DE102018205957A1 - Electronically adjustable brake system and method for controlling an electronically pressure-controllable brake system - Google Patents

Abstract

The invention relates to an electronically pressure-controllable brake system (10) and method for controlling an electronically pressure-controllable brake system (10) .Bremsanlagen conventional motor vehicles are equipped with a pressure medium unit (12) for setting and control wheel individual braking pressures to wheel brakes (30), each one of several brake circuits (20a, 20b) associated with the brake system (10) and connected to the pressure medium unit (12) equipped. The pressure medium unit (12) has for this purpose an electronically controllable actuatable pump unit (16) and an electronically controllable valve device (26, 32). The latter comprises for each of the wheel brakes (30) in each case an associated inlet valve (26) controlling a pressure medium flow to the wheel brake (30) and an outlet valve (32) controlling a pressure fluid outlet from the wheel brake (30). According to the invention, each wheel brake (30) is Braking system (10) each having at least two brake circuits (20a, 20b) contacted, wherein pump units (16) and valve means (26; 32) of the one brake circuit (20a, 20b) each independently of the pump units (16) and the valve means (26; 32) of the respective other brake circuit (20a, 20b) are actuated.The invention provides a cost-effective and compact designed redundant brake system (10), which is suitable for use in autonomous, that is driverless mobile vehicles.

Description

State of the art

The invention relates to an electronically pressure-controllable brake system, in particular for an autonomously driving motor vehicle, according to the features of the preamble of claim 1 and further method for controlling an electronically pressure-controllable brake system according to the preamble of claim 10, the independent claim 11 or according to the independent claim 12th

Electronically pressure-controllable brake systems of conventional motor vehicles are equipped with a pressure medium unit for adjusting and regulating wheel-specific brake pressures to wheel brakes, which are each assigned to one of several brake circuits of the brake system and connected to the pressure medium unit. For this purpose, the pressure-medium unit has, per brake circuit, an electronically controllable pump unit and, per connected wheel brake, an electronically controllable valve device. The latter comprises an inlet valve and an outlet valve, wherein the two valves can also be combined to form a valve unit. The inlet valve controls a Druckmittelzufluß to the associated wheel brake, while the exhaust valve controls a pressure fluid drain from the associated wheel brakes. An actuation of the pump unit and of the valves adapted to the slip conditions prevailing at the wheels of the vehicle is undertaken by an electronic control unit which detects and evaluates vehicle-side sensor signals for this purpose.

For slip-controlled brake systems in motor vehicles, the terms ABS, ASR or ESP brake systems are used depending on their functional scope. Hydraulic circuit diagrams of such vehicle brake systems are disclosed, for example, in the brochure of the yellow series entitled "Driving Stabilization Systems" by Robert Bosch GmbH, ISBN-3-7782-2026-8 on pages 91 and 92. On page 91, the hydraulic circuit diagram of a vehicle brake system with anti-lock control (ABS) and on page 92 of the hydraulic circuit diagram of a contrast trained vehicle brake system with driving stability control (ESP) is shown.

These known electronic pressure-controlled brake systems are designed for control by a driver. This means that in the event of an error, e.g. in the event of faults in the on-board network of the vehicle, the driver can still manually perform a braking operation. This, so-called mechanical or hydraulic fallback determined significantly the layout of such vehicle brake systems.

There are currently strong development activities in the field of autonomous, ie driverless, moving motor vehicles. In autonomous driving vehicles, however, the attention of the passengers in driving operation is not ensured, so that in emergency situations an intervention of a passenger can not be assumed. Therefore, all safety-related systems of such vehicles, so in particular the steering and braking system, must be redundant. Redundant safety systems allow the vehicle to operate in a safe state even in the event of a fault in one of the systems, so that manual intervention by a passenger is unnecessary. Redundant brake systems, however, have a significantly higher construction cost and a correspondingly higher space requirement compared to conventional brake systems and also cause higher costs.

Advantages of the invention

An electronically pressure-controllable brake system according to the features of claim 1 has the advantage that with her in a particularly compact and cost-effective manner a redundant brake system is created, which is suitable for use in autonomous motor vehicles. The proposed brake system is constructed of conventional electro-hydraulically actuated components and is divided into brake circuits with a well-known and widely tested hydraulic layout.

Further advantages or advantageous developments of the invention will become apparent from the dependent claims and / or from the following description.

