CN115195685A - 用于自主车辆的制动系统 - Google Patents

用于自主车辆的制动系统 Download PDF

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CN115195685A
CN115195685A CN202210328680.4A CN202210328680A CN115195685A CN 115195685 A CN115195685 A CN 115195685A CN 202210328680 A CN202210328680 A CN 202210328680A CN 115195685 A CN115195685 A CN 115195685A
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brake
main
wheel
actuator
controller
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T·布罗克
S·马科里格
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Audi AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
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    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
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    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
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    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60T7/00—Brake-action initiating means
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
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    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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Abstract

本发明涉及一种在至少部分自主的车辆中的制动系统，该制动系统针对每个车轮(VR、VL、HR、HL)具有车轮制动器(1)，为车轮制动器配备有主制动调节系统(BRS1)和冗余的副制动调节系统(BRS2)，主制动调节系统具有主控制器并且针对每个车轮具有机电式主执行器以用于操纵车轮制动器，基于在先导系统中生成的理论减速预定值和/或借助制动踏板在驾驶员侧生成的理论减速预定值，主控制器产生主调节信号以用于操控相应的机电式主执行器。根据本发明，副制动调节系统具有独立于主控制器的副控制器以及针对每个车轮具有独立于主执行器的机电式副执行器。副控制器基于在先导系统中生成的理论减速预定值产生副调节信号以用于操控相应的机电式副执行器。

