possible, assuming a state in which the driver is in the vehicle.

즉, 특수차량을 제외한 일반 차량의 경우, 운전자가 탑승한 상태를 가정하고 자율주행시스템이 보조적으로 채용되는 형태로 자율주행차량이 개발되고 있기 때문에, 기존에 기본적으로 설계된 차량의 기본 플랫폼 안에서 자율주행제어시스템이 적용될 경우, 차량의 제한된 공간안에서 자율주행시스템이 장착되어야 하므로 자율주행시스템의 최적화가 매우 중요하다.In other words, in the case of general vehicles except for special vehicles, autonomous driving within the basic platform of the previously designed vehicle is being developed in the form of assuming that the driver is on board and the autonomous driving system is used as an auxiliary method. When the control system is applied, the optimization of the autonomous driving system is very important because the autonomous driving system must be installed within the limited space of the vehicle.

본 발명은 자율주행차량의 주요 장치 중 제동장치에 있어서, 자율주행차량의 기존 플렛폼 안에서 제한된 공간 안에 설치가 용이하고, 구성이 간단하면서 확실한 제동력을 발생시킬 수 있는 자율주행차량용 제동장치의 개발 필요성에 따라 안출하게 되었다.The present invention addresses the need for developing a braking system for an autonomous vehicle that is easy to install in a limited space within an existing platform of an autonomous vehicle, has a simple configuration, and can generate a reliable braking force among the main devices of an autonomous vehicle. was not followed.

- 특허등록 제10-2165457호(등록일:2020.10.07)- Patent Registration No. 10-2165457 (Registration Date: 2020.10.07) - 특허등록 제10-2173984호(등록일:2020.10.29)- Patent Registration No. 10-2173984 (Registration Date: 2020.10.29) - 특허등록 제10-1919320호(등록일:2018.11.12)- Patent Registration No. 10-1919320 (Registration Date: 2018.11.12)

본 발명은 자율주행차량의 효율적인 제동장치를 제공하기 위한 것으로, 특히, 구성이 간단하고 확실한 제동력 발생 및 전달이 이루어지면서 설치 후 관리가 편리한 자율주행차량의 제동장치를 제공하고자 하는데 그 목적이 있다.An object of the present invention is to provide an efficient braking device for an autonomous driving vehicle, and in particular, to provide a braking device for an autonomous driving vehicle that is simple in configuration, generates and transmits a reliable braking force, and is easy to manage after installation.

상술한 목적을 달성하기 위해, 본 발명에 따른 자율주행차량의 제동장치는 관제서버와 원격통신를 유지하면서 자율주행차량에 탑재되어 자율주행차량의 자율주행을 제어하는 자율주행제어기와, 자율주행차량에 설치된 각종 센서로부터 자율주행차량의 주행상태 및 자율주행차량 주변의 각종 정보를 획득하고, 획득된 정보를 상기 자율주행제어기로 전송하도록 상기 자율주행제어기와 캔통신으로 연결되며, 상기 자율주행제어기로부터 수신된 자율주행제어명령을 차량의 각 구동부로 전달하는 하위제어기와, 상기 하위제어기에서 전달된 제어명령으로 회전수 및 회전속도가 제어되면서 회전되는 모터와, 상기 모터에 연결되어 모터에서 출력되는 회전수를 일정비율로 감속시켜 출력시키는 유성감속기어와, 상기 유성감속기어의 출력축 외주연에 직각방향으로 결합되어 출력축의 외주연 일측으로 일정 길이 설치되는 제1 회전력 전달부재와, 상기 제1회전력 전달부재의 말단에 직각으로 결합되어 상기 제1회전력 전달부재의 상하 회동방향에 따라 브레이크 페달의 상면으로 일정 변위 이내에서 하강 또는 상승하는 제2회전력 전달부재와, 상기 제2회전력 전달부재의 외주연에 결합되어 제2회전력 전달부재의 하강시 브레이크 페달 상면을 가압하여 제동력이 발생되도록 하고, 제2회전력 전달부재의 상승시 브레이크 페달 상면에서 일정거리 이격되면서 브레이크 페달 상면에 작용하는 가압력을 해제시키는 가압부재;를 포함하는 구성으로 이루어진다.In order to achieve the above object, a braking device for an autonomous driving vehicle according to the present invention includes an autonomous driving controller mounted on an autonomous driving vehicle to control autonomous driving of the autonomous driving vehicle while maintaining remote communication with a control server, and an autonomous driving vehicle. It acquires the driving state of the autonomous driving vehicle and various information around the autonomous driving vehicle from various installed sensors, and is connected to the autonomous driving controller through CAN communication to transmit the obtained information to the autonomous driving controller, and is received from the autonomous driving controller A sub-controller that transmits the autonomous driving control command to each driving unit of the vehicle; a planetary reduction gear for decelerating and outputting at a certain ratio, a first rotational force transmission member coupled to the outer periphery of the output shaft of the planetary reduction gear at right angles to one side of the outer periphery of the output shaft for a predetermined length, and the first rotational force transmitting member a second rotational force transmitting member coupled at right angles to the end of the first rotational force transmitting member and descending or rising within a predetermined displacement to the upper surface of the brake pedal according to the vertical rotation direction of the first rotational force transmitting member, coupled to the outer periphery of the second rotational force transmitting member a pressing member for releasing the pressing force applied to the upper surface of the brake pedal while pressing the upper surface of the brake pedal when the second rotational force transmitting member is lowered to generate a braking force, and spaced a predetermined distance from the upper surface of the brake pedal when the second rotational force transmitting member is raised; It consists of a composition comprising

