DE102017216118A1 - Verfahren zum Betrieb einer elektrohydraulischen Bremsanlage und Bremsanlage - Google Patents

Verfahren zum Betrieb einer elektrohydraulischen Bremsanlage und Bremsanlage Download PDF

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Publication number
DE102017216118A1
DE102017216118A1 DE102017216118.3A DE102017216118A DE102017216118A1 DE 102017216118 A1 DE102017216118 A1 DE 102017216118A1 DE 102017216118 A DE102017216118 A DE 102017216118A DE 102017216118 A1 DE102017216118 A1 DE 102017216118A1
Authority
DE
Germany
Prior art keywords
brake
brake system
pressure
wheel
supply device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102017216118.3A
Other languages
German (de)
English (en)
Inventor
Thomas Peichl
Holger Schmidt
Thorsten Ullrich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Priority to CN201780059266.5A priority Critical patent/CN109843669B/zh
Priority to EP17781102.3A priority patent/EP3526089B1/de
Priority to JP2019540694A priority patent/JP7000441B2/ja
Priority to US16/335,779 priority patent/US10752228B2/en
Priority to KR1020197009284A priority patent/KR102224534B1/ko
Priority to PCT/EP2017/075632 priority patent/WO2018069223A1/de
Publication of DE102017216118A1 publication Critical patent/DE102017216118A1/de
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B60T13/10—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
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • 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
    • B60T13/10—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
    • B60T13/12—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 the fluid being liquid
    • B60T13/16—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 the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
    • B60T13/161—Systems with master cylinder
    • B60T13/165—Master cylinder integrated or hydraulically coupled with booster
    • 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
    • B60T13/10—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
    • B60T13/12—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 the fluid being liquid
    • B60T13/16—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 the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
    • B60T13/161—Systems with master cylinder
    • 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
    • B60T8/40—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 comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input
    • 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
    • B60T13/10—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
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • 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
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up
    • 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
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/404—Brake-by-wire or X-by-wire failsafe
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Braking Systems And Boosters (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
DE102017216118.3A 2016-10-11 2017-09-13 Verfahren zum Betrieb einer elektrohydraulischen Bremsanlage und Bremsanlage Withdrawn DE102017216118A1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201780059266.5A CN109843669B (zh) 2016-10-11 2017-10-09 用于操作电动液压制动设备的方法以及制动设备
EP17781102.3A EP3526089B1 (de) 2016-10-11 2017-10-09 Verfahren zum betrieb einer elektrohydraulischen bremsanlage und bremsanlage
JP2019540694A JP7000441B2 (ja) 2016-10-11 2017-10-09 電気油圧式のブレーキ設備を動作させる方法及びブレーキ設備
US16/335,779 US10752228B2 (en) 2016-10-11 2017-10-09 Method for operating an electro hydraulic brake system, and brake system
KR1020197009284A KR102224534B1 (ko) 2016-10-11 2017-10-09 전기유압식 브레이크 시스템을 작동시키는 방법 및 브레이크 시스템
PCT/EP2017/075632 WO2018069223A1 (de) 2016-10-11 2017-10-09 Verfahren zum betrieb einer elektrohydraulischen bremsanlage und bremsanlage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016219699 2016-10-11
DE102016219699.5 2016-10-11

Publications (1)

Publication Number Publication Date
DE102017216118A1 true DE102017216118A1 (de) 2018-04-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE102017216118.3A Withdrawn DE102017216118A1 (de) 2016-10-11 2017-09-13 Verfahren zum Betrieb einer elektrohydraulischen Bremsanlage und Bremsanlage

Country Status (7)

Country Link
US (1) US10752228B2 (https=)
EP (1) EP3526089B1 (https=)
JP (1) JP7000441B2 (https=)
KR (1) KR102224534B1 (https=)
CN (1) CN109843669B (https=)
DE (1) DE102017216118A1 (https=)
WO (1) WO2018069223A1 (https=)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111169455A (zh) * 2018-11-13 2020-05-19 克诺尔商用车制动系统有限公司 冗余的制动系统和用于运行这种制动系统的方法
WO2020126138A1 (de) * 2018-12-20 2020-06-25 Robert Bosch Gmbh Elektrohydraulische fremdkraft-fahrzeugbremsanlage für ein autonom fahrendes landfahrzeug
WO2022156864A1 (de) * 2021-01-22 2022-07-28 Continental Automotive Technologies GmbH Elektrohydraulisches bremsensteuergerät für ein kraftfahrzeug, bremssystem mit einem solchen bremsensteuergerät und verfahren zum betreiben eines bremsensteuergeräts
JP2022550912A (ja) * 2019-10-08 2022-12-05 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト ブレーキシステムを動作させる方法、ブレーキシステム、自動車及び記憶媒体
EP4119407A1 (en) * 2021-07-12 2023-01-18 Hyundai Mobis Co., Ltd. Electric hydraulic brake and control method therefor
WO2023036384A1 (de) * 2021-09-08 2023-03-16 Continental Automotive Technologies GmbH Verfahren zum betreiben eines bremssystems und bremssystem
DE102021134165A1 (de) 2021-12-21 2023-06-22 Zf Active Safety Gmbh Funktionseinheit, hydraulische Kraftfahrzeug-Bremsanlage, Verfahren zum Betreiben einer hydraulischen Kraftfahrzeug-Bremsanlage und Kraftfahrzeug-Steuergerät
DE102022123894A1 (de) 2022-06-13 2023-12-14 Hyundai Mobis Co., Ltd. Elektro-hydraulische Bremseinrichtung

