DE10332207A1 - Method for controlling a brake system and brake system for a vehicle - Google Patents
Method for controlling a brake system and brake system for a vehicle Download PDFInfo
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- DE10332207A1 DE10332207A1 DE10332207A DE10332207A DE10332207A1 DE 10332207 A1 DE10332207 A1 DE 10332207A1 DE 10332207 A DE10332207 A DE 10332207A DE 10332207 A DE10332207 A DE 10332207A DE 10332207 A1 DE10332207 A1 DE 10332207A1
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- vehicle
- brake system
- recuperation
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- 238000010276 construction Methods 0.000 description 1
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- 230000001934 delay Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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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
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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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
- B60T13/10—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
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
- B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
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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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1764—Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
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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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
- B60T8/267—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means for hybrid systems with different kind of brakes on different axles
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- 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
- B60W2520/10—Longitudinal speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Regulating Braking Force (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Steuerung eines Bremssystems (5) und ein Bremssystem (5) für ein Fahrzeug mit einer Reibungsbremsanlage (7) und einer Rekuperationsbremsanlage (9). Das Fahrzeug ist durch einen Elektromotor (35) angetrieben, der als Bestandteil der Rekuperationsbremsanlage (9) zum Abbremsen des Fahrzeugs von einem Motorbetriebszustand in einen Generatorbetriebszustand umschaltbar ist. Eine Steuereinrichtung (31) steuert ausschließlich die Reibungsbremsanlage (7) zum Abbremsen des Fahrzeugs an, wenn eine vorgegebene Abschaltbedingung erfüllt ist. Die Abschaltbedingung ist erfüllt, wenn zumindest eine der beiden folgenden Kriterien erfüllt ist: DOLLAR A - eine die Fahrzeuglängsdynamik beschreibende Längsdynamikgröße liegt außerhalb eines zulässigen Bereiches; DOLLAR A - die Raddrehzahldifferenz der angetriebenen Fahrzeugräder einer Fahrzeugachse ist größer als ein Drehzahlschwellenwert.The invention relates to a method for controlling a brake system (5) and a brake system (5) for a vehicle having a friction brake system (7) and a recuperation brake system (9). The vehicle is driven by an electric motor (35), which as part of the recuperation brake system (9) for braking the vehicle can be switched from an engine operating state to a generator operating state. A control device (31) controls only the friction brake system (7) for braking the vehicle when a predetermined switch-off condition is met. The switch-off condition is fulfilled if at least one of the following two criteria is met: DOLLAR A - a longitudinal dynamic variable describing the vehicle longitudinal dynamics is outside a permissible range; DOLLAR A - the wheel speed difference of the driven vehicle wheels of a vehicle axle is greater than a speed threshold.
Description
Die Erfindung betrifft ein Verfahren zur Steuerung eines eine Reibungsbremsanlage und eine Rekuperationsbremsanlage aufweisenden Bremssystems eines Fahrzeugs, das durch einen Elektromotor angetrieben wird, der als Bestandteil der Rekuperationsbremsanlage zum Abbremsen des Fahrzeugs als Generator betreibbar ist, wobei ausschließlich die Reibungsbremsanlage zum Abbremsen des Fahrzeugs verwendet wird, wenn eine vorgegebene Abschaltbedingung erfüllt ist. Die Erfindung betrifft auch ein Bremssystem zur Durchführung dieses Verfahrens.The The invention relates to a method for controlling a friction brake system and a recuperative brake system having a brake system Vehicle, which is driven by an electric motor, as Part of the recuperation brake system for braking the vehicle as a generator is operable, with only the friction brake system is used to decelerate the vehicle when a predetermined shutdown condition Fulfills is. The invention also relates to a brake system for carrying out this Process.
Ein
derartiges Verfahren bzw. ein derartiges Bremssystem sind aus der
Ausgehend vom nächstkommenden Stand der Technik ist es die Aufgabe der vorliegenden Erfindung ein Verfahren zur Steuerung des Bremssystems bzw. ein Bremssystem anzugeben, dass eine erhöhte Fahrsicherheit gewährleistet.outgoing from the nearest The state of the art is the object of the present invention a method for controlling the brake system or a brake system indicate that an increased Driving safety ensured.
Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Abschaltbedingung nur dann erfüllt ist, wenn eine die Fahrzeuglängsdynamik beschreibende Längsdynamikgröße außerhalb eines zulässigen Bereiches liegt – oder wenn die Raddrehzahldifferenz der betriebenen Fahrzeugräder einer Fahrzeugachse größer ist als ein Drehzahlschwellenwert.The The object is achieved in that the shutdown condition is only met if one is the vehicle longitudinal dynamics descriptive longitudinal dynamics variable outside a permissible one Range is - or if the wheel speed difference of the operated vehicle wheels a Vehicle axle is larger as a speed threshold.
Sobald die Längsdynamikgröße des Fahrzeugs außerhalb des zulässigen Bereichs liegt, sind fahrdynamische Fahrzeugzustände gegeben, bei denen eine erhöhte Sicherheit während eines Bremsvorgangs erreicht wird, wenn die Verzögerung ausschließlich über die Reibungsbremsanlage erfolgt. Beispielsweise kann bei sehr hohen Verzögerungsanforderungen, wie Notbremsvorgängen, mit der Reibungsbremsanlage eine deutliche höhere Bremskraftaufbau- bzw. Bremskraftabbaudynamik mit entsprechend kürzerem Bremsweg und einer Schlupfregelung realisiert werden. Zudem wird das Verzögern mit der Rekuperationsbremsanlage verzichtet, wenn die Raddrehzahldifferenz der angetriebenen Fahrzeugräder, einer gemeinsamen Fahrzeugachse größer ist als ein Drehzahlschwellenwert. Dies ist beispielsweise bei sogenannten μ-Split-Bremsvorgängen der Fall, die ebenfalls einen fahrdynamisch kritischen Zustand darstellen und Rad individuelle, schnelle Bremskraftänderungen erfordern, die über die Rekuperationsbremsanlage nicht zu leisten sind.As soon as the longitudinal dynamics of the vehicle outside the permissible Vehicle dynamic conditions are given, where a increased Security during a braking process is achieved when the delay exclusively on the Friction brake system takes place. For example, at very high Delay requirements, like emergency braking, with the friction brake a significantly higher Bremskraftaufbau- or Brake power reduction dynamics with correspondingly shorter braking distance and a slip control will be realized. In addition, the delay with the recuperation brake system waived if the wheel speed difference of the driven vehicle wheels, a common vehicle axle is larger as a speed threshold. This is the case of so-called μ-split braking processes, for example Case, which also represent a dynamic driving condition and wheel require individual, fast braking force changes over the Recuperation brake system can not be afforded.
Als Längsdynamikgröße kommt eine oder eine Verknüpfung von mehreren der folgenden Größen in Betracht: Fahrzeuglängsgeschwindigkeit, Fahrzeuglängsverzögerung, eine zeitliche Ableitung der Fahrzeuglängsgeschwindigkeit und/oder der Fahrzeuglängsverzögerung und/oder eine mit der Fahrzeuglängsverzögerung und/oder der Fahrzeuglängsgeschwindigkeit korrelierte Größe.When Longitudinal dynamics come one or a link of several of the following sizes: Vehicle longitudinal speed, vehicle longitudinal deceleration, a time derivative of the vehicle longitudinal speed and / or the vehicle longitudinal deceleration and / or one with the vehicle longitudinal delay and / or the vehicle longitudinal speed correlated size.
Insgesamt ist festzustellen, dass sobald zumindest eines der genannten Kriterien erfüllt ist, der Bremsvorgang lediglich mit der Reibungsbremsanlage durchgeführt wird. Die Rekuperationsbremsanlage wird erfindungsgemäß bereits deaktiviert, bevor aufgrund einer fahrdynamisch kritischen Situation eine fahrdynamische Regelung, wie z.B. eine Schlupfregelung erfolgt. Aus diesem zeitlichen Vorsprung ergibt sich eine erhöhte Fahr- bzw. Verkehrssicherheit.All in all It should be noted that as soon as at least one of the criteria mentioned Fulfills is, the braking operation is performed only with the friction brake system. The recuperation brake system is already deactivated according to the invention before a driving dynamic critical situation a driving dynamics control, such as. a slip control takes place. For this time advantage results in an increased Road safety.
Vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens ergeben sich aus den abhängigen Patentansprüchen.advantageous Embodiments of the method according to the invention arise from the dependent ones Claims.