특히, 상기 브레이크 페달의 일측에는 브레이크 페달을 가압하는 제2회전력 전달부재 또는 가압부재의 동작상태를 감지하거나 운전자가 개입하여 브레이크 페달을 작동시키는지 여부를 감지하기 위한 페달조작 감지센서가 설치되고, 상기 하위제어기에는 상기 페달조작 감지센서의 감지신호를 자율주행제어기로 전송하기 위한 브레이크페달 감지정보 제공부와, 상기 자율주행제어기에서 하달된 제동제어명령 신호 값과 차량측에 설치된 센서들로부터 수집되어 파악된 차량의 실제 가속도 신호값을 상호 비교하여 자율주행제어기에서 하달된 제동정보로 차량의 가감속이 이루어지고 있는지 판단하여 자율주행제어기로 차량의 가감속 정보를 피드백하는 차량감속 정보제공부;가 더 포함된 구성으로 이루어진다.In particular, a pedal operation detection sensor is installed on one side of the brake pedal to detect the operation state of the second rotation force transmitting member or the pressing member for pressing the brake pedal or to detect whether the driver intervenes to operate the brake pedal, The sub-controller includes a brake pedal detection information providing unit for transmitting the detection signal of the pedal operation detection sensor to the autonomous driving controller, the value of the braking control command received from the autonomous driving controller, and sensors installed on the vehicle side. A vehicle deceleration information providing unit that compares the actual acceleration signal values of the identified vehicle with each other to determine whether acceleration and deceleration of the vehicle is being performed with the braking information received from the autonomous driving controller, and feeds back the vehicle acceleration and deceleration information to the autonomous driving controller; It consists of an included configuration.

또한, 상기 자율주행제어기에는 상기 하위제어기에서 제공되는 브레이크 페달 감지신호를 통해 운전자 개입이 이루어진 것으로 판단된 경우, 자율주행차량의 주행모드를 수동모드로 전환시키는 주행모드 전환부;가 더 포함된 구성으로 이루어지는 것이 바람직하다.In addition, the autonomous driving controller further includes a driving mode switching unit that converts the driving mode of the autonomous vehicle to a manual mode when it is determined that driver intervention has been made through the brake pedal detection signal provided from the sub-controller. It is preferable to consist of

본 발명에 따른 자율주행차량의 제동장치는 자율주행제어기와 하위제어기를 통해 전달된 제동 제어명령에 따라 최종적으로 브레이크 페달에 가압력을 작용하여 제동력을 일으키는 제동장치의 구성이 비교적 간단하여 여유공간이 적은 차량에 그 설치가 용이하도록 한다.The braking device for an autonomous vehicle according to the present invention has a relatively simple configuration of a braking device that generates braking force by finally applying a pressing force to the brake pedal according to the braking control command transmitted through the autonomous driving controller and the sub-controller. Make it easy to install on the vehicle.

또한, 본 발명은 제동 제어명령에 따라 신속한 제동력을 발생시켜 자율주행차량의 안전한 주행이 가능하도록 하고, 운전자 개입 여부를 정확하게 판단하여 자율주행차량의 안전한 주행이 가능하도록 한다.In addition, the present invention enables safe driving of an autonomous vehicle by generating a rapid braking force according to a braking control command, and enables safe driving of an autonomous vehicle by accurately determining whether a driver is involved.

도 1은 본 발명에 따른 자율주행차량의 제동장치 주요 구성도,
도 2는 본 발명에 따른 자율주행차량의 제동장치 주요부 분리상태도,
도 3은 본 발명에 따른 자율주행차량의 제동장치가 페달에 설치된 사용상태도,
도 4는 본 발명에 따른 자율주행차량의 제동장치 주요 구성 및 기능 블럭도이다.1 is a main configuration diagram of a braking system for an autonomous vehicle according to the present invention;
2 is an exploded state diagram of a main part of a braking system for an autonomous vehicle according to the present invention;
3 is a view showing a state in which the braking device of an autonomous vehicle according to the present invention is installed on a pedal;
4 is a main configuration and functional block diagram of a braking system for an autonomous vehicle according to the present invention.

본 발명에 따른 자율주행차량의 제동장치(이하, ‘제동장치’로 약칭함)는 자율주행차량의 초기단계에서 고도화단계에 이르는 자율주행차량에 적용 가능하도록 구성되며, 상기 제동장치는 관제서버와 통신상태가 유지되거나 또는 완전한 자율주행이 가능하도록 구성되어 차량측에 탑재된 자율주행제어기의 제어에 따라 차량측 바퀴에 제동력을 발생시킬 수 있도록 구성된다.The braking device for an autonomous driving vehicle (hereinafter, abbreviated as 'braking device') according to the present invention is configured to be applicable to an autonomous driving vehicle ranging from an initial stage to an advanced stage of the autonomous driving vehicle, and the braking system includes a control server and It is configured to maintain the communication state or to enable complete autonomous driving to generate braking force to the wheels of the vehicle under the control of the autonomous driving controller mounted on the vehicle side.

또한, 자율주행제어기에서 하달된 제동 제어신호는 하위제어기를 통해 제동장치로 전달될 수 있도록 구성되고, 차량측에 설치된 각종 센서에서 획득된 차량상태 정보와 가속도 정보 등은 하위제어기를 통해 수집되어 자율주행제어기에서 전달된 제동 신호와 일치하는지 여부를 확인하여 자율주행제어기로 피드백하게 되며, 자율주행제어기에서는 하위제어기에서 피드백된 정보를 확인하여 제동 제어신호를 다시 하달하거나 유지하는 일련의 과정이 반복적으로 수행되도록 구성된다.In addition, the braking control signal received from the autonomous driving controller is configured to be transmitted to the braking device through the lower controller, and vehicle state information and acceleration information obtained from various sensors installed on the vehicle side are collected through the lower controller and autonomously It is fed back to the autonomous driving controller by checking whether it matches the braking signal transmitted from the driving controller. configured to be performed.