Families Citing this family (24)

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Publication number Priority date Publication date Assignee Title
DE102017222445A1 (de) * 2017-01-11 2018-07-12 Continental Teves Ag & Co. Ohg Bremsanlage für ein Kraftfahrzeug und Verfahren zum Betrieb einer Bremsanlage
DE102017000472A1 (de) * 2017-01-19 2018-07-19 Lucas Automotive Gmbh Hydraulische Kraftfahrzeug-Bremsanlage und Verfahren zum Betreiben und zum Prüfen derselben
DE102017113563A1 (de) 2017-06-20 2018-12-20 Ipgate Ag Bremssystem
WO2019195542A1 (en) * 2018-04-04 2019-10-10 Kelsey-Hayes Company Vehicle brake system with secondary brake module
DE112019002347A5 (de) 2018-05-09 2021-01-21 Ipgate Ag Bremssystem
WO2020210319A1 (en) * 2019-04-09 2020-10-15 Continental Automotive Systems, Inc. Braking system for heavy duty vehicles and related methods
DE102019122169A1 (de) * 2019-08-19 2021-02-25 Zf Active Safety Gmbh Verfahren zur Prüfung eines Bremsflüssigkeitssensors
JP7505229B2 (ja) * 2020-03-31 2024-06-25 株式会社アドヴィックス 車両用制動装置
DE102020205358A1 (de) * 2020-04-28 2021-10-28 Continental Teves Ag & Co. Ohg Kompaktes Bremsgerät für eine hydraulische Kraftfahrzeugbremsanlage
KR102845371B1 (ko) * 2020-06-22 2025-08-11 현대모비스 주식회사 차량용 제동장치 및 그 제동방법
US11912251B2 (en) * 2020-06-25 2024-02-27 Hl Mando Corporation Electric brake system
DE102020213437A1 (de) * 2020-10-26 2022-04-28 Robert Bosch Gesellschaft mit beschränkter Haftung Bremssystem und Verfahren zum Abbremsen eines zumindest zweiachsigen Fahrzeugs
KR102484451B1 (ko) * 2021-01-22 2023-01-02 현대모비스 주식회사 전자식 유압 브레이크 장치 및 제어방법
US12017623B2 (en) * 2021-01-27 2024-06-25 Advics Co., Ltd. Series-connected brake actuators and automatic brake hold method employing same
US11801817B2 (en) * 2021-03-04 2023-10-31 ZF Active Safety US Inc. Vehicle braking system
DE102021206800A1 (de) 2021-06-30 2023-01-05 Continental Automotive Technologies GmbH Elektrohydraulische Bremsanlage und Verfahren zur Steuerung einer elektrohydraulischen Bremsanlage
KR20230009702A (ko) * 2021-07-09 2023-01-17 현대모비스 주식회사 전자식 브레이크 장치
US11951970B2 (en) 2021-08-12 2024-04-09 ZF Active Safety US Inc. Brake system with plunger-based secondary brake module
DE102021208993A1 (de) * 2021-08-17 2023-02-23 Robert Bosch Gesellschaft mit beschränkter Haftung Bremssystem und Verfahren zum Abbremsen eines zumindest zweiachsigen Fahrzeugs
DE102022205225A1 (de) 2022-05-25 2023-11-30 Continental Automotive Technologies GmbH Bremssystem für ein Kraftfahrzeug
DE102022205226A1 (de) 2022-05-25 2023-11-30 Continental Automotive Technologies GmbH Bremssystem für ein Kraftfahrzeug
CN116674514A (zh) * 2023-06-29 2023-09-01 浙江亚太机电股份有限公司 分体式解耦带冗余功能的车辆电子液压制动系统和方法
CN116729338A (zh) * 2023-06-29 2023-09-12 浙江亚太机电股份有限公司 分体式全解耦带冗余功能的车辆电子液压制动系统和方法
US20250050853A1 (en) * 2023-08-10 2025-02-13 ZF Active Safety US Inc. Brake systems with motor-driven master cylinders and wheel-side pressure sensors

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DE102014225954A1 (de) 2014-12-16 2016-06-16 Continental Teves Ag & Co. Ohg Bremsensteuervorrichtung sowie Bremsanlage