By a simple, preferably springless check valve, which is arranged downstream of each associated with a wheel intake valve, prevents the generated brake pressure from a first brake circuit associated first pump via a nachgeodnetes nachgeodnetes a second inlet valve of a second brake circuit in undesirable Can break down way. Brake systems conventional, driver-controlled vehicles come without such a check valve.

The pressure medium unit of the proposed brake system can be built from several sub-aggregates, which in turn can be represented by easily implementable design changes to known pressure medium units. The latter can therefore be manufactured and installed on existing production facilities. In principle, the pressure medium units used even have a pressure medium aggregates known brake systems simpler structure, since they can be dispensed with a hydraulic or mechanical penetration for the driver in case of failure of the brake system. Apart from that comes the proposed brake system without master cylinder or brake pedal. A pump inlet of the pumps used is in each case connected directly to a pressure fluid reservoir. Due to the lack of necessary driver sharing in a braking process valves for controlling a Druckmittelverbindug between the master cylinder and wheel can be omitted without replacement and the functionality of a driving stability control is therefore in a pump housing of the dimensions of a pump housing an anti-skid control represented.

The sub-assemblies used preferably have an identical structure with each other and can also control braking operations in mutual alternation or alternately. This reduces the loads on the aggregates over their lifetime and leads to a cost reduction with a correspondingly adapted design of their components.

list of figures

• 1, der hydraulische Schaltplan einer elektronisch schlupfregelbaren Bremsanlage gemäß einem ersten Ausführungsbeispiel der Erfindung; in
• 2, der hydraulische Schaltplan gemäß einer ersten Weiterbildung der Erfindung;
• in 3 der hydraulischen Schaltplan gemäß einer zweiten Weiterbildung der Erfindung und in
• 4 der hydraulische Schaltplan der Bremsanlage, wenn diese sich in einem Betriebszustand erhöhter Druckaufbaudynamik befindet.

Embodiments of the invention are illustrated in the drawings and will be explained in detail in the following description. Is shown in

• 1 the hydraulic circuit diagram of an electronic slip-controllable brake system according to a first embodiment of the invention; in
• 2 , the hydraulic circuit diagram according to a first embodiment of the invention;
• in 3 the hydraulic circuit diagram according to a second embodiment of the invention and in
• 4 the hydraulic circuit diagram of the brake system when it is in an operating state of increased pressure build-up dynamics.

Description of the invention

The in the 1 illustrated electronically adjustable brake system 10 consists of a pressure medium aggregate 12 , which in total two sub-aggregates 12a . 12b is subdivided. Both partial aggregates 12a . 12b are identical to each other, so that the further explanations on the sub-unit 12a can restrict.

The sub-aggregate 12a includes a so-called pump housing 14 , which is equipped with electronically controllable, pressure medium-controlling components. In this regard, let be two pumps 16 mentioned by a common drive motor 18 are operable. At the pumps 16 it may alternatively be a one-piston or a multi-piston pump, but also a gear pump or the like. Every pump 16 supplies an assigned brake circuit 20a . 20b with pressure medium and stands with its suction side with an externally arranged and with the pump housing 14 contacted reservoir 22 or in parallel with a return 24 the brake circuit 20 in each immediate connection. One pressure side of the pump 16 is via an inlet valve 26 and one each, the inlet valve 26 in the flow direction in series check valve 28 with one of the wheel brakes 30 a brake circuit 20 connected. The check valve 28 is preferably designed without a spring and is in the flow direction of the inlet valve 26 to the wheel brake 30 permeable or blocks the opposite direction from as soon as the pressure level downstream of the check valve 28 has a higher value than upstream of the Rückschalgventils 28 , Pro brake circuit 20 has the brake system 10 a total of two wheel brakes 30 and accordingly two intake valves 26 on. The intake valves 26 control an influx of pressure medium into the wheel brakes 30 and thus a brake pressure build-up.