이를 위해, 본 발명에 따른 제동장치는 관제서버와 원격통신 상태가 유지되거나 완전 자율주행시스템이 갖춰진 상태에서자율주행차량에 탑재되어 자율주행을 제어하는 자율주행제어기와, 자율주행차량에 설치된 각종 센서로부터 자율주행차량의 주행상태 및 자율주행차량 주변의 각종 정보를 획득하고, 획득된 정보를 상기 자율주행제어기로 전송하도록 상기 자율주행제어기와 캔(can)통신으로 연결되며, 상기 자율주행제어기로부터 수신된 자율주행제어명령을 차량의 각 구동부로 전달하는 하위제어기와, 상기 하위제어기에서 전달된 제어명령으로 회전수 및 회전속도가 제어되면서 회전되는 모터와, 상기 모터에 연결되어 모터에서 출력되는 회전수를 일정비율로 감속시켜 출력시키는 유성감속기어와, 상기 유성감속기어의 출력축 외주연에 직각방향으로 결합되어 출력축의 외주연 일측으로 일정 길이 설치되는 제1 회전력 전달부재와, 상기 제1회전력 전달부재의 말단에 직각으로 결합되어 상기 제1회전력 전달부재의 상하 회동방향에 따라 브레이크 페달의 상면으로 일정 변위 이내에서 하강 또는 상승하는 제2회전력 전달부재와, 상기 제2회전력 전달부재의 외주연에 결합되어 제2회전력 전달부재의 하강시 브레이크 페달 상면을 가압하여 제동력이 발생되도록 하고, 제2회전력 전달부재의 상승시 브레이크 페달 상면에서 일정거리 이격되면서 브레이크 페달 상면에 작용하는 가압력을 해제시키는 가압부재;를 포함하는 구성으로 이루어진다.To this end, the braking device according to the present invention includes an autonomous driving controller mounted on an autonomous driving vehicle to control autonomous driving while maintaining remote communication with the control server or equipped with a fully autonomous driving system, and various sensors installed in the autonomous driving vehicle. It acquires various information about the driving state of the autonomous driving vehicle and the surroundings of the autonomous driving vehicle from A sub-controller that transmits the autonomous driving control command to each driving unit of the vehicle; a planetary reduction gear for decelerating and outputting at a certain ratio, a first rotational force transmission member coupled to the outer periphery of the output shaft of the planetary reduction gear at right angles to one side of the outer periphery of the output shaft for a predetermined length, and the first rotational force transmitting member a second rotational force transmitting member coupled at right angles to the end of the first rotational force transmitting member and descending or rising within a predetermined displacement to the upper surface of the brake pedal according to the vertical rotation direction of the first rotational force transmitting member, coupled to the outer periphery of the second rotational force transmitting member a pressing member for releasing the pressing force applied to the upper surface of the brake pedal while pressing the upper surface of the brake pedal when the second rotational force transmitting member is lowered to generate a braking force, and spaced a predetermined distance from the upper surface of the brake pedal when the second rotational force transmitting member is raised; It consists of a composition comprising

특히, 상기 브레이크 페달의 일측에는 브레이크 페달을 가압하는 제2회전력 전달부재 또는 가압부재의 동작상태를 감지하거나 운전자가 개입하여 브레이크 페달을 동작시키는지 여부를 감지하기 위한 페달조작 감지센서가 설치되고, 상기 하위제어기에는 상기 페달조작 감지센서의 감지신호를 자율주행제어기로 전송하기 위한 브레이크페달 감지정보 제공부와, 상기 자율주행제어기에서 하달된 제동제어명령 신호 값과 차량측에 설치된 센서들로부터 수집되어 파악된 차량의 실제 가속도 신호값을 상호 비교하여 자율주행제어기에서 하달된 제동정보로 차량의 가감속이 이루어지고 있는지 판단하여 자율주행제어기로 차량의 가감속 정보를 피드백하는 차량감속 정보제공부;를 포함한 구성으로 이루어진다.In particular, a pedal operation detection sensor is installed on one side of the brake pedal to detect the operation state of the second rotation force transmitting member or the pressing member for pressing the brake pedal or to detect whether the driver intervenes to operate the brake pedal, The sub-controller includes a brake pedal detection information providing unit for transmitting the detection signal of the pedal operation detection sensor to the autonomous driving controller, the value of the braking control command received from the autonomous driving controller, and sensors installed on the vehicle side. A vehicle deceleration information providing unit that compares the actual acceleration signal values of the identified vehicle with each other to determine whether acceleration and deceleration of the vehicle is being performed with the braking information received from the autonomous driving controller, and feeds back the vehicle acceleration and deceleration information to the autonomous driving controller; including; composed of

또한, 상기 자율주행제어기에는 상기 하위제어기에서 제공되는 브레이크 페달 감지신호를 통해 운전자 개입이 이루어진 것으로 판단된 경우, 자율주행차량의 주행모드를 수동모드로 전환시키는 주행모드 전환부가 포함되도록 구성되는 것이 더욱 바람직하다.In addition, the autonomous driving controller is further configured to include a driving mode switching unit that converts the driving mode of the autonomous vehicle to a manual mode when it is determined that driver intervention has been made through the brake pedal detection signal provided by the sub-controller. desirable.

한편, 본 발명의 상세한 설명에서 사용되는 용어는 본 발명의 구성에 대한 기능을 고려하여 일반적인 용어 및 출원인이 임의로 선정한 용어를 사용했으며, 이 경우 그 용어가 가지는 의미는 본 발명의 전반에 걸친 내용을 토대로 정의된다.On the other hand, the terms used in the detailed description of the present invention are general terms and terms arbitrarily selected by the applicant in consideration of the function of the configuration of the present invention, and in this case, the meaning of the term refers to the content throughout the present invention. is defined based on

또한, 상세한 설명에서 사용되는 ‘자율주행차량’은 운전자의 운전을 보조하는 초기단계의 반자율 주행차량에서부터 운전자 개입 없이 완전한 주행이 가능한 고도화 단계의 자율주행차량까지 모두 포함된 의미로 사용된다.In addition, the term 'autonomous driving vehicle' used in the detailed description is used to include everything from a semi-autonomous driving vehicle in the initial stage that assists the driver in driving, to an autonomous driving vehicle in the advanced stage capable of driving completely without driver intervention.

또한, 상세한 설명에서 사용되는 ‘제동장치(brake system)’는 자율주행차량의 자율주행모드에서 차량의 바퀴에 제동력을 발생시키기 위해 자율주행제어기에서 하달된 제어신호에 따라 브레이크 페달을 동작시키는 일련의 하드웨어와 하드웨어의 제어를 위한 소프트웨어를 모두 포함하는 의미로 사용되며, 본 발명의 상세한 설명 및 도면에서 제시하는 기술구성만으로 한정되는 것은 아니다.In addition, the 'brake system' used in the detailed description is a series of steps that operate the brake pedal according to the control signal received from the autonomous driving controller in order to generate braking force on the wheels of the vehicle in the autonomous driving mode of the autonomous driving vehicle. It is used in the sense of including both hardware and software for controlling the hardware, and is not limited only to the technical configuration presented in the detailed description and drawings of the present invention.