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EP2641798B1 (en) 2010-11-17 2015-09-16 Honda Motor Co., Ltd. Vehicle-body attachment structure for electric brake actuator
DE102012205862A1 (de) * 2011-04-19 2012-10-25 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge sowie Verfahren zum Betrieb einer Bremsanlage
DE102012205859A1 (de) * 2011-04-19 2012-10-25 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge sowie Verfahren zum Betrieb einer Bremsanlage
DE102012205860A1 (de) 2011-04-19 2012-10-25 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge
DE102012202645A1 (de) 2011-04-28 2012-10-31 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge
DE102012205962A1 (de) 2011-05-05 2012-11-08 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge sowie Verfahren zum Betrieb einer Bremsanlage
DE102012210809A1 (de) * 2011-07-27 2013-01-31 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge sowie Verfahren zum Betrieb einer Bremsanlage
DE102012222897A1 (de) * 2012-02-28 2013-08-29 Continental Teves Ag & Co. Ohg Verfahren zum Betrieb einer Bremsanlage
JP5945250B2 (ja) * 2013-06-28 2016-07-05 株式会社アドヴィックス 車両用制動装置
DE102014225956A1 (de) 2014-12-16 2016-06-16 Continental Teves Ag & Co. Ohg Bremsensteuervorrichtung sowie Bremsanlage für Fahrzeuge
DE102014225958A1 (de) 2014-12-16 2016-06-16 Continental Teves Ag & Co. Ohg Bremsanlage für ein Kraftfahrzeug
DE102016203119A1 (de) * 2016-02-26 2017-08-31 Continental Teves Ag & Co. Ohg Zusatzmodul für eine elektrohydraulische Bremsanlage und Bremsanlagensystem

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Cited By (14)

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Publication number Priority date Publication date Assignee Title
WO2020099075A1 (de) * 2018-11-13 2020-05-22 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Redundantes bremssystem und verfahren zum betrieb eines solchen bremssystems
CN111169455A (zh) * 2018-11-13 2020-05-19 克诺尔商用车制动系统有限公司 冗余的制动系统和用于运行这种制动系统的方法
CN111169455B (zh) * 2018-11-13 2023-03-14 克诺尔商用车制动系统有限公司 冗余的制动系统和用于运行这种制动系统的方法
WO2020126138A1 (de) * 2018-12-20 2020-06-25 Robert Bosch Gmbh Elektrohydraulische fremdkraft-fahrzeugbremsanlage für ein autonom fahrendes landfahrzeug
CN113165609A (zh) * 2018-12-20 2021-07-23 罗伯特·博世有限公司 用于自主行驶的陆用车辆的电液压的助力式车辆制动设备
US12139125B2 (en) 2018-12-20 2024-11-12 Robert Bosch Gmbh Electrohydraulic power vehicle braking system for an autonomously driving land vehicle
JP7498268B2 (ja) 2019-10-08 2024-06-11 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト ブレーキシステムを動作させる方法、ブレーキシステム、自動車及び記憶媒体
JP2022550912A (ja) * 2019-10-08 2022-12-05 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト ブレーキシステムを動作させる方法、ブレーキシステム、自動車及び記憶媒体
WO2022156864A1 (de) * 2021-01-22 2022-07-28 Continental Automotive Technologies GmbH Elektrohydraulisches bremsensteuergerät für ein kraftfahrzeug, bremssystem mit einem solchen bremsensteuergerät und verfahren zum betreiben eines bremsensteuergeräts
EP4119407A1 (en) * 2021-07-12 2023-01-18 Hyundai Mobis Co., Ltd. Electric hydraulic brake and control method therefor
WO2023036384A1 (de) * 2021-09-08 2023-03-16 Continental Automotive Technologies GmbH Verfahren zum betreiben eines bremssystems und bremssystem
DE102021134165A1 (de) 2021-12-21 2023-06-22 Zf Active Safety Gmbh Funktionseinheit, hydraulische Kraftfahrzeug-Bremsanlage, Verfahren zum Betreiben einer hydraulischen Kraftfahrzeug-Bremsanlage und Kraftfahrzeug-Steuergerät
DE102022123894A1 (de) 2022-06-13 2023-12-14 Hyundai Mobis Co., Ltd. Elektro-hydraulische Bremseinrichtung
US12370989B2 (en) 2022-06-13 2025-07-29 Hyundai Mobis Co., Ltd. Electro-hydraulic brake device

Also Published As

Publication number Publication date
CN109843669B (zh) 2022-05-03
JP7000441B2 (ja) 2022-02-10
JP2019530612A (ja) 2019-10-24
WO2018069223A1 (de) 2018-04-19
KR20190042703A (ko) 2019-04-24
CN109843669A (zh) 2019-06-04
EP3526089B1 (de) 2020-12-16
US10752228B2 (en) 2020-08-25
EP3526089A1 (de) 2019-08-21
US20190241167A1 (en) 2019-08-08
KR102224534B1 (ko) 2021-03-05

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