The wheel brakes 30 a brake circuit 20 are arranged on diagonally opposite wheels of a vehicle; it is therefore according to the illustration to a brake system 10 with diagonal division of the brake circuits 20a . 20b ,

In addition to the intake valves 26 is every wheel brake 30 the brake circuit 20 an outlet valve 32 assigned. The latter control an outflow of pressure medium from the associated wheel brake 30 in the reservoir 22 and thus a brake pressure reduction. These are the exhaust valves 32 in the return 24 arranged, which on the one hand between the check valve 28 downstream of the intake valve 26 and the intake valve 26 associated wheel brake 30 with the brake circuit 20 contacted and the other hand directly to the reservoir 22 or to a connection for the reservoir on the pump housing 14 leads. The exhaust valves 32 are designed as proportional control valves and can be transferred depending on their electronic control in a variety of intermediate positions from a closed basic position into a passage position. In contrast, the intake valves 26 Switching valves, which can be switched by electronic control from its normally open basic position into a blocking position, without assuming stable intermediate positions. This version of the intake valves 26 However, it is only an example; It would be quite conceivable they also perform as proportional valves, for example. If a pressure controllability in the brake circuit 10 would be a higher priority than the cost.

Each sub-aggregate 12a . 12b each has two such equipped or trained brake circuits 20a . 20b on. A pressure-medium coupling of the two sub-aggregates 12a . 12b takes place in that one of the brake circuits 20a . 20b of a partial unit 12a with a brake circuit 20a . 20b the other sub-aggregate 12b is connected in parallel. The respective connection points between the brake circuits 20a . 20b are located immediately upstream of the wheel brakes 30 this brake circuit 20a . 20b So fluidly between the branch of the return 24 and the to the brake circuit 20a . 20b connected wheel brake 30 ,

According to the embodiment according to 1 is every sub-aggregate 12a . 12b a separate storage container 22 assigned. It would also be conceivable, however, that both partial aggregates 12a . 12b from a common reservoir 22 provide with pressure medium or pressure medium in a common reservoir 22 promote back.

The described vehicle brake system works as follows:

When a braking operation is initiated, finds an electronic control of the drive motor 18 by a the Teilaggregat 12a . 12b associated electronic control unit 34 instead, causing this the the brake circuits 30 associated pumps 16 actuated. These suck pressure medium directly from the reservoir 22 and convey the pressure medium through the inlet valves 26 and the downstream check valves 28 in the wheel brakes 30 the relevant brake circuits 20a . 20b , The exhaust valves 32 stay closed, so that in the wheel brakes 30 a brake pressure build-up takes place until a desired, from the electronic control unit 34 predetermined brake pressure level is reached. Once this brake pressure level is reached, the intake valves 26 switched to the blocking position and possibly the control of the drive motor 18 withdrawn.

Due to the existing coupling of the brake circuits 20a . 20b of a partial unit 12a with the brake circuits 20a . 20b the other sub-aggregate 12b flows from the pumps 16 of a partial unit 12a promoted pressure medium also to each other sub-aggregate 12b above. They prevent the intake valves 26 fluidically downstream check valves 28 together with the normally closed exhaust valves 32 of the other sub-aggregate 12b in that pressure fluid passes through the intake or exhaust valves 26 . 32 to the reservoir 22 escape and thus endanger the brake pressure build-up.

A lowering of the wheel brakes 30 set brake pressure is effected by electronic control of the exhaust valves 32 , Depending on the electronic control give the exhaust valves 32 a variably adjustable opening cross-section freely, by the pressure medium from the wheel brakes 30 to the reservoir 22 flow out and in the wheel brakes 30 Consequently, a desired brake pressure adjustment can be made. This brake pressure adaptation can be carried out both as a function of changing slip conditions on the wheels of the vehicle or changing traffic conditions and is performed by one of the sub-aggregates 12a . 12b associated electronic control unit 34 determined or carried out. Of course, for a Redudanz the brake system 10 every control unit 34 be coupled with its own power supply.

The control of a brake system 10 with a pressure medium aggregate of two sub-aggregates 12a . 12b can be made such that successive braking operations in the change of a sub-unit 12a and then from the other sub-unit 12b to be controlled. A deratige alternating operation of the sub-aggregates 12a . 12b reduces their load and can accordingly in the structural design of the respective components of these sub-aggregates 12a . 12b be taken into account cost-reducing.

Of course, it would also be conceivable, the brake system 10 to control such that one of the sub-aggregates 12a controls all braking while the other sub-unit 12b only in case of failure of the first sub-unit 12a is activated.