Vorteilhafterweise liegt die Längsdynamikgröße dann außerhalb eines zulässigen Bereiches, wenn die tatsächliche oder die angeforderte Verzögerung größer ist als ein Verzögerungsschwellenwert. Anhand des Verzögerungsschwellenwertes kann eine Grenze angegeben werden, oberhalb der Fahrzeugverzögerungen vorliegen, die potentiell zu sicherheitskritischen Fahrzuständen führen können, oder die derart hoch sind, dass sie durch die Rekuperationsbremsanlage nicht, oder nicht schnell genug erreicht werden können. In diesen Fällen wird dann lediglich die Reibungsbremsanlage aktiviert.advantageously, is the longitudinal dynamics size then outside a permissible one Range, if the actual or the requested delay is larger as a delay threshold. Based on the delay threshold can a limit is specified above the vehicle delays that can potentially lead to safety-critical driving conditions, or which are so high that they through the Rekuperationsbremsanlage not, or can not be achieved fast enough. In these cases then only the friction brake system is activated.
Die Längsdynamikgröße kann außerhalb des zulässigen Bereichs liegen, wenn die Fahrzeuglängsgeschwindigkeit kleiner ist als ein Geschwindigkeitsschwellenwert. Unterhalb dieses Geschwindigkeitsschwellenwertes kann durch die Rekuperationsbremsanlage keine ausreichende Verzögerungswirkung erzielt werden, so dass in diesen Fällen ausschließlich die Reibungsbremsanlage zur Fahrzeugverzögerung verwendet wird.The Longitudinal dynamics can outside the permissible Range when the vehicle's longitudinal speed is lower is considered a speed threshold. Below this speed threshold can by the Rekuperationsbremsanlage no sufficient delay effect be achieved, so that in these cases only the Friction brake system is used for vehicle deceleration.
Es ist vorteilhaft, wenn der Geschwindigkeitsschwellenwert und/oder der Verzögerungsschwellenwert in Abhänghängigkeit von einer oder mehreren Fahrzustandsgrößen des Fahrzeugs be stimmt werden. Auf diese Weise können einer oder beide Schwellenwerte an den jeweiligen Fahrzustand des Fahrzeugs angepasst werden. Insbesondere können der Geschwindigkeitsschwellenwert und/oder der Verzögerungsschwellenwert in Abhängigkeit vom Ladezustand der den Elektromotor speisenden Batterie ermittelt werden. Beispielsweise kann der Verzögerungsschwellenwert umso kleiner gewählt werden, je geringer die aktuelle Ladekapazität der Batterie ist. Es ist auch möglich den Geschwindigkeitsschwellenwert um so größer zu wählen, je geringer die aktuelle Ladekapazität der Batterie ist.It is advantageous if the speed threshold value and / or the deceleration threshold value are determined as a function of one or more driving state variables of the vehicle. In this way, one or both threshold values can be adapted to the respective driving state of the vehicle. In particular, the speed threshold and / or the delay threshold may be dependent gigkeit of the state of charge of the electric motor feeding battery can be determined. For example, the lower the current charge capacity of the battery, the smaller the delay threshold value may be. It is also possible to select the speed threshold the greater the lower the current charge capacity of the battery.
Bei einer weiteren Ausgestaltung liegt die Längsdynamikgröße außerhalb des zulässigen Bereiches, wenn die Auslösung bzw. Anforderung eines Notbremsvorganges mit maximalem Bremsdruck erkannt wurde. Sobald der Fahrer manuell oder das Bremssystem automatisch einen Notbremsvorgang mit maximalem Bremsdruck bzw. maximaler Bremskraft anfordert oder auslöst, wird für das Fahrzeug die größtmögliche Fahrzeugverzögerung angefordert. Die Längsdynamikgröße, die in diesem Fall die Fahrzeugverzögerung beschreibt, liegt dann außerhalb eines zulässigen Bereiches, so dass lediglich die Reibungsbremsanlage zur Fahrzeugverzögerung eingesetzt wird. Da in diesem Verzögerungsbereich häufig kritische Fahrzustände auftreten, beispielsweise muss eine Bremsschlupfregelung aktiviert werden, ist aus Gründen der Fahrsicherheit lediglich die Reibungsbremsanlage aktiviert, die eine hohe Dynamik bei der Bremsdruck- bzw. Bremskraftänderung gewährleistet.at In another embodiment, the longitudinal dynamic quantity is outside the permissible Range when the trigger or requesting an emergency braking process with maximum brake pressure was detected. Once the driver manually or the braking system automatically an emergency braking with maximum brake pressure or maximum braking force requests or triggers, is for the vehicle requested the largest possible vehicle deceleration. The Longitudinal dynamics, the in this case the vehicle deceleration describes, then lies outside one permissible Range, so that only the friction brake system used for vehicle deceleration becomes. Because in this delay area often critical driving conditions occur, for example, a brake slip control must be activated be, is for reasons the driving safety activates only the friction brake system, the high dynamics in the Bremsdruck- or braking force change guaranteed.
