# US 12,109,986 B2 · Braking system of vehicle capable of regenerative braking and hydraulic braking and method of controlling the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,986 B2 - Document ID: US12109986B2 - Status: Granted - Kind: B2 - Application number: 17/582,288 - Filed: 2022-01-24 - Published: 2022-07-28 - Granted: 2024-10-08 - Earliest claimed: 2021-01-25 - Assignees: Hyundai Mobis Co., Ltd. - Applicants: HYUNDAI MOBIS Co., Ltd. - Inventors: Ji Weon Ko - Web page: https://patentgrep.com/patent/US12109986B2 ## CPC - B60T 13/586: {the retarders being of the electric type} - B60L 7/26: Controlling the braking effect - B60T 1/10: by utilising wheel movement for accumulating energy, e.g. driving air compressors - B60T 7/042: {by electrical means, e.g. using travel or force sensors} - B60T 13/662: {characterised by specified functions of the control system components} - B60T 13/686: {in hydraulic systems or parts thereof} - B60T 13/745: {acting on a hydraulic system, e.g. a master cylinder} - F16D 61/00: Brakes with means for making the energy absorbed available for use (F16D57/00 takes precedence) - B60L 2240/80: Time limits - B60T 2220/04: Pedal travel sensor, stroke sensor; Sensing brake request - B60T 2270/402: Back-up - B60T 2270/404: Brake-by-wire or X-by-wire failsafe - B60T 2270/604: Merging friction therewith; Adjusting their repartition - B60T 2270/82: Brake-by-Wire, EHB - 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 - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - F16D: COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES ## Abstract The present disclosure in at least one embodiment provides a braking system comprising: a pedal master unit; an electric booster unit; a reaction disc that generates a pedal force when compressed by at least one of the operating rod or the motor piston; and a controller that, upon receiving a regenerative braking interruption signal during the cooperative braking of the vehicle, senses a pressure change in the master cylinder and compensates for a displacement of the motor piston by an amount corresponding to the pressure change. ## Claims ### Claim 1 A braking system configured to perform cooperative braking, a combination of regenerative braking and hydraulic braking, when braking a vehicle, the braking system comprising: a pedal master unit comprising a master cylinder and an operating rod configured to transmit a pedal effort generated by pressing a pedal to the master cylinder; an electric booster unit comprising a motor, a motor piston configured to compress the master cylinder, and a power transmission configured to convert a rotary motion of the motor into a linear motion of the motor piston; a reaction disc that generates a pedal force when compressed by at least one of the operating rod or the motor piston; and a controller that, upon receiving a regenerative braking interruption signal during the cooperative braking of the vehicle, senses a pressure change in the master cylinder and compensates for a displacement of the motor piston by an amount corresponding to the pressure change. ### Claim 2 (depends on 1) The braking system of claim 1, wherein, upon receiving the regenerative braking interruption signal, the controller calculates a first hydraulic pressure applied into the master cylinder at a first point in time where the regenerative braking interruption signal is received, calculates a second hydraulic pressure applied into the master cylinder at a second point in time after a preset time interval from the first point in time, and compensates for the displacement of the motor piston based on a difference between the first hydraulic pressure and the second hydraulic pressure. ### Claim 3 (depends on 2) The braking system of claim 2, wherein the amount of displacement of the motor piston is proportional to the difference between the first hydraulic pressure and the second hydraulic pressure. ### Claim 4 (depends on 1) The braking system of claim 1, wherein the power transmission comprises: a gear unit that boosts torque of the motor; a first screw shaft disposed to receive the torque from the gear unit; and a second screw shaft disposed to receive a rotary motion of the first screw shaft and convert the rotary motion into a linear motion to compensate for the displacement of the motor piston. ### Claim 5 (depends on 1) The braking system of claim 1, wherein a central part of the reaction disc is compressed by the operating rod, and an outer circumference of the reaction disc is compressed by the motor piston. ### Claim 6 A method of controlling a braking system configured to perform cooperative braking, a combination of regenerative braking and hydraulic braking, when braking a vehicle, the method comprising: when a pedal is pressed, calculating, by a controller, a total braking force required to brake the vehicle based on a stroke of the pedal measured by a pedal travel sensor; calculating, by the controller, a regenerative braking force and a hydraulic braking force based on the total braking force required and determining a displacement of a motor piston to generate the hydraulic braking force; driving, by the controller, an electric booster unit based on the displacement of the motor piston; determining, by the controller, whether the regenerative braking is finished or not; and when the regenerative braking is determined to be finished, calculating, by the controller, a difference in hydraulic pressure in a master cylinder between a first point in time where the regenerative braking is finished and a second point in time which is after a preset time interval from the first point in time, wherein the calculating a displacement of the motor piston comprises calculating the displacement of the motor piston to be compensated for based on the calculated difference in hydraulic pressure. ### Claim 7 (depends on 6) The method of claim 6, further comprising driving the electric booster unit based on the displacement of the motor piston to be compensated for. ### Claim 8 (depends on 6) The method of claim 6, wherein the hydraulic pressure in the master cylinder is calculated at the first point in time and the second point in time by using a hydraulic measurement device placed in the master cylinder. ### Claim 9 (depends on 6) The method of claim 6, wherein, at the first point in time, the amount of hydraulic pressure in the master cylinder is determined by using stored data on the amount of hydraulic pressure in the master cylinder relative to the displacement of the motor piston. ### Claim 10 (depends on 7) The method of claim 7, wherein the amount of displacement of the motor piston to be compensated is proportional to the calculated difference in hydraulic pressure.