# US 11,993,236 B2 · Electronic brake system and control method therefor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,236 B2 - Document ID: US11993236B2 - Status: Granted - Kind: B2 - Application number: 17/055,579 - Filed: 2019-05-17 - Published: 2021-04-15 - Granted: 2024-05-28 - Earliest claimed: 2018-05-17 - Assignees: Hl Mando Corporation - Applicants: Hl Mando Corporation - Inventors: Young Jae Kim - Web page: https://patentgrep.com/patent/US11993236B2 ## CPC - B60T 7/042: {by electrical means, e.g. using travel or force sensors} - B60T 7/12: for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} - B60T 8/3255: {Systems in which the braking action is dependent on brake pedal data} - B60T 13/686: {in hydraulic systems or parts thereof} - B60T 13/745: {acting on a hydraulic system, e.g. a master cylinder} - B60T 2220/04: Pedal travel sensor, stroke sensor; Sensing brake request - B60Y 2400/306: Pressure sensors - B60Y 2400/81: Braking systems - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract An electronic brake system includes a caliper provided on each wheel configured to perform braking, a detector configured to measure a driver's step force or detect a braking pressure generated by the caliper and a controller controls a rotational speed of the motor based on a first rotation speed of the motor calculated based on a change in the magnitude of the braking pressure generated by the caliper, and a second rotation speed of the motor based on a change in the magnitude of the step force when the change in the magnitude of the step force satisfies a predetermined criterion. ## Claims ### Claim 1 An electronic brake system comprising: a caliper provided on each wheel configured to perform braking; a detector configured to measure a driver's step force and detect a braking pressure generated by the caliper; and a controller controls a rotational speed of the motor based on a first rotation speed of the motor calculated based on a change in the magnitude of the braking pressure generated by the caliper, and a second rotation speed of the motor based on a change in the magnitude of the step force when the change in the magnitude of the step force satisfies a predetermined criterion. ### Claim 2 (depends on 1) The system according to claim 1, wherein the first rotation speed is generated based on information about pressure and speed of oil received from the caliper. ### Claim 3 (depends on 1) The system according to claim 1, wherein the second rotation speed is a target speed of the motor which corresponds to the change in the magnitude of the step force. ### Claim 4 (depends on 1) The system according to claim 1, wherein the controller controls the rotation speed of the motor to be the first rotation speed when the first rotation speed is smaller than the second rotation speed. ### Claim 5 (depends on 4) The system according to claim 4, wherein the controller controls the rotation speed of the motor to the first rotation speed. ### Claim 6 (depends on 1) The system according to claim 1, wherein the controller, when the first rotation speed is higher than the second rotation speed, calculates a marginal control amount based on an error between the first rotation speed and the second rotation speed, and determines a final motor control speed based on an error between the calculated marginal control amount and an excess control amount. ### Claim 7 (depends on 6) The system according to claim 6, wherein the excess control amount is adjusted based on a magnitude of the marginal control amount. ### Claim 8 (depends on 1) The system according to claim 1, wherein the controller determines the step force satisfied the predetermined criterion when the magnitude of the step force decreased per unit time satisfies a preset value. ### Claim 9 (depends on 8) The system according to claim 8, wherein the controller determines the step force satisfied the predetermined criterion when a volume per unit time of oil flowing from the caliper is greater than a volume change per unit time of a pressure chamber. ### Claim 10 A method for controlling an electronic brake system comprising: sensing step force applied to a brake pedal and pressure generated by a caliper; calculating a first rotation speed of the motor calculated based on a change in the magnitude of a braking pressure generated by the caliper, and a second rotation speed of the motor based on a change in the magnitude of the step force when the change in the magnitude of the step force satisfies a predetermined criterion; and controlling the motor rotation speed based on the calculated first rotation speed and the second rotation speed. ### Claim 11 (depends on 10) The method according to claim 10, wherein the first rotation sped is generated based on information about pressure and speed of oil received from the caliper. ### Claim 12 (depends on 10) The method according to claim 10, wherein the second rotation speed is a target speed of the motor which corresponds to the change in the magnitude of the step force. ### Claim 13 (depends on 10) The method according to claim 10, wherein controlling the motor rotation speed comprises, controlling the rotation speed of the motor when the first rotation speed is smaller than the second rotation speed. ### Claim 14 (depends on 13) The method according to claim 13, wherein controlling the motor rotation speed comprises, controlling the motor rotation speed to the first rotation speed. ### Claim 15 (depends on 13) The method according to claim 13, wherein determining that the predetermined criterion is satisfied comprises, determining the step force satisfied the predetermined criterion when a volume per unit time of oil flowing from the caliper is greater than a volume change per unit time of a pressure chamber. ### Claim 16 (depends on 10) The method according to claim 10, wherein determining that the predetermined criterion is satisfied comprises, determining the step force satisfied the predetermined criterion when a volume per unit time of oil flowing from the caliper is greater than a volume change per unit time of a pressure chamber. ### Claim 17 (depends on 10) The method according to claim 10 further comprising: when the first rotation speed is higher than the second rotation speed, calculating a marginal control amount based on an error between the first rotation speed and the second rotation speed, and determining a final motor control speed based on an error between the calculated marginal control amount and an excess control amount. ### Claim 18 (depends on 17) The method according to claim 17, wherein the excess control amount is adjusted based on a magnitude of the marginal control amount.