DE102022132229A1 - Braking system for a vehicle, in particular commercial vehicle - Google Patents

Abstract

The invention relates to a braking system (1) for a vehicle (100), in particular for a commercial vehicle, with a plurality of electromechanical brakes (5) for braking the vehicle (100), which is designed to control the electromechanical brakes (5) in such a way that application processes for exercising a parking brake function (BP), a service brake function (BB) and an emergency brake function (BN) are ensured by the system. It is proposed that the braking system (1) has a dedicated electrical energy storage subsystem (9) for the braking system (1), which is designed to be connected to an on-board network (200) of the vehicle (100) and which is designed to store a reserve charge (qR) for at least one last application process for exercising the emergency brake function (BN) in the braking system (1).

Description

The present invention relates to a braking system for a vehicle, in particular for a commercial vehicle, with a plurality of electromechanical brakes for braking the vehicle, which is designed to control the electromechanical brakes in such a way that application processes for exercising a parking brake function, a service brake function and an emergency brake function are carried out by the system.

Braking systems designed as described above are generally known. In the event of an emergency actuation of a braking system, the tensioned spring within a spring accumulator of a brake cylinder is relieved so that its spatial expansion exerts pressure on the locking mechanism of a brake and the brake is thereby tensioned and locked. This emergency actuation (hereinafter: emergency braking function) thus integrates a safety system within vehicles.

However, the springs tensioned within the spring accumulators for the emergency braking function are under high pressure. This means that the installation and maintenance of such spring accumulators poses a risk to the person carrying out the installation or maintenance. Appropriate, sometimes costly, safety measures must be taken.

As electrification increases, the importance and use of electromechanical brakes in commercial vehicles is increasing. The advantage of electromechanical brakes is that they are not pneumatically but electrically operated, which can have installation-related advantages over pneumatic systems, among other things.

The prerequisite for using electromechanical brakes is that there is always enough charge energy available to operate them. A breakdown of the power supply used for this represents a potential risk to the operation of these brakes. In addition to the amount of charge or energy that must be kept available, it is also a prerequisite that the power required at that moment can be provided by the energy storage device. A battery that appears "empty" is usually not, the voltage has sometimes just dropped so far that the battery can no longer provide enough power.

The invention was based on the object of providing an improved safety architecture for a braking system of the type described at the outset, which overcomes the disadvantage described above as far as possible. In particular, the invention was based on the object of specifying a braking system that enables the most important braking functions to be maintained, in particular at least the emergency braking function, regardless of the state of the on-board network.

In a braking system of the type described above, the invention proposes that the braking system has a dedicated electrical energy storage subsystem for the braking system, which is designed to be connected to an on-board network of the vehicle and which is designed to store a reserve charge for at least one last application process for exercising the emergency braking function in the braking system.

The invention is based on the finding that the energy required to apply and lock the brakes in order to carry out an emergency braking function can be stored in electrical form. To this end, it is proposed to integrate a separate energy storage subsystem in the vehicle so that sufficient energy is available for emergency braking, independent of the primary battery or the vehicle's electrical system. Since this energy must be permanently available in the energy storage subsystem to ensure an emergency braking function, it is referred to above and below as reserve charge.

Charge should be understood here as a synonym for energy, since an existing charge, i.e. the separation of positive and negative charge carriers, can be used to perform work. The term reserve charge is therefore to be understood as a predetermined amount of energy that can be released from the energy storage devices at a predetermined power to apply and lock the brakes. Since, as already explained at the beginning on page 2, paragraph 2, simply holding a charge does not ensure that it can also be released with sufficient power, the invention understands the term reserve charge to mean the link between charge quantity and performance. By integrating an energy storage subsystem into the braking system, one or more energy storage devices are provided that can still provide the reserve charge even if problems with the energy supply occur in the on-board network, i.e. on the side of the primary voltage supply of the commercial vehicle, for example faults such as short circuits. The commercial vehicle in general and the braking system in particular are thus more robust against electrical faults.

Whenever energy storage devices are mentioned above and below within the scope of the invention, this is to be understood as electrical energy storage devices.

The invention is advantageously further developed in that the energy storage subsystem has one or more electrical energy storage devices, each of which partially or completely contains the reserve charge. An architecture with a single energy storage device has resource advantages and is easy to maintain. An architecture with multiple energy storage devices has advantages in the flexibility of the structural design and makes it possible to make the reserve charge available in the event of a partial failure of one or more energy storage devices in the other energy storage devices that are still intact in order to minimize risk.