Es ist weiterhin vorteilhaft, wenn die bereits aktivierte Rekuperationsbremsanlage während eines Bremsvorgangs deaktiviert wird, sobald die Abschaltbedingung erfüllt ist. Das heißt, dass bei erfüllter Abschaltbedingung nicht lediglich das Aktivieren der Rekuperationsbremsanlage verhindert wird, sondern, dass auch während eines bereits eingeleiteten Brems vorganges die Rekuperationsbremsanlage deaktiviert wird, sobald die Abschaltbedingung erfüllt ist. Dadurch wird die Fahrsicherheit weiter erhöht.It is also advantageous if the already activated recuperation brake system while a braking process is deactivated as soon as the shutdown condition Fulfills is. This means, that when fulfilled Shutdown condition not just activating the recuperation brake system is prevented, but that even during an already initiated braking process the recuperation brake system is deactivated as soon as the switch-off condition is satisfied. This further increases driving safety.
Zur Verbesserung der Dynamik beim Bremskraft- bzw. Bremsdruckaufbau wird bei nichterfüllter Abschaltbedingung zusätzlich zur Rekuperationsbremsanlage und insbesondere zuerst die Reibungsbremsanlage aktiviert.to Improvement of the dynamics in braking force or brake pressure build-up is when the shutdown condition is not fulfilled additionally to the recuperation brake system and in particular first the friction brake system activated.
Dabei kann die Rekuperationsbremsanlage und die Reibungsbremsanlage derart angesteuert werden, dass der Bremsschlupf an den angetriebenen Fahrzeugrädern und der Bremsschlupf an den nicht angetriebenen Fahrzeugrädern gleich groß ist.there can the recuperation brake system and the friction brake system such be controlled, that the brake slip on the driven vehicle wheels and the brake slip on the non-driven vehicle wheels same is great.
Im Folgenden wird ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens bzw. des erfindungsgemäßen Systems anhand der beigefügten Zeichnung näher erläutert. Es zeigen:in the Following is an embodiment of the inventive method or the system according to the invention based on the attached drawing explained in more detail. It demonstrate:
Der
genaue Aufbau des Hydraulikaggregates
Die
Bremspedalstellung wird durch einen Bremspedalsensor
Das
Bremssystem
Der
Elektromotor
Der
Elektromotor
Das
erfindungsgemäße Verfahren
wird anhand eines Ausführungsbeispiels
im Folgenden mit Bezug auf
Zum
Abbremsen bzw. zum Verzögern
des Fahrzeugs kann die Steuereinrichtung
Der
Bremspedalsensor
Wird
im ersten Schritt
Sobald
im ersten Schritt
Bei
nicht erfüllter
Abschaltbedingung wird das Verfahren im dritten Schritt
Nach
dem dritten Schritt
Ist
im zweiten Schritt
Nach
den Schritten
Zur
Feststellung im zweiten Schritt
Als
weiteres, zweites Kriterium zur Erfüllung der Abschaltbedingung
im zweiten Schritt
Die Längsdynamikgröße liegt außerhalb des zulässigen Bereiches, wenn die momentane oder die bei der Bremsanforderung angeforderte Fahrzeuglängsverzögerung größer ist, als ein Verzögerungsschwellenwert. In diesem Fall ist die Fahrzeuglängsverzögerung derart groß, dass mit einer Bremsschlupfregelung oder einer Fahrstabilitätsregelung gerechnet werden muss. Deshalb wird lediglich die Reibungsbremsanlage zur Fahrzeugverzögerung verwendet. Beispielsgemäß liegt die Längsdynamikgröße deshalb auch dann außerhalb des zulässigen Bereiches, wenn bei der Bremsanforderung ein Notbremsvorgang mit maximal möglichem Bremsdruck bzw. maximal möglicher Bremskraft ausgelöst bzw. angefordert wird.The Longitudinal dynamics size is outside the permissible Range, if the current or the brake request requested vehicle longitudinal deceleration is greater, as a delay threshold. In this case, the vehicle longitudinal deceleration is such large, that with a brake slip control or a driving stability control must be expected. Therefore, only the friction brake system for vehicle deceleration uses. By example the longitudinal dynamics quantity therefore even outside the permissible Range, if at the brake request with an emergency braking maximum possible Brake pressure or maximum possible Braking force triggered or is requested.
