DE102004052304B4 - Method for controlling the traction slip in the approach area - Google Patents
Method for controlling the traction slip in the approach area Download PDFInfo
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- DE102004052304B4 DE102004052304B4 DE102004052304.5A DE102004052304A DE102004052304B4 DE 102004052304 B4 DE102004052304 B4 DE 102004052304B4 DE 102004052304 A DE102004052304 A DE 102004052304A DE 102004052304 B4 DE102004052304 B4 DE 102004052304B4
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 230000001276 controlling effect Effects 0.000 claims abstract description 4
- 230000001105 regulatory effect Effects 0.000 claims abstract description 3
- 230000001939 inductive effect Effects 0.000 claims abstract 2
- 238000004590 computer program Methods 0.000 claims description 3
- 238000009987 spinning Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Classifications
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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
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
-
- 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
- B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
- B60T8/48—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 having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/20—ASR control systems
- B60T2270/208—ASR control systems adapted to friction condition
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/20—ASR control systems
- B60T2270/213—Driving off under Mu-split conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
- B60W2520/263—Slip values between front and rear axle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Verfahren zur Regelung des Antriebsschlupfes im Anfahrbereich bei einem Fahrzeug mit im wesentlichen starrer Antriebskopplung durch Regeln und Reduzieren der Durchdrehneigung eines Antriebsrades auf der Fahrbahnseite, bei der der Reibwert niedriger ist, und Hervorrufen einer Mindestmotordrehzahl, gekennzeichnet durch die Schritte: – Festlegen der Fahrbahnseite, welche gegenüber beiden vorhandenen Fahrbahnseiten den höheren Fahrbahnreibwert aufweist, nur einmal, also bis zum Abschluss der Antriebsschlupfregelung, – Einstellen von reibwertabhängigen Regelschwellen, wobei das angetriebene Fahrzeugrad, welches sich auf der Fahrbahnseite mit dem höheren Fahrbahnreibwert befindet, auf den erzielbaren optimalen Antriebsschlupf ausgeregelt wird, wohingegen das angetriebene Fahrzeugrad, welches sich auf der Fahrbahnseite mit dem niedrigeren Fahrbahnreibwert befindet, so ausgeregelt wird, dass die Drehzahl des Fahrzeugmotors genauso groß oder größer wie eine vorgegebene Mindestmotordrehzahl ist.A method for controlling the traction slip in the starting region in a vehicle with substantially rigid drive coupling by regulating and reducing the tendency to spin of a drive wheel on the road side, where the coefficient of friction is lower, and inducing a minimum engine speed, characterized by the steps: - Determining the road side, which compared to both existing lane sides has the higher Fahrbahnreibwert, only once, ie until the conclusion of the traction control, - Setting of reibwertabhängigen control thresholds, wherein the driven vehicle wheel, which is located on the road side with the higher Fahrbahnreibwert is compensated for the achievable optimal drive slip, whereas the driven vehicle wheel, which is located on the road side with the lower Fahrreibreibwert is adjusted so that the speed of the vehicle engine is the same size or larger than a predetermined Mindestmotordr number is.
Description
Die Erfindung betrifft ein Verfahren zur Regelung des Antriebsschlupfes, insbesondere auf homogenem Untergrund, gemäß Oberbegriff von Anspruch 1 sowie ein Computerprogrammprodukt gemäß Anspruch 7.The invention relates to a method for controlling the traction slip, in particular on a homogeneous substrate, according to the preamble of
In modernen Kraftfahrzeugen werden vermehrt elektronische Systeme zur Verbesserung des Fahrkomforts und der Sicherheit eingesetzt. Ein bekanntes System ist hierbei die Antriebsschlupfregelung welche beispielsweise unter der Bezeichnung ASR (ASR: Antriebsschlupfregelung) oder TCS (TCS: Traction Control System) am Kraftfahrzeugmarkt verfügbar ist. Ferner ist auch eine radindividuelle Antriebsschlupfregelung unter der Bezeichnung BTCS (BTCS: Brake Traction Control System) bekannt, welche gezielt den Schlupf eines einzelnen Rades unter Einsatz der an diesem Rad befindlichen Bremse regelt.In modern motor vehicles, electronic systems are increasingly being used to improve ride comfort and safety. A well-known system here is the traction control, which is available on the motor vehicle market, for example, under the name ASR (ASR: traction control) or TCS (TCS: Traction Control System). Furthermore, a wheel-individual traction control under the name BTCS (BTCS: Brake Traction Control System) is known, which specifically controls the slip of a single wheel using the brake located on this wheel.