In a preferred embodiment of the invention, at least one electrical energy storage device is assigned to a front axle and/or a rear axle, more preferably to each axle, of the vehicle.

Alternatively or additionally, a (further) electrical energy storage device is preferably assigned to at least one, several or all of the electromechanical brakes and is preferably integrated into the electromechanical brake.

Further preferably, the energy storage subsystem has at least one higher-level electrical energy storage device.

Consequently, preferred embodiments also comprise an energy storage subsystem with a plurality of energy storage devices, namely n energy storage devices each assigned to an axle, and/or m energy storage devices each assigned to an electromechanical brake, and/or p higher-level energy storage devices, where n, m and p are each natural numbers.

In a preferred embodiment of the invention, the energy storage subsystem is designed to provide additional electrical energy for the service brake function and/or for other auxiliary consumers in addition to the reserve charge. This could relieve the load on the primary battery or the vehicle's electrical system and reduce the dependence on one or a few central energy storage units. In preferred embodiments, a steering system in accordance with "Regulation No. 79 of the Economic Commission for Europe of the United Nations (UNECE) - Uniform provisions for the approval of vehicles with regard to the steering system", published in the Official Journal L318/1 on December 14, 2018, is provided as an auxiliary consumer.

In a preferred embodiment of the invention, the braking system has a braking control subsystem which has a higher-level control module and at least one control unit for each axle of the vehicle, and the braking control subsystem is designed to send signals to the electromechanical brakes for actuating them. The control units are each functionally assigned to one or more axles and at the same time are topologically independent; consequently, they do not have to be mounted on one of the axles.

In a preferred embodiment of the invention, the higher-level control module is designed to monitor the parking brake function of the braking system for proper functioning and to generate an emergency actuation signal in the event of a critical error. In one variant, the control module can also be designed as a switch. As a higher-level functional unit, the control module is intended to control and/or monitor the parking brake function and/or the emergency brake function.

In a preferred embodiment of the invention, the at least one control unit is designed to monitor the brake system for proper functioning and preferably to generate an emergency actuation signal in the event of a critical error. In normal cases, the control unit is also designed to control the brake system on the associated axle in its (error-free) normal state, in particular the service brake function of the brake system.

The higher-level control module and/or the control units are preferably designed to monitor the connection status of the components of the braking system and/or various operating parameters such as the capacity and/or electrical voltage, in particular independently of other systems. A critical error is understood here to be an operating status which, if ignored, could no longer ensure final application of the electromechanical brakes, for example due to insufficient charge in the energy storage devices or due to damaged cables.

In a preferred embodiment of the invention, the higher-level control module is integrated into a parking brake control unit for the parking brake function, or is designed to be controlled externally.

In a preferred embodiment of the invention, the braking system has a locking mechanism which has a locking position and a release position and is designed to hold the electromechanical brakes in the locking position after a desired clamping force has been reached or when a critical amount of energy in the electrical energy storage subsystem has fallen below. In the locking position, the braking mechanism within the electromechanical brakes is blocked so that the brakes can no longer be released. In the release position, however, the brakes can be actuated and the service brake function can be used.

In a preferred embodiment of the invention, the electromechanical brakes each have an electrical control module and a motor control unit.

In a preferred embodiment of the invention, the respective electrical control module is configured to receive the emergency actuation signal, and the engine control unit is configured to convert the emergency actuation signal (converted by the respective electrical control module) by means of the reserve charge into a mechanical movement within the electromechanical brake, by means of which a clamping force acting on the respective wheel is generated.

The electrical control module of the electromechanical brake is preferably designed to control the braking force of the brake in communication with the higher-level control module and/or the control units.

The motor control unit controls the motor of the electromechanical brake, i.e. supplies it with three-phase current, controls the speed, etc. The electrical control unit of the electromechanical brake communicates with system components outside the electromechanical brake. The motor control unit and the electrical control unit of the electromechanical brake can be structurally combined.

In a preferred embodiment of the invention, the electrical control modules of the electromechanical brakes are designed to carry out the emergency braking function when a critical system state is detected. A critical system state is understood here to mean a state in which a failure of the energy storage device assigned to the electromechanical brake or the energy storage device assigned to the respective axle, a failure of the electrical control module and/or the motor control unit of an electromechanical brake or a wheel failure is imminent or occurs. The electromechanical brakes communicate with each other or via the higher-level control module or the control units of the brake control subsystem.