또한, 상세한 설명 가운데에서 어떤 부분이 어떤 구성요소를 “포함”한다고 할 때, 이는 특별히 반대되는 기재가 없는 한 다른 구성요소를 제외하는 것이 아니라 다른 구성요소를 더 포함할 수 있음을 의미한다.In addition, when a part in the detailed description "includes" a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated.

또한, 상세한 설명에 기재된 “자율주행 제어기”는 자율주행차량에 설치되어 자율주행차량의 각종 센서모듈로부터 수집된 정보를 저장, 가공, 처리하여 자율주행차량의 주행에 필요한 각종 제어명령을 출력하고, 필요에 따라 원격지의 관제서버와 통신이 이루어지면서 자율주행차량에서 획득되는 각종 정보를 관제서버로 전송하도록 구성된 자율주행자량의 통합 무인제어시스템을 의미한다.In addition, the “autonomous driving controller” described in the detailed description is installed in the autonomous vehicle and stores, processes, and processes information collected from various sensor modules of the autonomous vehicle to output various control commands necessary for driving the autonomous vehicle, It refers to an integrated unmanned control system for autonomous vehicles configured to transmit various information acquired from an autonomous vehicle to the control server while communicating with a remote control server as necessary.

또한, 상세한 설명에 사용되는 ‘~부’는 특정 기능을 수행하기 위해 하나 이상의 하드웨어와 소프트웨어 또는 하드웨어와 소프트웨어가 결합된 독립된 장치 또는 설정된 알고리즘을 통해 특정한 결과를 제공하는 단위모듈을 의미한다.In addition, '~ unit' used in the detailed description means a unit module that provides a specific result through an independent device or a set algorithm in which one or more hardware and software or hardware and software are combined to perform a specific function.

또한, 상세한 설명에서 어떤 부분이 다른 부분과 “연결”또는 “결합”되어 있다고 할 때, 이는 “직접적으로 연결”되어 있는 경우 뿐만 아니라, 그 중간에 다른 소자나 부품, 회로, 기구물 등을 사이에 두고 “간접적으로 연결”되어 있는 경우를 포함하는 의미로 해석된다.In addition, in the detailed description, when a part is “connected” or “coupled” with another part, it is not only “directly connected” but also intervenes other elements, parts, circuits, devices, etc. It is construed to include the case of “indirectly connected” with each other.

그리고, 본 발명의 상세한 설명에서는 본 발명에 속하는 기술분야에서 널리 공지되었거나 당업자가 공지된 기술을 토대로 용이하게 안출할 수 있는 기술구성에 대한 설명은 가급적 생략하고, 본 발명의 특징적 구성을 이해하는데 필요한 기술구성 위주로 상세한 설명을 한다.And, in the detailed description of the present invention, the description of the technical configuration that is widely known in the art or that can be easily devised based on the known technology by those skilled in the art is omitted as much as possible, and is necessary for understanding the characteristic configuration of the present invention. A detailed description will be given focusing on the technical composition.

이하, 명세서에 첨부된 도면을 참고하여 본 발명의 실시예에 대해 설명한다.Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

도 1은 본 발명에 따른 제동장치의 주요 구성을 도시하고 있고, 도 2는 본 발명에 따른 제동장치의 구성에서 차량측에 고정 설치되는 수직지지부재와 감속기어측의 분리상태를 도시하고 있다.Fig. 1 shows the main configuration of the braking system according to the present invention, and Fig. 2 shows the separation state of the reduction gear side and the vertical support member fixedly installed on the vehicle side in the construction of the braking system according to the present invention.

또한, 도 3에는 본 발명에 따른 제동장치가 차량측 브레이크 페달(450)에 설치된 상태가 도시되어 있고, 도 4는 본 발명에 따른 제동장치의 주요구성 및 주요 구성의 기능동작 블록도를 도시하고 있다.In addition, FIG. 3 shows a state in which the braking device according to the present invention is installed on the vehicle-side brake pedal 450, and FIG. 4 shows a main configuration of the braking device according to the present invention and a functional operation block diagram of the main configuration, have.

도 1에 도시된 바와 같이, 본 발명에 따른 제동장치(500)는 자율주행차량에 탑재되어 자율주행을 제어하는 자율주행제어기(200)와, 상기 자율주행제어기(200)로부터 제동관련 정보를 수신하여 구동부로 전달하는 하위제어기(300)와, 상기 하위제어기(300)에서 전달된 제어명령으로 제동력을 발생하고, 발생된 제동력을 브레이크 페달에 직접 전달하는 제동력 발생부(400)와 제동력 전달부(420)를 포함하는 구성으로 이루어진다.As shown in FIG. 1 , the braking device 500 according to the present invention receives an autonomous driving controller 200 mounted on an autonomous driving vehicle to control autonomous driving, and braking-related information from the autonomous driving controller 200 . The sub-controller 300, which transmits the braking force to the driving unit, a braking force generating unit 400 that generates braking force with a control command transmitted from the sub-controller 300, and directly transmits the generated braking force to the brake pedal; 420).

상기 주요부의 구성에 대해 좀 더 상술하면, 상기 자율주행제어기(200)는 자율주행차량의 기본적인 차량정보와 차량특성 뿐만 아니라 자율주행에 필요한 소프트웨어가 탑재되어 자율주행차량의 전체적인 자율주행 제어를 수행될 수 있도록 구성된다.In more detail about the configuration of the main part, the autonomous driving controller 200 is equipped with software necessary for autonomous driving as well as basic vehicle information and vehicle characteristics of the autonomous driving vehicle to perform overall autonomous driving control of the autonomous driving vehicle. configured to be able to

또한, 상기 자율주행제어기(200)는 자율주행차량의 고도화 단계에 따라 별도의 관제서버(100)와 통신상태가 유지되면서 관제서버(100)에서 자율주행에 필요한 제어신호를 전달받아 자율주행차량을 제어하거나 또는 자율주행차량에서 획득된 각종 정보를 관제서버(100)로 제공할 수 있도록 구성될 수도 있다.In addition, the autonomous driving controller 200 receives a control signal necessary for autonomous driving from the control server 100 while maintaining the communication state with the separate control server 100 according to the level of advancement of the autonomous driving vehicle, thereby controlling the autonomous driving vehicle. It may be configured to control or provide various information acquired from the autonomous vehicle to the control server 100 .