Description

用于自主车辆的制动系统
技术领域
本发明涉及一种根据权利要求1的前序部分所述的在至少部分自主的车辆中的制动系统。
背景技术
在至少部分自主的车辆的情况下，制动系统必须被设计用于自主的制动压力建立以及自主的驾驶员辅助调节(例如ABS功能或ESP功能)。根据系统特性，制动系统在故障情况下必须执行制动任务和转向任务，并且自动地使车辆安全地停止并且保持静止。为此，制动系统装配有主制动调节系统和冗余的副制动调节系统。
在这种类型的制动系统中，主制动调节系统具有主控制器并且针对每个车轮具有机电式主执行器以用于操纵车轮制动器。基于在先导系统(例如驾驶员辅助系统)中生成的理论减速预定值和/或借助制动踏板在车辆侧生成的理论减速预定值，主控制器产生主调节信号，以便操控相应的机电式主执行器。
在现有技术中，副制动调节系统与主制动调节系统相比配备有降低的功能性。因此，在制动系统故障情况下，仅在例如横向动态要求不高的行驶条件下才能够使用高度自动化的行驶功能。因此，在高速公路路段上的使用是可能的。然而在此，由于高速公路的必须尽可能大的转弯半径或者由于良好的路面状况而受到限制。同样，功能在最大速度方面受到限制。在正常运行期间，3级或4级自动驾驶的最大速度为130km/h。而在使用副制动调节系统时，最大速度当前被限制到80km/h。此外，在当前的车辆中，驻车锁功能以构件技术简单的方式集成在车辆的变速器结构中。
由DE 10 2017 211 955 A1已知一种具有附加模块的制动系统。由DE 10 2011120 614 A1已知一种具有液力减速器的动力传动系。由DE 195 43 583 C1已知一种用于道路车辆的制动压力控制装置。
发明内容
本发明的目的是，提供一种在至少部分自主的车辆中的制动系统，其副制动调节系统与现有技术相比具有提高的功能性。
所述目的通过权利要求1的特征来实现。本发明的优选的改进方案在从属权利要求中公开。
本发明涉及一种在至少部分自主的具有前桥和后桥的双辙车辆中的制动系统。该制动系统针对每个车轮具有车轮制动器，为该车轮制动器配备有主制动调节系统和冗余的副制动调节系统。主制动调节系统包括主控制器并且针对每个车轮包括机电式主执行器以用于操纵车轮制动器。在正常的行驶运行中，基于由先导系统生成的或借助制动踏板在驾驶员侧生成的理论减速预定值，主控制器产生主调节信号，利用该主调节信号来操控相应的机电式主执行器。
为了提高功能性，副制动调节系统根据权利要求1的特征部分具有独立于主控制器的副控制器以及针对每个车轮具有独立于主执行器的机电式副执行器。副控制器基于在先导系统中生成的和/或借助制动踏板在驾驶员侧生成的理论减速预定值产生副调节信号，利用该副调节信号来操控相应的机电式副执行器。
因此，根据本发明的制动系统在完全没有制动液的情况下利用干燥的系统拓扑结构进行应对。制动力的转换通过以无液压的方式工作的机电式执行器在车轮制动器上实施。驾驶员侧的制动愿望的输入信号可以借助脚踏板模拟单元来查明。集成在脚踏板模拟单元中的冗余传感器将制动踏板的机械运动转换成电信号。该信号通过简单的布线被发送至主控制器和副控制器。这两个控制器可以通过冗余的车载电网和布线的双重设计方案来供给电能。同样，每个控制器可以通过冗余的转速传感器以及通过双信号线路获得每个车轮的车轮转速。此外，两个控制器可以通过分别双重设计的总线线路连接到冗余的总线系统上。此外，可以设有用于在两个控制器之间进行信息传输的冗余的总线线路(以下通常是连接信号线路)。
在车轮上的机电式主执行器和副执行器的操控借助控制器实施。在此，控制器分别承担总共四个执行器的操控。
执行器中的每个集成在不同的制动钳上。执行器是简单的调节器，其通过工作电流来操控，该工作电流通过控制器来切换。在执行器中没有集成用于处理信息或工作电流的部件。
根据本发明通过干式制动系统的结构实现了与现有技术相比更高效的备用级。主制动调节系统和副制动调节系统的系统部件的联网即使在故障情况下也能够实现车辆的横向稳定。改善的动态特性总体上能够实现在故障情况下更快的减速。同样可以取消安装在车辆的换挡变速器中的驻车锁。
根据本发明，干式系统方案使用部件的双重集成以用于保护副制动调节系统。系统部件的功能设计成双重的。在一个部件失效时，设有承担功能的第二部件。同样，所有系统部件都可以在正常运行期间使用。在一种实施变型方案中，所述部件中的任何一个都可以是冗余的并且仅在故障情况下起作用。
如果驾驶员踩到脚踏板模拟器上，则产生电信号并且将其传递至两个控制器，两个控制器处理所述信号。与此相应地，驾驶员完全机械地与制动系统脱离。这两个控制器操控车轮制动器上的产生制动力的机电式执行器。由于联网，可以借助控制器在所有四个车轮上产生车轮各自的制动力。可以排除由于制动力的不均匀建立而引起的倾斜，该制动力的不均匀建立是由于控制器的不同的计算时间而形成的。在此，四个车轮制动器总是由一个控制器操控，由此用于建立制动力的等待时间是相同的。制动力调节通过电机的前进和后退来保证。
根据本发明的干式制动系统基于每个系统部件的双重实施方案。在一个部件失效时存在第二部件，该第二部件可以与失效无关地继续执行相同的功能。系统部件的最严重的失效是控制器的失效。在这种失效的情况下，机电式执行器的50％的功能被调节，因为这些执行器不再由失效的控制器继续操控。然而这意味着，车辆的减速度不一定减小50％。车辆的最大减速度的限制因素是轮胎与路面之间的摩擦系数。主制动系统这样设计，使得在制动时始终实现车轮的锁死。制动钳的夹紧力如此大，使得理论上能够实现比实际能够传递到路面上更高的制动力。
各个机电式执行器的夹紧力必须被设计成使得机电式执行器能够独立地锁死车轮。
此外，根据本发明的副制动调节系统可以调节车轮各自的制动力。车辆的纵向稳定和横向稳定的功能也在主制动调节系统中出现故障时得到保障。与主制动调节系统相比，副制动调节系统整体上没有限制并且能够实现主制动调节系统同样能够实现的所有功能。
保持功能借助工作电流来实现，所述工作电流被施加到针对每个车轮的至少一个机电式执行器上。由此建立并保持制动力。此外，系统拓扑结构能实现在故障情况下对保持功能的保护，因为针对每个车轮分别可以操控第二机电式执行器。