The invention described above has been described above in a first aspect of the invention. In a further aspect, the invention relates to a vehicle, in particular a commercial vehicle, with an on-board electrical system and a braking system connected to the on-board electrical system.

The invention solves the problem described at the outset in such a vehicle in that the braking system is designed according to one of the preferred embodiments described above. The vehicle has in particular a braking control system which has one or more control units which are designed as separate control units or are integrated in terms of hardware or software. The braking control system has in particular a service brake control unit and a parking brake control unit.

In preferred embodiments, the vehicle has a higher-level vehicle control system that is connected to the control units or modules in a signal-conducting manner and is set up to send the control commands, or in which the aforementioned control units or modules are integrated. Furthermore, in preferred embodiments, commands for exercising the parking brake function, service brake function and/or emergency brake function can be generated by a driver or a (partially) autonomous vehicle control system, also called a "virtual driver".

The invention in the second aspect takes advantage of the same advantages as the braking system according to the first aspect.

The preferred embodiments of the first aspect are at the same time preferred embodiments of the second aspect and vice versa, so that in order to avoid repetition, reference is made to the above statements.

In a further aspect, the invention relates to a method for controlling a braking system of a vehicle, in particular a commercial vehicle.

The invention achieves the object described at the outset in such a method, in particular by using a braking system according to one of the preferred embodiments described above.

• - Steuern mehrerer elektromechanischer Bremsen derart, dass Zuspannvorgänge zum Ausüben einer Parkbremsfunktion, einer Betriebsbremsfunktion und/oder einer Notbremsfunktion ausgeführt werden, und
• - Speichern einer Reserve-Ladung für wenigstens einen letzten Zuspannvorgang zum Ausüben der Notbremsfunktion im Bremssystem in einem dedizierten Energiespeichersubsystem des Bremssystems.

The method according to the invention comprises in particular the following steps:

• - controlling a plurality of electromechanical brakes in such a way that application processes are carried out to exercise a parking brake function, a service brake function and/or an emergency brake function, and
• - Storing a reserve charge for at least one final application operation to perform the emergency braking function in the braking system in a dedicated energy storage subsystem of the braking system.

The method makes use of the same advantages as the braking system of the first aspect and the vehicle of the second aspect. The preferred embodiments of the first two aspects are also preferred embodiments of the method and vice versa, so that in this regard reference is again made to the above statements in order to avoid repetition.

In a preferred embodiment of the method according to the invention, the application process for exercising the emergency braking function is carried out using the reserve charge.

• - Zurverfügungstellen, zusätzlich zu der Reserve-Ladung, zusätzlicher elektrischer Energie für die Betriebsbremsfunktion und/oder für andere Nebenverbraucher;
• - Senden von Signalen zur Betätigung der elektromechanischen Bremsen an diese, insbesondere mittels des Bremssteuersubsystems;
• - Überwachen der Parkbremsfunktion des Bremssystems auf ordnungsgemäße Funktion hin und Erzeugen eines Notbetätigungssignals im Fall eines kritischen Fehlers, insbesondere durch das übergeordnete Steuermodul;
• - Überwachen des Bremssystems auf ordnungsgemäße Funktion hin und Erzeugung eines Notbetätigungssignals im Fall eines kritischen Fehlers, insbesondere durch die mindestens eine Steuereinheit;
• - Ansteuern des übergeordneten Steuermoduls von extern;
• - Halten der elektromechanischen Bremsen (5) nach Erreichen einer angestrebten Spannkraft oder bei Unterschreiten einer kritischen Energiemenge im elektrischen Energiespeichersubsystem (9) in der Sperrstellung, insbesondere mittels des Sperrmechanismus;
• - Empfangen des Notbetätigungssignals durch das jeweilige elektrische Steuermodul und Umsetzen des Notbetätigungssignals in eine mechanische Bewegung innerhalb der elektromechanischen Bremse mittels der reserve-Ladung, insbesondere mittels der Motorsteuereinheit;
• - Ausführen der Notbremsfunktion durch die elektrischen Steuermodule der elektromechanischen Bremsen.