그리고, 상기 하위제어기(300)는 자율주행차량에 설치된 각종 센서로부터 자율주행차량의 주행상태 및 자율주행차량 주변의 각종 정보를 수집하고, 수집된 정보를 상기 자율주행제어기(200)로 전송하며, 상기 자율주행제어기(200)로부터 하달된 제동 제어신호에 따라 제동력 발생부(400)로 제동력 발생신호를 출력하도록 구성된다.And, the sub-controller 300 collects the driving state of the autonomous vehicle and various information around the autonomous vehicle from various sensors installed in the autonomous vehicle, and transmits the collected information to the autonomous driving controller 200, and outputting a braking force generating signal to the braking force generating unit 400 according to the braking control signal received from the autonomous driving controller 200 .

또한, 상기 하위제어기(300)는 상기 자율주행제어기(200) 및 제동력 발생부(400)와 캔(CAN)통신으로 연결되어 상호간 정보전달이 원활하게 이루어지도록 구성된다.In addition, the sub-controller 300 is connected to the autonomous driving controller 200 and the braking force generating unit 400 through CAN communication, so that information transfer between them is smoothly performed.

또한, 상기 하위제어기(300)에서 전달된 제어신호에 따라 제동력을 발생되도록 하는 제동력 발생부(400)는 전달된 제어신호에 따라 일정 회전수 및 회전속도로 동작되는 모터(405)와, 상기 모터(405)에 연결되어 모터에서 출력되는 회전수를 일정비율로 감속시켜 출력시키는 유성감속기어(410)로 이루어지며, 상기 모터와 유성감속기어는 일체형으로 구성되어 그 설치가 간편하도록 구성되는 것이 바람직하다.In addition, the braking force generating unit 400 for generating braking force according to the control signal transmitted from the sub-controller 300 includes a motor 405 operated at a constant rotation speed and rotation speed according to the transmitted control signal, and the motor It is connected to 405 and consists of a planetary reduction gear 410 for decelerating and outputting the number of revolutions output from the motor at a certain rate, and the motor and the planetary reduction gear are integrally configured so that installation thereof is convenient. .

그리고, 상기 제동력 발생부(400)에 전달된 회전력을 통해 브레이크 페달에 외력을 제공하도록 구성되는 상기 제동력 전달부(420)는 상기 유성감속기어(410)의 출력축 외주연에 직각방향으로 결합되어 출력축의 외주연 일측으로 일정 길이 설치되는 제1 회전력 전달부재(422)와, 상기 제1회전력 전달부재(422)의 말단에 직각으로 결합되어 상기 제1회전력 전달부재(422)의 상하 회동방향에 따라 브레이크 페달(450)의 상면으로 일정 변위 이내에서 하강 또는 상승하는 제2회전력 전달부재(424)가 구비된다.In addition, the braking force transmitting unit 420 configured to provide an external force to the brake pedal through the rotational force transmitted to the braking force generating unit 400 is coupled to the outer periphery of the output shaft of the planetary reduction gear 410 at right angles to the output shaft. A first rotational force transmitting member 422 installed to one side of the outer periphery of the first rotational force transmitting member 422 at a right angle to the end of the first rotational force transmitting member 422 according to the vertical rotation direction of the first rotational force transmitting member 422 A second rotational force transmitting member 424 that descends or rises within a predetermined displacement is provided on the upper surface of the brake pedal 450 .

또한, 상기 제2회전력 전달부재(424)의 하강시 브레이크 페달(450)의 상면을 가압하여 제동력이 발생되도록 하고, 제2회전력 전달부재(424)의 상승시 브레이크 페달(450)의 상면에서 이격되면서 가압력을 해제하도록 제2회전력 전달부재(424)의 외주연에 구비되는 가압부재(426)가 더 구비된 구성으로 이루어진다.In addition, when the second rotational force transmitting member 424 is lowered, the upper surface of the brake pedal 450 is pressed to generate braking force, and when the second rotational force transmitting member 424 is raised, it is spaced apart from the upper surface of the brake pedal 450 . It consists of a configuration in which the pressing member 426 provided on the outer periphery of the second rotational force transmitting member 424 is further provided to release the pressing force.

상기 가압부재(426)는 제1회전력 전달부재(422) 및 제2회전력 전달부재(424)의 회동 동작에 따라 브레이크 페달(450)의 표면에 접촉되어 가압력을 전달할 때 브레이크 페달(450)의 하강 이동변위에 따라 정확한 가압력이 전달될 수 있도록 롤러 형태로 구성되는 것이 바람직하다.The pressing member 426 comes into contact with the surface of the brake pedal 450 according to the rotational operation of the first rotational force transmitting member 422 and the second rotational force transmitting member 424 to transmit the pressing force when the brake pedal 450 descends. It is preferable to be configured in the form of a roller so that an accurate pressing force can be transmitted according to the movement displacement.

즉, 상기 가압부재(426)가 페달(450)의 표면을 가압함에 따라 페달(450)이 아래방향으로 이동하게 되는데, 이때 페달(450)의 하강 이동변위는 페달(450)을 고정하는 페달고정브라켓트(455,도 3참조)의 힌지 고정부(457)를 기준으로 일정 기울기로 회동하기 때문에, 페달(450)이 하강됨에 따라 페달(450) 표면을 가압하는 가압부재(426)의 가압위치(가압지점)가 변경되면서 페달(450)의 표면에 가압력을 전달하도록 구성되는 것이 바람직하다.That is, as the pressing member 426 presses the surface of the pedal 450 , the pedal 450 moves downward. At this time, the downward movement displacement of the pedal 450 fixes the pedal 450 . Since the bracket (455, see Fig. 3) rotates at a certain inclination based on the hinge fixing part 457, the pressing position of the pressing member 426 that presses the surface of the pedal 450 as the pedal 450 descends ( Pressing point) is preferably configured to transmit the pressing force to the surface of the pedal 450 while changing.