During operation of the described brake system 10 can enter another operating state, in which in one of the brake circuits 20a the inlet valves 26 be closed, because the required brake pressure in the associated wheel brakes 30 already reached while in each other brake circuit 20b a further construction of the brake pressure is necessary and the inlet valves 26 this brake circuit 20b therefore still open. Under these circumstances, there is a problem that due to the commonly operated pumps 16 in a brake circuit 20a in which the required brake pressure has already been reached, circular areas and the components arranged therein would be exposed to an undesirably high pressure load.

This condition is encountered in the exhaust valves 32 of the already regulated brake circuit 20a be controlled such that from these exhaust valves 32 Pressure medium throttled to the reservoir 22 flows out, wherein the scope of the outflowing pressure medium quantity is controlled so that the desired brake pressure is maintained, without being in the with the pressure side of the pump 16 connected circular area sets an increased pressure load.

An alternative solution to this is according to the embodiment 2 illustrated. This brake system 10 ' is in addition to the already explained components with a pump intake valve 36 equipped, which on the suction side of the pump 16 is arranged and thus the pressure medium connection of the pump 16 with the reservoir 22 controls. The pump intake valve 36 is designed as a normally open 2/2-way switching valve and would lock under the conditions explained by electronic control said fluid connection to prevent an undesirable increase in pressure.

Apart from the explained Pumpenansaugventil 36 the wiring diagram agrees with that of the 1 match.

The embodiment according to 3 shows a second alternative to solve the problem explained in a brake system 10 " , This solution consists of a pressure-controlled pressure relief valve 38 that the respective pumps 16 the brake circuits 20a . 20b is connected in parallel. This pressure relief valve 38 switches depending on the pressure on the pressure side of the pump 16 and against a restoring force in a passage position in which a pressure medium conductive connection between the pressure side and the suction side of the pump 16 exists, so a hydraulic short circuit is made. The pump 16 promotes due to this short circuit pressure fluid only in a circle, thus preventing an undesirable pressure increase in the circular area between the outlet of the pump 16 and inlet valve 26 , Apart from the additional pressure relief valves 38 are the brake circuits 20a . 20b identical to those of 1 built in the 2 and 3 only one of the two brake circuits 20a . 20b a brake system 10 is shown. Incidentally, corresponding components in the 1 to 3 provided with the same reference numerals.

The brake systems 10 after the 1 to 3 are also suitable for a mode of operation in which it matters in the short term, a large volume of pressure medium to at least one of the wheel brakes 30 to displace to decelerate or stop the vehicle on a short braking distance via a fast brake pressure build-up. The expert speaks in such a case of a braking situation particularly high pressure build-up dynamics.

If such a need has been found, for example, from a vehicle-side sensors, the two sub-aggregates 12a and 12b from each associated electronic control units 34 jointly controlled and operated simultaneously. Both parts aggate 12a . 12b Consequently, jointly or in parallel pressure medium under braking pressure to the four wheel brakes 30 the brake system 10 , At the same time, the pressure build-up or inlet valves 26 the sub-aggregates 12a . 12b triggered such that pressure-medium-conducting connections only between each one of the wheel brakes 30 and in each case exactly one pump 16 the brake system 10 getting produced.

In contrast to a (normal) operating state during which the pump 16 a brake circuit 20a ; 20b several or all of this brake circuit 20a ; 20b connected wheel brakes 30 supplied with pressure medium under brake pressure, is thus in a braking situation with high pressure build-up dynamics of each wheel 30 only one of the four existing pumps 16 assigned or each wheel brake 30 is from exactly one pump 16 supplied with pressure medium under brake pressure.

pump 16 and associated wheel brake 30 are thus directly connected to each other, so that the enclosed pressure medium column between the components is very short and has a high rigidity. The brake pressure buildup in the wheel brakes can be correspondingly fast and effective 30 occur.

The described interconnection of the pressure build-up or inlet valves 26 is in the 4 illustrated.

According to this 4 is the brake circuit 20a of the first sub-aggregate 12a with a pump 16.1 populates and branches downstream of this pump 16.1 in a first brake branch 40.1 and in a second brake branch 40.2 , Each of the two brake branches 40.1 ; 40.2 contacts exactly one of a total of two wheel brakes 30.1 ; 30.2 the brake circuit 20a and is per wheel brake 30.1 . 30.2 each with a pressure build-up or inlet valve 26.1 ; 26.2 provided, which the pressure medium connection of this pump 16.1 with a respectively assigned wheel brake 30.1 ; 30.2 controls.