In a further preferred embodiment of the method according to the invention, the method according to the invention further comprises one, several or all of the following steps:

• - Providing, in addition to the reserve charge, additional electrical energy for the service braking function and/or for other auxiliary consumers;
• - sending signals to the electromechanical brakes for actuation, in particular by means of the brake control subsystem;
• - Monitoring the parking brake function of the braking system for proper functioning and generating an emergency actuation signal in the event of a critical fault, in particular by the higher-level control module;
• - monitoring the braking system for proper functioning and generating an emergency actuation signal in the event of a critical fault, in particular by the at least one control unit;
• - Controlling the higher-level control module externally;
• - holding the electromechanical brakes (5) in the locking position after a desired clamping force has been reached or when a critical amount of energy in the electrical energy storage subsystem (9) is undershot, in particular by means of the locking mechanism;
• - Receiving the emergency actuation signal by the respective electrical control module and converting the emergency actuation signal into a mechanical movement within the electromechanical brake by means of the reserve charge, in particular by means of the engine control unit;
• - Execution of the emergency braking function by the electrical control modules of the electromechanical brakes.

• 1 eine schematische Darstellung des Bremssystems gemäß einem ersten bevorzugten Ausführungsbeispiel
• 2 eine schematische Darstellung des Bremssystems gemäß einem zweiten bevorzugten Ausführungsbeispiel
• 3 eine schematische Darstellung des Fahrzeugs aufweisend das Bremssystem gemäß des zweiten bevorzugten Ausführungsbeispiels

The invention is described in more detail below with reference to the attached figures using preferred embodiments:

• 1 a schematic representation of the braking system according to a first preferred embodiment
• 2 a schematic representation of the braking system according to a second preferred embodiment
• 3 a schematic representation of the vehicle having the braking system according to the second preferred embodiment

As explained in more detail below, the 2 The braking system shown is a further development of the 1 This braking system is both a variant of the embodiment according to 1 as well as an independent embodiment. Elements with the same structure and/or the same function are therefore provided with the same reference numerals in the figures. This also applies to the 3 shown embodiment, which is a further development of the 2 shown embodiment.

1 shows a braking system 1 for a vehicle 100, in particular for a commercial vehicle. The braking system has several electromechanical brakes 5 for braking the vehicle 100. The braking system 1 also has a dedicated electrical energy storage subsystem 9. The energy storage subsystem 9 has in the 1 shown embodiment each have an electrical energy storage device 9a for both axles 11 of the vehicle 100. Furthermore, the braking system 1 in the embodiment has a brake control subsystem 13, which has a higher-level control module 13a and a control unit 13b for each axle 11 of the vehicle 100. The higher-level control module 13a is integrated into a parking brake control unit 15 for the parking brake function B _P. In the embodiment, the electromechanical brakes 5 each have an electrical control module 13c, an electrical energy storage device 9b, a motor control unit 19, an electric motor 21, a locking mechanism 17 and a brake caliper 23. The axles 11 have in In the exemplary embodiment, the vehicle also has two wheels 27. The braking system 1 also has a service brake control element 29, such as a brake switch or a brake pedal, for the service brake function B _B.

The higher-level control module 13a has communication connections to the control units 13b and the electrical control modules 13c. In addition, the brake control subsystem 13 has a communication connection between the control units 13b among themselves, communication connections between the control units 13b and the electrical control modules 13c, between the service brake control unit 29 for the service brake function B _B and the control units 13b and between the parking brake control unit 15 for the parking brake function Bp and the control units 13b.

The energy storage subsystem 9 has energy or charge transfer lines between the electrical energy storage 9a and the electrical energy storage 9b of the electromechanical brakes 5. In addition, the electrical energy storage 9a has energy or charge transfer lines to the control units 13b and the higher-level control module 13a. As in 1 As can be seen, the energy storage subsystem 9 also has lines that carry energy or charge, which are supplied from outside the braking system 1 and are connected to the electrical energy storage devices 9a. These lines can optionally also be combined in a cable harness (not shown in this exemplary embodiment).

During operation of the braking system 1, the electromechanical brakes 5 are each designed to exert a braking force F _B on one of the wheels 27.

In the event of a critical error detected by the higher-level control module 13a, the braking system 1 is designed to generate an emergency actuation signal S _N which is sent to the control units 13b and to the electrical control modules 13c of the electromechanical brakes 5. The reserve charge q _R of the energy storage units 9b of the electromechanical brakes 5 is then used for a final application process to execute the emergency braking function B _N .

