US 12,325,400 B2
Apparatus and method for controlling braking force of vehicle
Jin Ho Yang, Yongin-si (KR)
Assigned to HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed by HYUNDAI MOBIS Co., Ltd., Seoul (KR)
Filed on Aug. 4, 2022, as Appl. No. 17/881,157.
Claims priority of application No. 10-2021-0175062 (KR), filed on Dec. 8, 2021.
Prior Publication US 2023/0174030 A1, Jun. 8, 2023
Int. Cl. B60T 8/17 (2006.01); B60T 8/172 (2006.01); B60T 8/1755 (2006.01)
CPC B60T 8/17551 (2013.01) [B60T 8/172 (2013.01); B60T 8/17558 (2013.01); B60T 2201/022 (2013.01); B60T 2210/32 (2013.01); B60T 2270/30 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An apparatus for controlling a braking force of a vehicle, the apparatus comprising:
a sensor device configured to obtain information about an image in front of the vehicle and driving information of the vehicle; and
a controller configured to determine a road surface state including a left road surface state and a right road surface state based on the information about the image and the driving information and control a braking force of left wheels of the vehicle and a braking force of right wheels of the vehicle respectively based on the left road surface state and the right road surface state of the vehicle,
wherein the controller compares a time to collision (TTC) based on the left road surface state of the vehicle and the right road surface state of the vehicle with a reference TTC to determine a risk of collision, and
the controller compares an amount of braking of the left wheels of the vehicle and an amount of braking of the right wheels of the vehicle based on the risk of collision with a required deceleration and selects a smaller value among the amount of braking of the left wheels of the vehicle and the amount of braking of the right wheels of the vehicle as the braking force of the left wheels and the braking force of the right wheels.