따라서, 상기 가압부재(426)가 롤러 형상으로 이루어져 페달(450)이 일정 변위내에서 가변되더라도 페달의 이동변위에 따라 가압부재(426)가 회전하면서 페달표면에 작용하는 가압력을 일정하게 유지되도록 하여 제동력이 확실하게 발생되도록 한다.Therefore, the pressing member 426 is formed in a roller shape so that even if the pedal 450 varies within a certain displacement, the pressing force acting on the pedal surface is constantly maintained while the pressing member 426 rotates according to the movement displacement of the pedal. Make sure the braking force is generated.

그리고, 도면에 도시된 바와 같이, 상기 모터(405)와 유성감속기어(410)는 일체형으로 결합된 일 실시예가 도시되어 있고, 상기 모터(405)와 일체형으로 결합된 유성감속기어(410)는 출력축(415)이 구비된 외측면에 차량의 내측 바닥면에 고정 설치되는 수직지지부재(445)의 상단부에 고정 설치되는 구조로 이루어진다.And, as shown in the drawing, an embodiment is shown in which the motor 405 and the planetary reduction gear 410 are integrally coupled, and the planetary reduction gear 410 integrally coupled with the motor 405 is It has a structure in which the output shaft 415 is fixed to the upper end of the vertical support member 445 that is fixedly installed to the inner bottom surface of the vehicle on the outer surface.

상기 유성감속기어(410)가 고정되는 수직지지부재(445)는 차량 실내측에 고정 설치되는 마운팅부재(440)에 결합되어 견고하게 고정 설치되는데, 차량의 크기나 종류에 따라 상기 수직지지부재(445)에 고정 설치되는 동력발생부(405)의 위치를 조절할 수 있도록 마운팅부재(440)의 고정공(442) 또는 이 고정공(442)에 결합되는 체결공(447)이 상하 방향으로 길이가 긴 장방형으로 구성된다.The vertical support member 445 to which the planetary reduction gear 410 is fixed is coupled to the mounting member 440 fixedly installed on the inside of the vehicle and is firmly fixedly installed. Depending on the size or type of the vehicle, the vertical support member ( The fixing hole 442 of the mounting member 440 or the fastening hole 447 coupled to the fixing hole 442 has a length in the vertical direction so that the position of the power generating unit 405 fixed to the 445 can be adjusted. It consists of a long rectangle.

한편, 이하에서는 도 3 및 도 4는 참고하면서 상술한 본 발명에 따른 제동장치의 동작내용에 대해서 설명한다.Meanwhile, the operation of the braking device according to the present invention described above will be described below with reference to FIGS. 3 and 4 .

하위제어기(300)는 차량측 각종 센서모듈(330) 및 카메라(340)을 통해 자율주행차량의 주변상태 및 차량의 운행상태 정보를 수집하여 자율주행제어기로 통보하게 된다.The sub-controller 300 collects information about the surrounding state of the autonomous driving vehicle and the driving state of the vehicle through various sensor modules 330 and camera 340 on the vehicle side, and notifies the autonomous driving controller.

자율주행제어기는 하위제어기에서 수집되어 통보된 각종 정보를 취합, 분석, 처리하고, 주행중인 자율주행차량에 제동에 필요한 요인이 발생할 경우, 하위제어기로 제동 제어신호를 보낸다.The autonomous driving controller collects, analyzes, and processes various types of information collected and notified by the sub-controller, and sends a braking control signal to the sub-controller when a factor necessary for braking occurs in the autonomous driving vehicle in motion.

상위제어기인 자율주행제어기에서 하위제어기로 보내지는 제동 제어신호는 0.01㎨로 출력되고, 신호를 전달받은 하위제어기는 제동력 발생부인 모터로 그 신호를 전달하여, 모터의 회전력이 유성감속기어로 전달되고, 유성감속기어는 입력된 모터의 회전속도를 일정 감속비(20:1)로 감속시킨 후에 제동력 전달부로 출력되도록 하여 제1회전력 전달부재와 제2회전력전달부재의 회전변위 제어를 통해 페달 상면에 위치한 가압부재가 하강되도록 한다.The braking control signal sent from the autonomous driving controller, which is the upper controller, to the lower controller is output as 0.01㎨, and the lower controller that receives the signal transmits the signal to the motor that is the braking force generating unit, and the rotational force of the motor is transferred to the planetary reduction gear, The planetary reduction gear decelerates the input motor rotation speed to a certain reduction ratio (20:1) and then outputs it to the braking force transmission unit. to be lowered.

상기 가압부재가 하강하면서 페달에 일정한 가압력을 제공하여 제동력이 발생되게 되는데, 이때 자율주행차량측에서 발생되는 가감속 속도는 -2~5㎨ 단위로 제어되면서 제동력이 발생된다.As the pressing member descends, a constant pressing force is applied to the pedal to generate braking force. At this time, the acceleration/deceleration speed generated in the autonomous vehicle side is controlled in units of -2 to 5 ㎨ to generate braking force.

한편, 페달에 가압부재가 하강하면서 제동력이 발생되는 경우, 상기 페달 일측에 설치된 페달조작 감지센서(350)가 제동력 전달부의 동작상태를 파악하여 상기 하위제어기 측으로 통보하게 된다. On the other hand, when braking force is generated while the pressing member descends on the pedal, the pedal operation detection sensor 350 installed on one side of the pedal detects the operation state of the braking force transmission unit and notifies the lower controller.