Similarly, in the event of a critical error, an emergency actuation signal S _N can be generated by an electrical control module 13b and sent to the higher-level control module 13a and to the electrical control modules 13c of the electromechanical brakes 5. The reserve charge q _R of the energy storage device 9b of the electromechanical brakes 5 is then used for a final application process to execute the emergency braking function B _N.

If a critical system state is detected by an electrical control module 13c within an electromechanical brake 5, in which a failure of the energy storage device 9b assigned to the electromechanical brake 5 or of the energy storage device 9a assigned to the respective axle 11, a failure of the electrical control module 13c and/or the motor control unit 19 of an electromechanical brake 5 or a wheel failure is imminent or occurs, the emergency braking function B _N is executed. The electromechanical brakes 5 communicate with each other or via the higher-level control module 13a or the control units 13b of the brake control subsystem 13.

This in 2 The embodiment shown shows a braking system 1 with an energy storage subsystem 9, which has a higher-level energy storage 9c with energy or charge-carrying lines to the electrical control modules 13c of the electromechanical brakes 5 and an energy or charge-carrying line to the higher-level control module 13a. The 1 The energy storage devices 9b shown within the electromechanical brakes 5 are shown in 2 shown embodiment. Furthermore, the energy storage subsystem 9 here has energy or charge-carrying connections between the energy storage devices 9a and the electrical control modules 13c of the electromechanical brakes 5 at the respective axles 11. In addition, the energy storage subsystem 9 has an additional energy or charge-carrying line to the higher-level energy storage device 9c, which is fed to the braking system 1 from the outside.

3 shows an embodiment with a vehicle 100 with an on-board network 200 and a braking system 1 connected to the on-board network 200, which according to 2 is characterized, whereby the on-board network 200 is connected to the energy storage devices 9a and 9c via energy or charge-carrying lines. In 3 Furthermore, a vehicle control system 201 is shown, which is designed to transmit control commands 300 to the brake control subsystem 13, in particular to the control module 13a, the control units 13b and/or the control modules 13c. As an alternative to the vehicle control system 201, a (partially) autonomous vehicle control system 203 or a driver 205 is able to send the control commands.

It should be understood, however, that the vehicle 100 may have any of the 1 and 2 shown braking systems 1. In addition, the schematic representations are not limited to these Rather, the illustrations are intended to show only examples from a large number of possible combinations of the components of the braking system, in particular the energy storage device, as given in the following claims.

List of reference symbols (part of the description):

1

Braking system

5

Electromechanical brakes

9

Energy storage subsystem

9a

Electrical energy storage, vehicle axle

9b

Electrical energy storage, brake

9c

Higher-level electrical energy storage

11

Axle (of the vehicle)

11a

Front axle (of the vehicle)

11b

Rear axle (of the vehicle)

13

Brake control subsystem

13a

Master control module of the brake control subsystem

13b

Brake control subsystem control unit

13c

Electric control module, brake

15

Parking brake control unit

17

Locking mechanism

19

Engine control unit

21

Electric motor

23

Brake caliper

27

wheel

29

Service brake control

100

vehicle

200

On-board network

201

Vehicle control system

203

(partially) autonomous vehicle control system

205

driver

300

Control command

BP

Parking brake function

BB

Service brake function

BN

Emergency braking function

Facebook

Braking force

MS

Locking position of the locking mechanism

MF

Release position of the locking mechanism

qR

Reserve charge

Claims (18)