Aus der
Die gattungsbildene
Das Anfahren eines Fahrzeugs kann durch verschiedene Einflussgrößen wie beispielsweise niedrige Reibwerte (z. B. Anfahren auf Schnee und Eis), seitenweise unterschiedliche Reibwerte (z. B. linke Fahrzeugräder laufen auf Eis, rechte Fahrzeugräder laufen auf Asphalt) oder der Fahrbahnsteigung (Anfahren am Berg) erschwert werden. Im Anfahrbereich (Fahrzeuggeschwindigkeit etwa kleiner als 10 km/h) muss die Motordrehzahl einen bestimmten Mindestwert aufweisen damit der Motor nicht abstirbt. Es kann zu Situationen kommen, insbesondere beim Anfahren an einer Steigung auf seitenweise unterschiedlichen Reibwerten, bei denen die Einhaltung des Mindestwertes der Motordrehzahl zu einem Traktionsverlust bzw. zu einer Instabilität des Fahrzeugs führt, da der Mindestwert der Motordrehzahl in Antriebsschlupf umgesetzt werden muss. Bei bekannten Antriebsschlupfregelungssystemen wurde dieses Problem bisher dadurch gelöst, dass ein beidseitiger Bremseneingriff an den angetriebenen Rädern durchgeführt wurde um einerseits den Motor nicht absterben zu lassen und andererseits durch den Bremseneingriff die Radgeschwindigkeit der angetriebenen Räder soweit abzusenken, dass diese mit gleichem Schlupf durchdrehen. Diese sogenannte symmetrische Regelung (beide Räder weisen denselben Schlupf auf) wird permanent nachgeregelt, da beide Räder immer auf einen gemeinsamen Schlupfwert eingeregelt werden. Diese Regelung hat ferner den Nachteil, dass der Motor gegen die Bremse arbeitet. Dieser Zustand ist instabil und nur durch eine hochfrequente und damit laute Regelung erreichbar. Es kommt zu sogenannten wechselseitigen Radabrissen, wodurch sich das Fahrzeug nur „trampelnd” vorwärts bewegt, was sehr unkomfortabel für die Fahrzeuginsassen ist.The approach of a vehicle can be influenced by various factors such as low coefficients of friction (eg starting on snow and ice), different coefficients of friction per page (eg left-hand vehicle wheels are on ice, right-hand vehicle wheels are running on asphalt) or the roadway incline (approaching on the road) Mountain). In the starting range (vehicle speed approximately less than 10 km / h), the engine speed must have a certain minimum value so that the engine does not die. There may be situations, especially when approaching an uphill gradient on pages of different coefficients of friction, where the maintenance of the minimum value of the engine speed leads to a loss of traction or instability of the vehicle, since the minimum value of the engine speed must be converted into traction. In known traction control systems, this problem has been solved by the fact that a double-sided brake intervention was carried out on the driven wheels on the one hand not to let the engine die and on the other hand by lowering the wheel speed of the driven wheels so far through the brake intervention that they spin with the same slip. This so-called symmetrical control (both wheels have the same slip) is permanently readjusted, since both wheels are always adjusted to a common slip value. This regulation also has the disadvantage that the motor works against the brake. This condition is unstable and can only be achieved by a high-frequency and therefore loud control. It comes to so-called mutual wheel breaks, causing the vehicle only "tramping" moves forward, which is very uncomfortable for the vehicle occupants.