본 발명에 따른 제동장치가 적용되는 자율주행차량은 운전자의 동승 여부에 관계없이 자율주행 초기 단계에서부터 고도화 단계에 이르는 자율주행차량에 적용되기 때문에, 만약 운전자가 탑승된 상태에서 운전자가 임의로 자율주행차량의 조향이나 제동장치 등에 관여하는 것으로 상기 하위제어기를 통해 감지될 경우, 그 신호는 자율주행제어기측으로 전달되어 주행모드 전환부를 통해 자율주행모드가 수동주행모드로 변경되어 자율주행차량의 자율주행제어신호가 더 이상 출력되지 않도록 한다.Since the autonomous driving vehicle to which the braking system according to the present invention is applied is applied to an autonomous driving vehicle from the initial stage to the advanced stage of autonomous driving regardless of whether the driver is in the vehicle, if the driver is on board the autonomous driving vehicle When it is detected through the sub-controller as being involved in the steering or braking system of is no longer output.

한편, 상기 하위제어기(300)에는 상술한 페달조작 감지센서(350)에서 감지된 신호가 자율주행제어신호에 따라 동작되는 것인지 아니면 운전자가 개입하여 브레이크 페달을 조작하는지 여부를 판단하여 자율주행제어기로 통보하는 페달 감지정보 제공부(310)가 구비되어 페달의 동작주체를 정확하게 파악하고 통보할 수 있도록 구성된다.On the other hand, the sub-controller 300 determines whether the signal detected by the above-described pedal operation detection sensor 350 is operated according to the autonomous driving control signal or whether the driver intervenes to operate the brake pedal, and is then transmitted to the autonomous driving controller. The pedal sensing information providing unit 310 for notifying is provided so as to accurately identify and notify the operating subject of the pedal.

그리고, 상기 하위제어기(300)에는 자율주행제어기(200)를 통해 하달된 제동 제어신호에 따라 제동력 발생부와 제동력 전달부의 동작에 따라 페달에 최종적으로 가압력이 작용하여 제동이 이루어질 때, 차량측에 설치된 IMU센서(가속도 센서 포함), 차속센서 등을 통해 검출된 자율주행차량의 속도가 자율주행제어기에서 하달된 제어신호와 일치하는지 여부를 확인하여 상기 자율주행제어기측으로 차속 정보를 제공하기 위한 차량감속 정보제공부(320)가 더 구비된다.In addition, the sub-controller 300 finally applies a pressing force to the pedal according to the operation of the braking force generating unit and the braking force transmitting unit according to the braking control signal received through the autonomous driving controller 200. When braking is performed, the vehicle side Vehicle deceleration to provide vehicle speed information to the autonomous driving controller by checking whether the speed of the autonomous vehicle detected through the installed IMU sensor (including the acceleration sensor), vehicle speed sensor, etc. matches the control signal received from the autonomous driving controller An information providing unit 320 is further provided.

상기 하위제어기의 차량감속 정보제공부를 통해 피드백 된 제동정보는 자율주행제어기에서 다시 확인과정을 통해 오차가 있을 경우 다시 제동신호를 하위제어기로 전송하고, 최초 제동 제어신호에 일치하는 것으로 파악된 경우 그 제동 제어신호가 유지되도록 결정하게 된다.The braking information fed back through the vehicle deceleration information providing unit of the sub-controller is checked again in the autonomous driving controller. If there is an error, the braking signal is transmitted to the sub-controller again. It is determined that the brake control signal is maintained.

이상, 본 발명에 따른 자율주행차량의 제동장치에 대하여 첨부된 일 실시예의 도면을 토대로 설명하였으나, 당업자는 본 발명에 따른 제동장치의 단순한 설계변경이나 일부 제어프로세스의 추가를 통해 변형된 실시예로 자율주행차량의 제동장치를 구성할 수 있을 것이다.In the above, the braking system for an autonomous vehicle according to the present invention has been described based on the accompanying drawings, but those skilled in the art will change the braking system according to the present invention to a modified embodiment through a simple design change or addition of some control processes. It will be possible to configure the braking system for autonomous vehicles.

100 : 관제서버
200 : 자율주행제어기 210 : 주행모드 전환부
300 : 하위제어기 310 : 페달감지정보 제공부
320 : 차량감속정보 제공부 330 : 센서모듈
340 : 카메라 350 : 페달조작 감지센서
400 : 제동력 발생부 405 : 모터
410 : 유성감속기어
415 : 감속기 출력축
420 : 제동력 전달부 422 : 제1 회전력 전달부재
424 : 제2회전력 전달부재 426 : 가압부재
440 : 마운팅부재 442 : 고정공
445 : 수직지지부재 447 : 체결공
450 : 브레이크 페달 455 : 페달 고정브라켓트
457 : 힌지 고정부
500 : 제동장치100: control server
200: autonomous driving controller 210: driving mode conversion unit
300: sub-controller 310: pedal sensing information providing unit
320: vehicle deceleration information providing unit 330: sensor module
340: camera 350: pedal operation detection sensor
400: braking force generating unit 405: motor
410: planetary reduction gear
415: reducer output shaft
420: braking force transmitting unit 422: first rotational force transmitting member
424: second rotational force transmitting member 426: pressing member
440: mounting member 442: fixed hole
445: vertical support member 447: fastening hole
450: brake pedal 455: pedal fixing bracket
457: hinge fixing part
500: brake

Claims (3)