Braking system (1) for a vehicle (100), in particular for a commercial vehicle, with a plurality of electromechanical brakes (5) for braking the vehicle (100), which is designed to control the electromechanical brakes (5) such that application processes for exercising a parking brake function (B _P ), a service brake function (B _B ) and an emergency brake function (B _N ) are carried out by the system, characterized in that the braking system (1) has a dedicated electrical energy storage subsystem (9) for the braking system (1), which is designed to be connected to an on-board network (200) of the vehicle (100) and which is designed to store a reserve charge (q _R ) for at least one last application process for exercising the emergency brake function (B _N ) in the braking system (1). Braking system according to Claim 1 , characterized in that the energy storage subsystem (9) has one or more electrical energy stores (9a, 9b, 9c), each of which partially or completely has the reserve charge (q _R ). Braking system (1) according to Claim 2 , characterized in that at least one electrical energy store (9a) is assigned to a front axle (11a) and/or a rear axle (11b), more preferably to each axle (11), of the vehicle (100). Braking system according to Claim 2 or 3 , characterized in that at least one, several or all of the electromechanical brakes (5) are assigned an electrical energy store (9b), and is preferably integrated in each of the electromechanical brakes (5). Braking system according to one of the Claims 2 until 4 , characterized in that the energy storage subsystem (9) has at least one higher-level electrical energy storage device (9c). Braking system (1) according to one of the preceding claims, characterized in that the energy storage subsystem (9) is designed to provide additional electrical energy for the service brake function and/or for other auxiliary consumers in addition to the reserve charge (q _R ). Braking system (1) according to one of the Claims 1 until 3 , characterized in that the braking system (1) has a braking control subsystem (13) which has a higher-level control module (13a) and at least one control unit (13b) for each axle (11) of the vehicle (100), and the braking control subsystem (13) is designed to send signals (S) to the electromechanical brakes (5) for actuating them. Braking system (1) according to Claim 7 , characterized in that the higher-level control module (13a) is designed to monitor the parking brake function (B _P ) of the braking system (1) for proper functioning and to generate an emergency actuation signal (S _N ) in the event of a critical error. Braking system (1) according to Claim 7 or 8th , characterized in that the at least one control unit (13b) is designed to monitor the braking system for proper functioning and to generate the emergency actuation signal (S _N ) in the event of a critical error. Braking system (1) according to one of the Claims 7 until 9 , characterized in that the higher-level control module (13a) is integrated into a parking brake control unit (15) for the parking brake function (B _P ), or is designed to be controlled externally. Braking system (1) according to one of the preceding claims, characterized in that the braking system (1) has a locking mechanism (17) which has a locking position (M _S ) and a release position (M _F ) and is designed to hold the electromechanical brakes (5) in the locking position after a desired clamping force has been reached or when a critical amount of energy in the electrical energy storage subsystem (9) is undershot. Braking system (1) according to one of the preceding claims, characterized in that the electromechanical brakes (5) each have an electrical control module (13c), a motor control unit (19). Braking system (1) according to Claim 12 , characterized in that the respective electrical control module (13c) is designed to receive the emergency actuation signal (S _N ), and the engine control unit (19) is designed to convert the emergency actuation signal (S _N ) into a mechanical movement within the electromechanical brake (5) by means of the reserve charge (q _R ), by means of which a clamping force acting on the respective wheel is generated. Braking system (1) according to Claim 12 or 13 , characterized in that the electrical control modules (13c) of the electromechanical brakes (5) are designed to execute the emergency braking function (B _N ) upon detection of a critical system state. Vehicle (100), in particular a commercial vehicle, with an on-board electrical system (200) and a braking system (1) connected to the on-board electrical system (200), characterized in that the braking system (1) is designed according to one of the preceding claims. Method for controlling a braking system (1) of a vehicle (100), in particular a commercial vehicle, further in particular a braking system (1) according to one of the Claims 1 until 14 , the method comprising: - controlling a plurality of electromechanical brakes (5) such that application processes for exercising a parking brake function (B _P ), a service brake function (B _B ) and/or an emergency brake function (B _N ) are carried out, and - storing a reserve charge (q _R ) for at least one last application process for exercising the emergency brake function (B _N ) in the brake system (1) in a dedicated energy storage subsystem (9) of the brake system (1). Procedure according to Claim 15 , characterized in that the application process for exercising the emergency braking function (B _N ) is carried out using the reserve charge (q _R ). Procedure according to Claim 16 or 17 , comprising one, several or all of the following steps: - providing, in addition to the reserve charge (q _R ), additional electrical energy for the service brake function (B _B ) and/or for other auxiliary consumers; - sending signals (S) to the electromechanical brakes (5) to actuate them; - monitoring the parking brake function (B _P ) of the braking system (1) for proper functioning and generating an emergency actuation signal (S _N ) in the event of a critical error; - monitoring the braking system for proper functioning and generating an emergency actuation signal (S _N ) in the event of a critical error; - controlling the higher-level control module (13a) externally; - holding the electromechanical brakes (5) in the locked position after a desired clamping force has been reached or when a critical amount of energy in the electrical energy storage subsystem (9) falls below; - Receiving the emergency actuation signal (S _N ) and converting the emergency actuation signal (S _N ) into a mechanical movement within the electromechanical brake (5), by means of the reserve charge (q _R ); - execution of the emergency braking function (B _N ).

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