Die
Längsdynamikgröße liegt
auch dann außerhalb
des zulässigen
Bereiches, wenn die Fahrzeuglängsgeschwindigkeit
kleiner ist als ein Geschwindigkeitsschwellenwert. Bei Fahrzeuglängsgeschwindigkeiten
unterhalb dieses Geschwindigkeitsschwellenwertes kann durch die
Rekuperationsbremsanlage
Der
Geschwindigkeitsschwellenwert und/oder der Verzögerungsschwellenwert können entweder
fest vorgegeben oder aber auch abhängig von einer oder mehreren
Fahrzustandsgrößen des Fahrzeugs
bestimmt werden. Beispielsweise kann der Verzögerungsschwellenwert in Abhängigkeit
vom aktuellen Fahrbahnreibwert festgelegt werden. Bei einem niedrigen
Reibwert, der bereits bei geringen Bremskräften bzw. bei geringen Bremsdrücken eine Schlupfregelung
notwendig machen kann, wird der Verzögerungsschwellenwert entsprechend
klein gewählt
werden. Somit wird die Rekuperationsbremsanlage
Es
ist auch möglich,
den Geschwindigkeitsschwellenwert und/oder den Verzögerungsschwellenwert
in Abhängigkeit
vom aktuellen Ladezustand der den Elektromotor speisenden Batterie
zu ermitteln. Je geringer die aktuell verbleibende Ladekapazität der Batterie
noch ist, desto kleiner wird auch der Verzögerungsschwellenwert gewählt werden,
da die durch die Rekuperatoinsbremsanlage
Umgekehrt
wird mit abnehmender, noch verbleibender Ladekapazität der Batterie
der Geschwindigkeitsschwellenwert erhöht. Ist auf Grund der abnehmenden
Ladekapazität
der Batterie die maximal mögliche
Verzögerung
mittels der Rekuperationsbremsanlage
Claims (10)
Priority Applications (2)
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DE10332207A DE10332207A1 (en) | 2003-07-16 | 2003-07-16 | Method for controlling a brake system and brake system for a vehicle |
PCT/EP2004/007497 WO2005007474A1 (en) | 2003-07-16 | 2004-07-08 | Method for controlling a brake system and brake system for a vehicle |
Applications Claiming Priority (1)
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DE10332207A DE10332207A1 (en) | 2003-07-16 | 2003-07-16 | Method for controlling a brake system and brake system for a vehicle |
Publications (1)
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DE10332207A1 true DE10332207A1 (en) | 2005-02-03 |
Family
ID=33560145
Family Applications (1)
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DE10332207A Withdrawn DE10332207A1 (en) | 2003-07-16 | 2003-07-16 | Method for controlling a brake system and brake system for a vehicle |
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DE (1) | DE10332207A1 (en) |
WO (1) | WO2005007474A1 (en) |
Cited By (9)
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DE102007056359A1 (en) | 2007-11-16 | 2009-05-20 | Bayerische Motoren Werke Aktiengesellschaft | Brake system controlling method for e.g. hybrid vehicle, involves reducing brake torque applied by electrical-regenerative brake or friction brakes, where reduction of brake torque is not directly neutralized |
DE102009039615A1 (en) | 2009-09-01 | 2011-03-03 | Bayerische Motoren Werke Aktiengesellschaft | Deceleration system controlling method for motor vehicle, involves applying recuperation torque reduced with respect to determined target torque during existence of preset reduction conditions, and applying brake torque to wheel by brakes |
DE102009039614A1 (en) | 2009-09-01 | 2011-03-03 | Bayerische Motoren Werke Aktiengesellschaft | Deceleration system controlling method for e.g. hybrid vehicle, involves reducing reference-recuperation torque in overrun mode during detection of stability-critical condition or during assuming future stability critical condition |
DE102010062387A1 (en) * | 2010-03-19 | 2011-09-22 | Continental Teves Ag & Co. Ohg | Anti-blocking control method for controlling braking system of e.g. purely electrically driven motor car, involves compensating omitted generator braking torque by hydraulic pressure created by braking assistance system |
DE102010041853A1 (en) * | 2010-10-01 | 2012-04-05 | Continental Teves Ag & Co. Ohg | Method for controlling a motor vehicle brake system |
US8308248B2 (en) | 2007-04-05 | 2012-11-13 | Continental Teves Ag & Co. Ohg | Method for operating a vehicle brake system and vehicle brake system |
US8366210B2 (en) | 2006-04-03 | 2013-02-05 | Advics Co., Ltd. | Braking apparatus for vehicle |