The pressure build-up or inlet valve 26.1 of the first brake branch 40.1 is in a basic position, in which the pressure medium connection between the pump 16.1 and wheel brake 30.1 is open. In contrast, the inlet valve 26.2 in the second brake branch 40.2 of the first brake circuit 20.1 from the electronic control unit 34.1 actuated, assumes its blocking position and thus interrupts the pressure medium connection between the pump 16.1 and the second wheel brake 30.2 , Accordingly, the pump 16.1 of the first brake circuit 20a now only with one of the two wheel brakes 30.1 ; 30.2 connected by pressure medium.

The second wheel brake 30.2 is via a second brake circuit 20c supplied with pressure medium. This second brake circuit 20c is in the sibling second sub-aggregate 12b formed and includes, in addition to another second pump 16.3 , also two downstream of this pump 16.3 branching brake branches 40.3 ; 40.4 as well as in these brake branches 40.3 . 40.4 arranged pressure build-up or inlet valves 26.3 ; 26.4 , Of these intake valves in turn takes the intake valve 26.4 the on position while the other inlet valve 26.3 by electronic control of the electronic control unit 34b is switched to the blocking position. The brake branch 40.4 of the second sub-aggregate 12b with the inlet valve 26.4 in Durchlassstellung is with the second wheel brake 30.2 connected while the brake branch 40.3 with the closed inlet valve 26.3 with the first wheel brake 30.1 is contacted. The second pump 16.3 supplies therefore only the second wheel brake 30.2 with pressure medium under brake pressure.

Since each of the two Teilaggreagte 12a . 12b two brake circuits each 20a and 20b or 20c and 20d according to the illustrated embodiment, in the manner described a total of four wheel brakes 30.1 to 30.4 the brake system 10 individually via each exactly one associated pump 16.1 to 16.4 acted upon with pressure medium under brake pressure. To drive the two pumps 16.1 . 16.2 respectively. 16.3 . 16.4 of each sub-aggregate 12a ; 12b is sufficient in each case a common drive motor 18a ; 18b out. The not explicitly explained brake circuits 20.b and 20.d the sub-aggregates 12a ; 12b are identical to the described brake circuits 20a and 20c built and provide an equivalent way, a third wheel brake 30.3 or a fourth wheel brake 30.4 the brake system 10 with pressure medium under brake pressure.

Of course, it would be possible the explained control of Druckaufbau- or intake valves 26.1 . 26.2 respectively. 26.3 . 26.4 to reverse and thus the individual wheel brakes 30.1 . 30.2 to the other brake branch 40.1 . 40.2 respectively. 40.3 . 40.4 a brake circuit 20a . 20c connect to pressure medium. For the driving stability of the vehicle, it may also be advantageous, the diagonally opposite wheel brakes 30.1 to 30.4 different axles different sub-aggregates 12a ; 12b assigned.

In addition, further changes or additions to the described embodiments are conceivable without deviating from the basic idea of the invention.

Claims (14)