关于驻车功能实现不同的变型方案。通过在机电式执行器中使用锁止功能，基本上确保执行器的锁死，并且可以保持用于驻车的力。为了实现在主制动调节系统中出现故障时能将驻车力传递到至少两个车轮上的要求，八个机电式执行器中的至少四个必须具有锁止功能。在这种情况下，控制器必须能够分别操控至少两个用于锁止功能的执行器。在此，将该锁止功能集成在哪些车轮上的设计是不重要的。然而锁止功能的集成的最佳结构是，在车辆的每个车轮制动器上集成锁止功能。在此，对置的车轮制动器的锁止功能分别由控制器操控。由此，在具有被驱动的车桥的车辆中的现有技术被超越，并且车辆在正常运行中可以利用四个车轮而不是两个车轮驻车。在具有全轮驱动和驻车锁的车辆中的现有技术没有实现，因为驻车锁在这些车辆中同样作用在四个车轮上。附加地，在该现有技术中，力流借助形锁合和力锁合实现。
在严重的故障的情况下，即在控制器失效的情况下，还提供了能够通过两个车轮传递驻车力的可能性。驻车力在此分别作用到前桥和后桥的车轮上。附加地，驻车力始终作用到右车轮和左车轮上。由此可以减小路面条件的影响。
下面再次详细地示出本发明的重要方面：因此优选地，主控制器和副控制器可以结构相同地以及功能相同地设计。以相同的方式，主执行器以及副执行器也可以结构相同地以及功能相同地设计。
优选地，制动踏板可以是具有至少一个踏板传感器的脚踏板模拟单元的组成部分。脚踏板模拟单元可以将机械的踏板运动转换成电的脚踏板信号，该电的脚踏板信号是在驾驶员侧生成的理论减速预定值。
为了进一步提高系统安全性，优选地，提供有主车载电网和冗余的副车载电网。主车载电网和副车载电网可以彼此独立地分别为主控制器和副控制器供电。
在一种技术方案中，可以为每个车轮配备主转速传感器和副转速传感器。主转速传感器与主控制器信号连接。以相同的方式，副转速传感器与副控制器信号连接。
优选地，先导系统通过主信号线路与主控制器信号连接。与此无关地，先导系统可以通过另一副信号线路与副控制器信号连接。
在第一实施变型方案中，在正常的行驶运行中可以仅使用主制动调节系统，而副制动调节系统被去激活。优选地，主控制器可以通过连接信号线路与副控制器连接。通过连接信号线路可以在两个控制器之间交换状态信息。如果在主控制器中诊断出主制动调节系统中的故障情况，则生成故障信号，利用该故障信号可以通过连接信号线路激活副控制器。在这种情况下，副制动调节系统代替主制动调节系统承担理论减速预定值的转换。
在一种替代的运行方式中，已经可以在正常的行驶运行中使用主制动调节系统和副制动调节系统。因此，在这种情况下，两个制动调节系统已经在正常的行驶运行中以并行运行的方式工作。
在本发明的一种改进方案中，机电式主执行器中的至少一个以及机电式副执行器中的至少一个可以分别具有锁止功能，借助所述锁止功能，执行器在驻车情况下通过制动操纵来锁死所配属的车轮。优选地，所有执行器都配备有这种锁止功能。
附图说明
下面根据图1描述本发明的一个实施例。
附图标记列表：
1 车轮制动器
2 制动钳
3、5 主执行器和副执行器
7 制动盘
9 主控制器
11 主转速传感器
13 副控制器
15 副转速传感器
17 先导系统
19 制动踏板
21 压力传感器
23 行程传感器
25 主信号线路
27 副信号线路
29 连接信号线路
31 主车载电网
33 副车载电网
SF 故障信号
VP、VB 理论减速预定值
y1、y2 调节信号
BRS1 主制动调节系统
BRS2 副制动调节系统
具体实施方式
在图1中示出具有前桥和后桥的双辙自主车辆的制动系统的示意性框图。据此，为两个前轮VL、VR中的每个和两个后轮HR、HL中的每个分别配备有车轮制动器1。车轮制动器1具有制动钳2，该制动钳能通过机电式主执行器3和机电式副执行器5被施加压力，由此制动钳2利用其未示出的制动衬片与车轮制动器1的制动盘7压靠。机电式主执行器3是主制动调节系统BRS1的组成部分，而机电式副执行器5是副制动调节系统BRS2的组成部分。所有执行器3、5都以无液压的方式工作。
主制动调节系统BRS1在图1中由主控制器9和总共四个机电式主执行器3构成，其分别配属于车轮制动器1。此外，主控制器9针对每个车轮VL、VR、HR、HL与主转速传感器11信号连接。
冗余的副制动调节系统BRS2具有与主制动调节系统BRS1结构相同的部件。据此，副制动调节系统BRS2由副控制器13和针对每个车轮由机电式副执行器5构成。此外，副控制器13与为每个车轮提供的副转速传感器15信号连接。
在正常的行驶运行中，基于在先导系统17(例如具有ABS功能和EPS功能的驾驶员辅助系统)中生成的理论减速预定值VP和/或借助制动踏板19在驾驶员侧生成的理论减速预定值VB在主控制器9中产生主调节信号y1。利用主调节信号y1操控相应的机电式主执行器3，以便执行不同的制动任务或转向任务。
主控制器9和副控制器13分别由主车载电网31和冗余的副车载电网33彼此独立地供电。
在图1中，制动踏板19是具有压力传感器21和行程传感器23的脚踏板模拟单元。脚踏板模拟单元将由两个传感器21、23检测到的踏板运动转换成电的脚踏板信号，该电的脚踏板信号对应于在驾驶员侧生成的理论减速预定值VB。
在图1中，先导系统17此外通过主信号线路25与主控制器9信号连接，而先导系统17通过独立于主信号线路的副信号线路27与副控制器13信号连接。此外，两个控制器9、13借助连接信号线路29彼此连接。通过连接信号线路29可以在两个控制器9、13之间交换状态信息。
在正常的行驶运行中，在示出的实施例变型中仅使用主制动调节系统BRS1，而冗余的副制动调节系统BRS2被去激活。如果在主控制器9中的诊断模块探测到在主制动调节系统BRS1中的故障情况，则生成故障信号SF，该故障信号由主控制器9通过连接信号线路29读取至副控制器13中。接着，副制动调节系统BRS2承担理论减速预定值VP、VB的转换。
替代于此，在正常的行驶运行中不仅可以使用主制动调节系统BRS1，而且还可以使用副制动调节系统BRS2，从而两个制动调节系统以并行运行的方式工作。
此外，机电式主执行器9和副执行器13分别具有锁止功能，借助所述锁止功能，相应的执行器3、5在驻车情况下通过制动操纵来锁死所配属的车轮。

