Control apparatus of brake system and method of controlling the same

1. A control apparatus of a brake system, comprising:

an input unit which receives a connection signal on a connection between a vehicle and a trailer sensed by a sensing apparatus and receives current yaw rate error information of the vehicle according to current oscillation information of the trailer sensed by the sensing apparatus;

a determination unit which determines whether the vehicle and the trailer are mutually connected based on the connection signal; and

a control unit, when the vehicle and the trailer are mutually connected, which selects target yaw rate information preset while being divided for each type and weight of the trailer depending on the connection of the trailer to reduce a yaw rate error rate with respect to the current yaw rate error information of the vehicle according to the current oscillation information and transmits a brake command to the brake system to brake the vehicle according to the selected corresponding target yaw rate information.

2. The control apparatus of claim 1 , wherein the control unit, when the target yaw rate information is selected, transmits the brake command to the brake system in advance to shorten a control time point of the brake system.

3. The control apparatus of claim 1 , wherein the input unit receives the current yaw rate error information of the vehicle according to the current oscillation information of the trailer when the vehicle and the trailer turn.

4. The control apparatus of claim 1 , further comprising a first identification unit which identifies that the vehicle and the trailer are mutually connected.

5. The control apparatus of claim 1 , further comprising an image photographing unit which photographs a rear of the vehicle,

wherein when the trailer is photographed by the image photographing unit, the determination unit determines that the vehicle and the trailer are mutually connected.

6. The control apparatus of claim 1 , further comprising a second identification unit which identifies that a current yaw rate corresponds to an error situation when the current yaw rate error information of the vehicle according to the current oscillation information of the trailer is received.

7. The control apparatus of claim 1 , further comprising a third identification unit which identifies a reduction of an error situation of a current yaw rate when the target yaw rate information is selected.

8. The control apparatus of claim 1 , further comprising a fourth identification unit which identifies that the vehicle is braked while reducing an error situation of a current yaw rate when the brake command is transmitted to the brake system.

9. A method of controlling a brake system, comprising:

a first input operation of receiving a connection signal on a connection between a vehicle and a trailer sensed by a sensing apparatus;

a determination operation of determining whether the vehicle and the trailer are mutually connected based on the connection signal;

a second input operation of receiving current yaw rate error information of the vehicle according to current oscillation information of the trailer sensed by the sensing apparatus when the vehicle and the trailer are mutually connected;

a selection operation of selecting target yaw rate information preset while being divided for each type and weight of the trailer depending on the connection of the trailer to reduce a yaw rate error rate with respect to the current yaw rate error information of the vehicle according to the current oscillation information; and

a driving operation of transmitting a brake command to the brake system to brake the vehicle according to the selected corresponding target yaw rate information.

10. The method of claim 9 , wherein when the target yaw rate information is selected, the driving operation comprises transmitting the brake command to the brake system in advance to shorten a control time point of the brake system.

11. The method of claim 9 , wherein the second input operation comprises receiving the current yaw rate error information of the vehicle according to the current oscillation information of the trailer when the vehicle and the trailer turn.

12. The method of claim 9 , further comprising a first identification operation of identifying that the vehicle and the trailer are mutually connected when the vehicle and the trailer are mutually connected.

13. The method of claim 9 , further comprising a second identification operation of identifying that a current yaw rate corresponds to an error situation when the current yaw rate error information of the vehicle according to the current oscillation information of the trailer is received.

14. The method of claim 9 , further comprising a third identification operation of identifying a reduction of an error situation of a current yaw rate when the target yaw rate information is selected.

15. The method of claim 9 , further comprising a fourth identification operation of identifying that the vehicle is braked while reducing an error situation of a current yaw rate when the brake command is transmitted to the brake system.

16. The method of claim 9 , further comprising photographing a rear of the vehicle,

wherein when the trailer is photographed, it is determined that the vehicle and the trailer are mutually connected.