Electronically pressure-controllable brake system, in particular for an autonomously driving motor vehicle, with a pressure medium unit (12) for adjusting and regulating wheel-specific brake pressures on wheel brakes (30), which are each assigned to one of a plurality of brake circuits (20) of the brake system (10) and fed to the pressure medium aggregate (12 ), wherein the pressure medium unit (12) per brake circuit (20) is equipped with an electronically controllable actuatable pump unit (16) and per connected wheel brake (30) with an electronically controllable valve means (26, 32), which a Druckmittelzufluß to the wheel brake ( 30) controls, characterized in that each wheel brake (30) of the brake system (10) is contacted with at least one second brake circuit (20), which with an electronically controlled operable second pump unit (16) and per connected wheel brake (30) with a electronically operable second valve means (26, 32) et, wherein the pump unit (16) and the valve means (26, 32) of the one brake circuit (20) each independently of the pump unit (16) and the valve means (26, 32) of the respective other brake circuit (20) is actuated. Electronically adjustable brake system according to Claim 1 , characterized in that the wheel brake (30) associated with valve means (26, 32) each in a, a Druckmittelzufluss the wheel brake (30) controlling inlet valve (26) and in a, a pressure medium flow from the wheel brake (30) controlling the exhaust valve (32 ), wherein the outlet valves (32) can be converted into an open position as a function of an electronic control from a blocking position into an unlimited number of intermediate positions. Electronically adjustable brake system according to Claim 2 characterized in that downstream of the inlet valves (26) there is provided in each case a check valve (28), in particular a springless check valve (28), which is permeable in a flow direction from the valve device (26; 32) to the wheel brake (30) and in an opposite direction of flow locks. Electronically adjustable brake system according to Claim 3 , characterized in that the one wheel brake (30) associated with at least two Brake circuits (20) are pressure medium-conducting contacted with each other, wherein the contacting of the brake circuits (20) respectively downstream of the check valves (28). Electronically adjustable brake system according to one of the Claims 2 to 4 , characterized in that the outlet valves (32) are each arranged in a return (24), which is connected directly to a suction port of a pump unit (16) and parallel to a to the pressure medium unit (12) connected reservoir (22). Electronically adjustable brake system according to one of the Claims 1 to 5 , characterized in that a first pump unit (16) of a first brake circuit (20) with a first pump unit (16) of a second brake circuit (20) in a common first pump housing (14) with a first drive motor (18) for actuating the pump units (16 are arranged and that a second pump (16) of the first brake circuit (20) with a second pump unit (16) of the second brake circuit (20) in a common, structurally separate from the first pump housing (14) second pump housing (14) with a second Drive motor (18) for actuating the pump units (16) are arranged. Electronically adjustable brake system according to Claim 6 characterized in that on each of the pump housing (14) only terminals for each externally arranged wheel brakes (30) and a reservoir (22) are formed. Electronically adjustable brake system according to one of the Claims 1 to 7 , characterized in that on a suction side of at least one pump unit (16) of a brake circuit (20) an electronically controllable Pumpenansaugventil (36) for controlling a pressure medium supply of this pump unit (16) is provided. Electronically adjustable brake system according to one of the Claims 1 to 7 , characterized in that at least one pump unit (16) of a brake circuit (20) a pressure limiting valve (38) is connected in parallel, which in dependence of a pressure on the pressure side of the same pump unit (16) a pressure medium connection from the pressure side to a suction side of said pump unit (16 ) controls. Method for controlling an electronically pressure-controllable brake system, wherein each connected wheel brake (30) with at least two separate brake circuits (20) is contacted, which for controlling the brake pressure in the wheel brake (30) each with a pump unit (16) and with a valve device (26; 32), wherein the pump units (16) and the valve means (26; 32) are each independently and separately operable, characterized in that the braking pressure in successive braking operations alternately by an operation of the pump unit (16) and the Valve means (26; 32) of the one brake circuit (20) or by actuation of the pump unit (16) and the valve means (26; 32) of the respective other brake circuit (20) is controlled. Method for controlling an electronically pressure-controllable brake system, wherein each connected wheel brake (30) with at least two separate brake circuits (20) is contacted, which for controlling the brake pressure in the wheel brake (30) each with a pump unit (16) and with a valve device (26; 32), wherein the pump units (16) and the valve means (26; 32) are each independently and separately operable, characterized in that the brake pressure in successive braking operations by an operation of the pump unit (16) and the valve means (26; 32) of the one brake circuit (20) is controlled and that an actuation of the pump unit (16) and the valve means (26; 32) of the other brake circuit (20) then takes place when a malfunction of the one brake circuit (20) detected has been. Method for controlling an electronically pressure-controllable brake system, wherein each connected wheel brake (30) with at least two separate brake circuits (20) is contacted, which for controlling the brake pressure in the wheel brake (30) each with a pump unit (16) and with a valve device (26; 32), wherein the pump units (16) and the valve means (26; 32) are each independently and separately operable, characterized in that the pump units (16) of the brake circuits (20) are actuated simultaneously and that the Valve means (26, 32) of the brake circuits (20) are actuated such that pressure-medium-conducting connections between each one of the wheel brakes (30) and in each case exactly one pump of the pump unit (16) are produced. Method according to claim 12, characterized in that the method is carried out when a braking situation with high pressure build-up dynamics, in particular an emergency braking situation, is present. Method according to Claim 13 , characterized in that the valve means (26, 32) of a Brake circuit (20) has a first and a second inlet valve (26), each associated with a wheel brake (30) of this brake circuit (20) and that the actuation of these intake valves (26) in the braking situation with high pressure build-up dynamics such that one of Inlet valves (26) of the brake circuit (20) assumes a passage position and the respective other inlet valve (26) of the same brake circuit (20) assumes a blocking position.

Images