Claims (9)

1.一种在至少部分自主的车辆中的制动系统，所述制动系统针对每个车轮(VR、VL、HR、HL)具有车轮制动器(1)，为车轮制动器配备有主制动调节系统(BRS1)和冗余的副制动调节系统(BRS2)，其中，主制动调节系统(BRS1)具有主控制器(9)并且针对每个车轮(VR、VL、HR、HL)具有机电式主执行器(3)以用于操纵车轮制动器(1)，其中，基于在先导系统(17)中生成的理论减速预定值(VP)和/或借助制动踏板(19)在驾驶员侧生成的理论减速预定值(VB)，主控制器(9)产生主调节信号(y1)以用于操控相应的机电式主执行器(3)，
其特征在于，
副制动调节系统(BRS2)具有独立于主控制器(9)的副控制器(13)以及针对每个车轮(VR、VL、HR、HL)具有独立于主执行器(3)的机电式副执行器(5)，副控制器(13)基于在先导系统(17)中生成的理论减速预定值(VP、VB)产生副调节信号(y2)以用于操控相应的机电式副执行器(5)。
2.根据权利要求1所述的制动系统，其特征在于，制动踏板(19)是具有至少一个踏板传感器(21、23)的脚踏板模拟单元的组成部分，脚踏板模拟单元将机械的踏板运动转换成电的脚踏板信号，该电的脚踏板信号是在驾驶员侧生成的理论减速预定值(VB)。
3.根据权利要求1或2所述的制动系统，其特征在于，提供有主车载电网(31)和冗余的副车载电网(33)，所述主车载电网和所述冗余的副车载电网彼此独立地分别为主控制器(9)和副控制器(13)供电。
4.根据前述权利要求中任一项所述的制动系统，其特征在于，为每个车轮(HR、HL、VR、VL)配备有主转速传感器(11)和副转速传感器(15)，所述主转速传感器和所述副转速传感器分别与主控制器(9)和副控制器(13)信号连接。
5.根据前述权利要求中任一项所述的制动系统，其特征在于，先导系统(17)通过主信号线路(25)与主控制器(9)信号连接，而先导系统(17)通过独立于主信号线路的副信号线路(27)与副控制器(13)信号连接。
6.根据前述权利要求中任一项所述的制动系统，其特征在于，在主控制器(9)与副控制器(13)之间铺设有连接信号线路(29)，通过该连接信号线路能在控制器(9、13)之间交换状态信息，特别是在主制动调节系统(BRS1)中的故障情况下，主控制器(9)生成故障信号(SF)，利用所述故障信号能通过连接信号线路(29)激活副控制器(13)，从而代替主制动调节系统(BRS1)，所述副制动调节系统(BRS2)承担理论减速预定值(VB、VP)的转换。
7.根据权利要求1至5中任一项所述的制动系统，其特征在于，在正常的行驶运行中不仅使用主制动调节系统(BRS1)，而且使用副制动调节系统(BRS2)，从而两个制动调节系统(BRS1、BRS2)以并行运行的方式工作。
8.根据前述权利要求中任一项所述的制动系统，其特征在于，机电式执行器(3、5)中的至少一个执行器具有锁止功能，借助所述锁止功能，执行器(3、5)在驻车情况下通过制动操纵来锁死所配属的车轮(VL、VR、HR、HL)。
9.根据前述权利要求中任一项所述的制动系统，其特征在于，主控制器(9)和副控制器(13)是结构相同的，和/或主执行器(3)和副执行器(5)是结构相同的。
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