WO2013189812A1 (en) * | 2012-06-19 | 2013-12-27 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle stabilization for a hybrid vehicle in the event of brake slip of the drive wheels or increased risk thereof |
DE102021100921A1 (en) | 2021-01-18 | 2022-07-21 | Audi Aktiengesellschaft | Electrohydraulic axle torque controller |
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DE102008000789A1 (en) * | 2008-03-20 | 2009-09-24 | Robert Bosch Gmbh | Method for regenerative braking of a vehicle |
DE102010055306A1 (en) * | 2009-12-22 | 2011-06-30 | Volk Fahrzeugbau GmbH, 88339 | Industrial truck with an anti-lock unit to avoid or reduce blocking of an impeller |
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US5378053A (en) * | 1993-12-07 | 1995-01-03 | Alliedsignal Inc. | Maximized regenerative braking vehicle braking controller |
DE4443814C1 (en) * | 1994-12-09 | 1996-02-01 | Daimler Benz Ag | Automobile engine brake or retarder control system |
DE19604134B4 (en) * | 1996-02-06 | 2004-11-11 | Robert Bosch Gmbh | Method and device for controlling the brake system of motor vehicles with an electric drive |
DE19810656A1 (en) * | 1998-03-12 | 1999-09-16 | Itt Mfg Enterprises Inc | Braking control method for electric or hybrid vehicles |
DE10204723A1 (en) * | 2002-02-05 | 2003-08-14 | Continental Teves Ag & Co Ohg | Procedure for coordinating the use of a regenerative and an anti-lock system |
-
2003
- 2003-07-16 DE DE10332207A patent/DE10332207A1/en not_active Withdrawn
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- 2004-07-08 WO PCT/EP2004/007497 patent/WO2005007474A1/en active Application Filing
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US8366210B2 (en) | 2006-04-03 | 2013-02-05 | Advics Co., Ltd. | Braking apparatus for vehicle |
US8308248B2 (en) | 2007-04-05 | 2012-11-13 | Continental Teves Ag & Co. Ohg | Method for operating a vehicle brake system and vehicle brake system |
DE102007056359B4 (en) * | 2007-11-16 | 2016-10-27 | Bayerische Motoren Werke Aktiengesellschaft | Method for controlling a brake system of a motor vehicle |
DE102007056359A1 (en) | 2007-11-16 | 2009-05-20 | Bayerische Motoren Werke Aktiengesellschaft | Brake system controlling method for e.g. hybrid vehicle, involves reducing brake torque applied by electrical-regenerative brake or friction brakes, where reduction of brake torque is not directly neutralized |
DE102009039614A1 (en) | 2009-09-01 | 2011-03-03 | Bayerische Motoren Werke Aktiengesellschaft | Deceleration system controlling method for e.g. hybrid vehicle, involves reducing reference-recuperation torque in overrun mode during detection of stability-critical condition or during assuming future stability critical condition |
DE102009039615A1 (en) | 2009-09-01 | 2011-03-03 | Bayerische Motoren Werke Aktiengesellschaft | Deceleration system controlling method for motor vehicle, involves applying recuperation torque reduced with respect to determined target torque during existence of preset reduction conditions, and applying brake torque to wheel by brakes |
DE102010062387A1 (en) * | 2010-03-19 | 2011-09-22 | Continental Teves Ag & Co. Ohg | Anti-blocking control method for controlling braking system of e.g. purely electrically driven motor car, involves compensating omitted generator braking torque by hydraulic pressure created by braking assistance system |
DE102010041853A1 (en) * | 2010-10-01 | 2012-04-05 | Continental Teves Ag & Co. Ohg | Method for controlling a motor vehicle brake system |
US9180780B2 (en) | 2010-10-01 | 2015-11-10 | Continental Teves Ag & Co. Ohg | Method for controlling a motor vehicle brake system |
WO2013189812A1 (en) * | 2012-06-19 | 2013-12-27 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle stabilization for a hybrid vehicle in the event of brake slip of the drive wheels or increased risk thereof |
US10668810B2 (en) | 2012-06-19 | 2020-06-02 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle stabilization for a hybrid vehicle in the event of brake slip of the drive wheels or increased risk thereof |
DE102021100921A1 (en) | 2021-01-18 | 2022-07-21 | Audi Aktiengesellschaft | Electrohydraulic axle torque controller |
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