Die Aufgabe der Erfindung besteht daher darin, ein Verfahren bereitzustellen, welches bei einer im wesentlichen starren Antriebskopplung die genannten Nachteile eliminiert. The object of the invention is therefore to provide a method which eliminates the disadvantages mentioned in a substantially rigid drive coupling.
Diese Aufgabe wird erfindungsgemäß durch das Verfahren nach Anspruch 1 sowie durch das Computerprogrammprodukt gemäß Anspruch 7 gelöst.This object is achieved by the method according to
Es werden nur die Antriebsräder betrachtet, da nur diese einen Antriebsschlupf aufweisen können. Bei einem Fahrzeug mit zwei angetriebenen Rädern können entweder beide Antriebsräder denselben Schlupf oder unterschiedliche Schlüpfe aufweisen. Wenn im folgenden beispielsweise von dem Fahrzeugrad mit höherem Schlupf die Rede ist, so ist immer gemeint, dass dieses (angetriebene) Fahrzeugrad einen höheren Schlupf als das andere (angetriebene) Fahrzeugrad aufweist.Only the drive wheels are considered, since only these can have a drive slip. In a vehicle with two driven wheels, either both drive wheels may have the same slip or different slips. For example, when referring to the higher slip vehicle wheel below, it is always meant that this (driven) wheel has a higher slip than the other (driven) wheel.
Unter dem Begriff optimaler Antriebsschlupf soll erfindungsgemäß verstanden werden, dass zumindest ein angetriebenes Fahrzeugrad so ausgeregelt wird, dass ein Antriebsmoment des Motors in einen Fahrzeugvortrieb umgesetzt werden kann. Dies kann beispielsweise dadurch erreicht werden, dass die Radgeschwindigkeit zumindest eines angetriebenen Fahrzeugrades durch einen gleichzeitigen Bremseneingriff an demselben Fahrzeugrad soweit abgesenkt wird, dass das betrachtete Fahrzeugrad nicht durchdreht.The term optimal traction slip should be understood according to the invention that at least one driven vehicle wheel is adjusted so that a drive torque of the engine can be converted into a vehicle propulsion. This can be achieved, for example, by the fact that the wheel speed of at least one driven vehicle wheel is lowered by a simultaneous brake engagement on the same vehicle wheel that the vehicle wheel in question does not spin.
Unter einer im wesentlichen starren Antriebskopplung soll erfindungsgemäß verstanden werden, dass der Motor bei einer vollständig eingerückten Kupplung (Kupplungspedal nicht betätigt) mit der oder den Antriebsachse/n verbunden ist.Under a substantially rigid drive coupling to be understood according to the invention that the engine is connected to a fully engaged clutch (clutch pedal not operated) with the or the drive axle / s.
Unter der Mindestmotordrehzahl soll erfindungsgemäß die Drehzahl des Fahrzeugmotors verstanden werden, welche mindestens vorliegen muss, damit der Fahrzeugmotor nicht abstirbt. Diese Mindestmotordrehzahl hängt beispielsweise von der verwendeten Motorbauart, z. B. Vierzylindermotor, Sechszylindermotor, Benzinmotor, Dieselmotor, etc., ab. Daher muss die Mindestmotordrehzahl je nach der verwendeten Motorbauart vorgegeben werden.Under the minimum engine speed according to the invention, the speed of the vehicle engine to be understood, which must be at least so that the vehicle engine does not die. This minimum engine speed depends, for example, on the type of engine used, eg. B. four-cylinder engine, six-cylinder engine, gasoline engine, diesel engine, etc., from. Therefore, the minimum engine speed must be specified according to the engine type used.
Erfindungsgemäß wird die Fahrbahnseite mit dem höheren Fahrbahnreibwert nur einmal festgelegt. Dies bietet den Vorteil, dass es nicht zu einem wechselseitigen Druckab- und Aufbau kommt, was bei dem bisher bekannten Antriebsschlupfregelungssystem zu dem sogenannten „trampeln” führte.According to the road side with the higher road friction coefficient is set only once. This offers the advantage that it does not come to a mutual Druckab- and construction, which led to the so-called traction control system to the so-called "trample".