관제서버와 원격통신가 유지되거나 완전 자율주행시스템이 갖춰진 상태에서자율주행차량에 탑재되어 자율주행을 제어하는 자율주행제어기(200)와, 자율주행차량에 설치된 각종 센서로부터 자율주행차량의 주행상태 및 자율주행차량 주변의 각종 정보를 획득하고, 획득된 정보를 상기 자율주행제어기로 전송하도록 상기 자율주행제어기와 캔통신으로 연결되며, 상기 자율주행제어기(200)로부터 수신된 자율주행제어명령을 차량의 각 구동부로 전달하는 하위제어기(300)와, 상기 하위제어기(300)에서 전달된 제어명령으로 제동력을 발생하고, 발생된 제동력을 브레이크 페달에 직접 전달하는 제동력 발생부(400)와 제동력 전달부(420)를 포함하되,
상기 제동력 발생부(400)는,
상기 하위제어기로부터 전달된 제어신호에 따라 일정 회전수 및 회전속도로 동작되는 모터(405)와, 상기 모터(405)에 연결되어 모터에서 출력되는 회전수를 일정비율로 감속시켜 출력시키는 유성감속기어(410)로 이루어지고,
상기 제동력 전달부(420)는,
상기 유성감속기어(410)의 출력축 외주연에 직각방향으로 결합되어 출력축의 외주연 일측으로 일정 길이 설치되는 제1 회전력 전달부재(422)와, 상기 제1회전력 전달부재(422)의 말단에 직각으로 결합되어 상기 제1회전력 전달부재(422)의 상하 회동방향에 따라 브레이크 페달(450)의 상면으로 일정 변위 이내에서 하강 또는 상승하는 제2회전력 전달부재(424)와, 상기 제2회전력 전달부재(424)의 하강시 브레이크 페달(450)의 상면을 가압하여 제동력이 발생되도록 하고, 제2회전력 전달부재(424)의 상승시 브레이크 페달(450)의 상면에서 이격되면서 가압력을 해제하도록 제2회전력 전달부재(424)의 외주연에 구비되는 가압부재(426);를 구비한 구성으로 이루어지는 것을 특징으로 하는 자율주행차량의 제동장치.The autonomous driving controller 200, which is mounted on an autonomous driving vehicle to control autonomous driving while remote communication with the control server is maintained or a fully autonomous driving system is installed, and various sensors installed in the autonomous driving vehicle It is connected to the autonomous driving controller through CAN communication to acquire various information around the driving vehicle and transmit the acquired information to the autonomous driving controller, and transmits the autonomous driving control command received from the autonomous driving controller 200 to each vehicle. The lower controller 300 transmits to the driving unit, the braking force generating unit 400 and the braking force transmitting unit 420 that generate braking force with the control command transmitted from the lower controller 300 and directly transmit the generated braking force to the brake pedal ), including
The braking force generating unit 400,
A motor 405 operated at a constant number of revolutions and a rotation speed according to the control signal transmitted from the lower controller, and a planetary reduction gear connected to the motor 405 to reduce the number of revolutions output from the motor at a constant rate and output it (410) consists of,
The braking force transmission unit 420,
A first rotational force transmitting member 422 coupled to the outer periphery of the output shaft of the planetary reduction gear 410 in a direction perpendicular to the outer periphery of the output shaft and installed to one side of the outer periphery of the output shaft by a predetermined length, and the first rotational force transmitting member 422 at right angles to the end A second rotational force transmitting member 424 coupled to the first rotational force transmitting member 422 and descending or rising within a predetermined displacement to the upper surface of the brake pedal 450 according to the vertical rotational direction of the first rotational force transmitting member 422, and the second rotational force transmitting member When step 424 is lowered, the upper surface of the brake pedal 450 is pressed to generate a braking force, and when the second rotation force transmitting member 424 is raised, the second rotational force is released while being spaced apart from the upper surface of the brake pedal 450 to release the pressing force. A braking device for an autonomous vehicle, characterized in that it comprises a pressing member (426) provided on the outer periphery of the transmission member (424). 제1항에 있어서,
상기 브레이크 페달(450)의 일측에는 브레이크 페달을 가압하는 제동력 전달부(420)의 동작상태를 감지하거나 운전자가 개입하여 브레이크 페달을 작동시키는지 여부를 감지하여 하위제어기로 신호를 전달하는 페달조작 감지센서(350)가 설치되고,
상기 하위제어기(300)에는,
상기 페달조작 감지센서(350)에서 전송된 페달조작 감지신호를 자율주행제어기(200)로 전송하기 위한 페달감지 정보제공부(310)와,
상기 자율주행제어기(200)에서 하달된 제동제어 신호 값과 차량측에 설치된 센서들로부터 수집되어 파악된 차량의 차속 신호값을 상호 비교하여 자율주행제어기에서 하달된 제동정보로 차량의 가감속이 이루어지고 있는지 판단하여 자율주행제어기(200)로 차량의 가감속 정보를 피드백하는 차량감속 정보제공부(320);가 더 포함된 구성으로 이루어지는 것을 특징으로 하는 자율주행차량의 제동장치. According to claim 1,
At one side of the brake pedal 450, the operation state of the braking force transmitting unit 420 that presses the brake pedal is sensed or whether the driver intervenes to operate the brake pedal and transmits a signal to the lower controller. The sensor 350 is installed,
In the sub-controller 300,
a pedal detection information providing unit 310 for transmitting the pedal operation detection signal transmitted from the pedal operation detection sensor 350 to the autonomous driving controller 200;
By comparing the value of the braking control signal received from the autonomous driving controller 200 with the vehicle speed signal value collected and identified from sensors installed on the vehicle side, acceleration/deceleration of the vehicle is performed with the braking information received from the autonomous driving controller. A braking device for an autonomous driving vehicle, characterized in that it further includes a vehicle deceleration information providing unit (320) that determines whether there is a vehicle acceleration/deceleration information and feeds back the vehicle acceleration/deceleration information to the autonomous driving controller (200). 제2항에 있어서,
상기 자율주행제어기(200)에는 상기 하위제어기(300)에서 제공되는 브레이크 페달 감지신호를 통해 운전자 개입이 이루어진 것으로 판단된 경우, 자율주행차량의 주행모드를 수동모드로 전환시키는 주행모드 전환부(210);를 포함하고 있는 것을 특징으로 하는 자율주행차량의 제동장치.3. The method of claim 2,
The autonomous driving controller 200 has a driving mode conversion unit 210 that converts the driving mode of the autonomous vehicle to a manual mode when it is determined that driver intervention has been made through the brake pedal detection signal provided from the sub-controller 300 . ); A braking system for an autonomous vehicle, characterized in that it contains.
KR1020200181234A 2020-12-22 2020-12-22 A brake system for autonomous vehicles KR20220090673A (en)

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KR102600863B1 (en) * 2023-02-15 2023-11-13 주식회사 모빌리오 Fusion sensors-based vehicle automatic brake control system to prevent accidents in the driver’s blind spot

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KR102173984B1 (en) 2019-06-27 2020-11-05 현대모비스 주식회사 Apparatus for controlling brake of autonomous driving vehicle

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