# US 10,479,361 B2 · Apparatus and method for controlling braking of vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,479,361 B2 - Document ID: US10479361B2 - Status: Granted - Kind: B2 - Application number: 15/632,573 - Filed: 2017-06-26 - Published: 2018-08-02 - Granted: 2019-11-19 - Earliest claimed: 2017-01-31 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Jeewook Huh; Kyoungcheol Oh; Teh Hwan Cho - Web page: https://patentgrep.com/patent/US10479361B2 ## CPC - B60W 30/18127: {Regenerative braking} - B60K 6/387: Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means - B60K 6/48: Parallel type - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 10/184: with wheel brakes - B60W 20/10: Controlling the power contribution of each of the prime movers to meet required power demand - B60W 40/107: Longitudinal acceleration - B60K 2006/4825: {Electric machine connected or connectable to gearbox input shaft} - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2710/083: Torque - B60W 2710/18: Braking system - 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 - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES ## Abstract An apparatus and method of controlling a braking force of a vehicle can improve fuel efficiency by increasing the rate of regenerative braking in the vehicle. The method includes: determining a required deceleration based on a running state of other vehicle ahead; determining a maximum value of a maximum creep torque of a motor and a maximum creep torque of a battery as an amount of available creep torque; determining a smaller value of a required deceleration and the amount of available creep torque as the creep torque; determining a motor torque based on the creep torque; performing regenerative braking by controlling the motor so as to follow the determined motor torque; calculating a deceleration torque based on the creep torque and calculating an amount of hydraulic braking based on the deceleration torque; and performing hydraulic braking according to the calculated hydraulic braking amount. ## Claims ### Claim 1 A method for controlling braking of a vehicle, comprising: determining, by a first controller, a required deceleration based on a running state of other vehicle ahead; determining, by the first controller, a maximum value of a maximum creep torque of a motor and a maximum creep torque of a battery as an amount of available creep torque; determining, by the first controller, a smaller value of a required deceleration and the amount of available creep torque as the creep torque; determining, by the first controller, a motor torque based on the creep torque; performing, by a second controller, regenerative braking by controlling the motor so as to follow the determined motor torque; calculating, by the first controller, a deceleration torque based on the creep torque and calculating an amount of hydraulic braking based on the deceleration torque; and performing, by a third controller, hydraulic braking according to the calculated hydraulic braking amount. ### Claim 2 (depends on 1) The method according to claim 1, wherein the amount of available creep torque is obtained by the following equations (1) to (3); Maximum creep torque of the motor=(maximum charge torque)*(motor efficiency)*(gear ratio)*(drive system efficiency) Maximum charge torque of the battery=(Maximum charge power)*(battery efficiency)/(motor speed)*(motor efficiency)*(gear ratio)*(drive system efficiency) Amount of available creep torque=MAX (maximum creep torque of motor, maximum creep torque of battery). ### Claim 3 (depends on 1) The method according to claim 1, wherein the motor torque is obtained by the following equation (5); Motor torque=(creep torque)/(gear ratio*drive system efficiency motor efficiency). ### Claim 4 (depends on 1) The method according to claim 1, wherein the motor torque is obtained by the following equation (6); Deceleration torque=(motor torque)*(motor efficiency)*(gear ratio)*(drive system efficiency). ### Claim 5 (depends on 1) The method according to claim 1, wherein the hydraulic braking amount is obtained by the following equation (7); Amount of hydraulic braking amount=(required deceleration)−(deceleration torque) ### Claim 6 (depends on 1) The method according to claim 1, wherein the required deceleration is determined based on a relative speed and distance to the other vehicle. ### Claim 7 A method for controlling braking of a vehicle, comprising: determining, by a first controller, a required deceleration based on a running state of other vehicle ahead; determining, by the first controller, a maximum value of a maximum creep torque of a motor and a maximum creep torque of a battery as an amount of available creep torque; determining, by the first controller, a smaller value of a required deceleration and the amount of available creep torque as the creep torque; determining, by the first controller, a motor torque based on the creep torque; and performing, by a second controller, regenerative braking by controlling the motor so as to follow the determined motor torque. ### Claim 8 (depends on 7) The method according to claim 7, wherein calculating the amount of available creep torque according to the following equations (1) to (3); Maximum creep torque of the motor=(maximum charge torque)*(motor efficiency)*(gear ratio)*(drive system efficiency) Maximum charge torque of the battery=(Maximum charge power)*(battery efficiency)/(motor speed)*(motor efficiency)*(gear ratio)*(drive system efficiency) Amount of available creep torque=MAX (maximum creep torque of motor, maximum creep torque of battery). Equation 3 ### Claim 9 (depends on 7) The method according to claim 7, wherein the motor torque is obtained by the following equation (5); Motor torque=(creep torque)/(gear ratio*drive system efficiency motor efficiency). ### Claim 10 (depends on 7) The method according to claim 7, wherein the motor torque is obtained by the following equation (6); Deceleration torque=(motor torque)*(motor efficiency)*(gear ratio)*(drive system efficiency). ### Claim 11 (depends on 7) The method according to claim 7, wherein the required deceleration is determined based on a relative speed and distance with the other vehicle. ### Claim 12 An apparatus for controlling braking of a vehicle, comprising: a sensor to determine a required deceleration based on a running state of other vehicle ahead; a first controller to determine a maximum value of a maximum creep torque of a motor and a maximum creep torque of a battery as an amount of available creep torque, to determine a smaller value of a required deceleration and the amount of available creep torque as the creep torque, and to determine a motor based on the creep torque; a second controller to perform regenerative braking by controlling the motor so as to follow the determined motor torque; a third controller to calculate a deceleration torque based on the creep torque, to calculate an amount of hydraulic braking based on the deceleration torque, and to perform hydraulic braking according to the calculated hydraulic braking amount. ### Claim 13 An apparatus for controlling braking of a vehicle, comprising: a sensor to determine a required deceleration based on a running state of other vehicle ahead; a first controller to determine a maximum value of a maximum creep torque of a motor and a maximum creep torque of a battery as an amount of available creep torque, to determine a smaller value of a required deceleration and the amount of available creep torque as the creep torque, and to determine a motor torque based on the creep torque; and a second controller to perform regenerative braking by controlling the motor so as to follow the determined motor torque.