Vorzugsweise wird die Regelschwelle des Antriebsrads mit dem höheren Schlupf um denselben Faktor, bezogen auf die Regelschwelle der bekannten symmetrischen Regelung, erhöht, wie die Regelschwelle des Antriebsrads mit dem niedrigeren Schlupf verringert wird. Besonders bevorzugt wird hierbei die Radgeschwindigkeit des durchdrehenden Rades so eingestellt, das der Motor immer in einem günstigen Drehzahlbereich arbeitet, so dass der Motor nicht abstirbt.Preferably, the control threshold of the higher slip drive wheel is increased by the same factor with respect to the control threshold of the known symmetric control as the control threshold of the lower slip drive wheel is reduced. Particularly preferably, the wheel speed of the spinning wheel is adjusted so that the engine always operates in a favorable speed range, so that the engine does not die.
Weitere bevorzugte Ausführungsformen ergeben sich aus den Unteransprüchen und der nachfolgenden Beschreibung eines Ausführungsbeispiels anhand der einzigen Figur.Further preferred embodiments will become apparent from the subclaims and the following description of an embodiment with reference to the single figure.
In
Zur Durchführung des erfindungsgemäßen Verfahrens muss bekannt sein, welches Fahrzeugrad den höheren Schlupf aufweist. Dies kann durch das in der
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102004052304.5A DE102004052304B4 (en) | 2004-03-03 | 2004-10-28 | Method for controlling the traction slip in the approach area |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102004010961.3 | 2004-03-03 | ||
DE102004010961 | 2004-03-03 | ||
DE102004052304.5A DE102004052304B4 (en) | 2004-03-03 | 2004-10-28 | Method for controlling the traction slip in the approach area |
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DE102004052304A1 DE102004052304A1 (en) | 2005-10-13 |
DE102004052304B4 true DE102004052304B4 (en) | 2016-07-28 |
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DE102004052304.5A Expired - Fee Related DE102004052304B4 (en) | 2004-03-03 | 2004-10-28 | Method for controlling the traction slip in the approach area |
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FR2947507B1 (en) * | 2009-07-01 | 2011-11-18 | Peugeot Citroen Automobiles Sa | VERY LOW SPEED TRUCKING METHOD ON LAND WITH LOW ADHESION |
FR2956365A1 (en) * | 2010-02-18 | 2011-08-19 | Peugeot Citroen Automobiles Sa | Angular velocity regulating method for right and left front drive wheels of e.g. terrestrial motor vehicle, involves dissociating velocity of wheels such that wheels attain driveability level in zones, during take-off situation of vehicle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4011974C1 (en) * | 1990-04-12 | 1991-09-12 | Lucas Industries P.L.C., Birmingham, West Midlands, Gb | Preventing spin of driven wheels of motor vehicle - detecting speed of rotation and/or acceleration of wheels and comparing with threshold values |
DE4421565A1 (en) * | 1994-06-20 | 1995-12-21 | Teves Gmbh Alfred | Circuit arrangement for a brake system with BASR |
DE19849407A1 (en) * | 1998-06-05 | 1999-12-09 | Continental Teves Ag & Co Ohg | Method and device for regulating the drive slip of a vehicle on a roadway with different coefficients of friction |
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2004
- 2004-10-28 DE DE102004052304.5A patent/DE102004052304B4/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4011974C1 (en) * | 1990-04-12 | 1991-09-12 | Lucas Industries P.L.C., Birmingham, West Midlands, Gb | Preventing spin of driven wheels of motor vehicle - detecting speed of rotation and/or acceleration of wheels and comparing with threshold values |
DE4421565A1 (en) * | 1994-06-20 | 1995-12-21 | Teves Gmbh Alfred | Circuit arrangement for a brake system with BASR |
DE19849407A1 (en) * | 1998-06-05 | 1999-12-09 | Continental Teves Ag & Co Ohg | Method and device for regulating the drive slip of a vehicle on a roadway with different coefficients of friction |
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