DE3838536A1 - Antilock control system - Google Patents

Antilock control system

Info

Publication number
DE3838536A1
DE3838536A1 DE19883838536 DE3838536A DE3838536A1 DE 3838536 A1 DE3838536 A1 DE 3838536A1 DE 19883838536 DE19883838536 DE 19883838536 DE 3838536 A DE3838536 A DE 3838536A DE 3838536 A1 DE3838536 A1 DE 3838536A1
Authority
DE
Germany
Prior art keywords
low
control system
select
load
lock control
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.)
Granted
Application number
DE19883838536
Other languages
German (de)
Other versions
DE3838536C2 (en
Inventor
Steffen Dipl Ing Fuchs
Alfred Dipl Ing Sigl
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE19883838536 priority Critical patent/DE3838536C2/en
Publication of DE3838536A1 publication Critical patent/DE3838536A1/en
Application granted granted Critical
Publication of DE3838536C2 publication Critical patent/DE3838536C2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
    • 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
    • B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/61—Load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/22—Braking, stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/915—Suspension load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/92—ABS - Brake Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/93—Skid or slide control [ASR]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Regulating Braking Force (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)

Abstract

An antilock control system is described in which the system switches between individual control and select-low control on the rear axle as a function of the load on the rear axle.

Description

Stand der TechnikState of the art

Bei Fahrzeugen mit wechselnder hoher Radlast, wie zum Beispiel Nutzfahrzeuge, werden die Vorderräder häufig individuell und die Hinterräder entweder indivi­ duell oder gemäß select-low (das zuerst Blockierneigung zeigende Rad löst die Regelung aus) geregelt. Zur Vermeidung eines hohen Giermoments bei µ-Split- Bedingungen wird in beiden Fällen oft noch eine Giermomentenaufbauverzögerung vorgesehen. Bei dieser wird bekanntlich bei Regelbeginn am einen Rad der Brems­ druck am anderen Rad verzögert aufgebaut; z.B. wird gepulst aufgebaut oder zeit­ weise konstant gehalten und gegebenenfalls kurzzeitig sogar Druck abgebaut.For vehicles with changing high wheel loads, such as commercial vehicles, the front wheels are often individual and the rear wheels are either individual duel or according to select-low (the wheel that shows the first tendency to lock releases the Regulation off) regulated. To avoid high yaw moment in µ-split In both cases, conditions often become a yaw moment build-up delay intended. This is known to be the brake on one wheel at the beginning of the rule pressure built up on the other wheel with a delay; e.g. is built up pulsed or time kept constant and possibly even briefly reduced pressure.

Es sind bei Nutzfahrzeugen auch lastabhängige Bremskraftregler (ALB) bekannt, die in Abhängigkeit von der Last der Hinterachse durch Messen des Einfederwegs das Bremsdruckverhältnis Vorderräder/Hinterräder verändern.Load-dependent brake force regulators (ALB) are also known in commercial vehicles, depending on the load on the rear axle by measuring the spring deflection change the brake pressure ratio front wheels / rear wheels.

Vorteile der ErfindungAdvantages of the invention

Obwohl bei der erfindungsgemäßen Ausbildung des Antiblockierreglers eine Indivi­ dualregelung, also die allgemein als ideal angesehene Regelungsart, auch an den Hinterrädern möglich ist, verzichtet die Erfindung bei geringer Beladung auf diese Optimalregelung und schaltet eine sonst als weniger günstig angesehene Regelungsart ein. Diese Umschaltung beruht auf der Erkenntnis, daß die Indivi­ dualregelung der Hinterachse zwar bei µ-Split-Bedingungen (also stark unterschied­ licher Reibwert auf den beiden Fahrzeugseiten) und hoher Hinterachslast günstig ist, nicht jedoch bei geringer Last und µ-Split-Bedingungen. Es hat sich viel­ mehr gezeigt, daß bei diesen Bedingungen eine select-low-Regelung ein Fahr­ verhalten liefert.Although in the design of the anti-lock controller according to the invention an individual dual regulation, i.e. the type of regulation generally regarded as ideal, also for the Rear wheels is possible, the invention dispenses with a low load this optimal control and switches an otherwise considered less favorable Regulation type. This switching is based on the knowledge that the Indivi dual control of the rear axle under µ-split conditions (i.e. very different low coefficient of friction on both sides of the vehicle) and high rear axle load is, but not at low load and µ-split conditions. A lot has happened more shown that under these conditions a select-low control a driving behavior delivers.

Eine weitere Verbesserung ergibt sich durch eine zusätzliche Umschaltung der Giermomentenaufbauverzögerung. Zur Ableitung des Umschaltsignals für beide Umschaltungen kann der Einfederweg gemessen werden, was z.B. der Sensor eines ALB tut, oder der Druck bei Luftfederung oder Niveauregelung.A further improvement results from an additional switchover of the Yaw moment build-up delay. To derive the changeover signal for both Switching over the spring deflection can be measured, which e.g. the sensor of one ALB does, or the pressure with air suspension or level control.

FigurenbeschreibungFigure description

Anhand der Fig. der Zeichnung wird ein Ausführungsbeispiel der Erfindung erläu­ tert.With reference to the Fig. Of the drawing, an embodiment of the invention is tert tert.

In der Zeichnung sind mit 1 und 2 den Vorderrädern zugeordnete Meßwertgeber für die Radgeschwindigkeit bezeichnet. Den Hinterrädern zugeordnete entsprechende Meßwertgeber sind mit 3 und 4 bezeichnet. Die Signale der Meßwertgeber 1 und 2 werden einer zweikanaligen Auswerteschaltung 5 zugeführt, die bei Blockiernei­ gung aus den Signalen der Meßwertgeber 1 und 2 Bremsdrucksteuersignale für die jeweils zugehörige Radbremse ableitet (Individualregelung). Die Art der Regelung (Schlupfregler, Verzögerungsregler, Mischregler usw.) ist für die vorliegende Erfindung unwesentlich. Eine Individualregelung liegt auch noch vor, wenn in der Auswerteschaltung aus den Signalen beider Kanäle Referenzsignale (z.B. der Fahrzeuggeschwindigkeit) für beide Kanäle abgeleitet werden. Die in der Auswerte­ schaltung 5 erzeugten Bremsdrucksteuersignale werden den beiden Radbremsen zuge­ ordnete 3/3- Ventile 6 zugeführt, von denen jedes eine Bremsdruckabsenkstellung, eine Konstanthaltestellung und einen Druckaufbaustellung aufweist. In the drawing, 1 and 2 assigned to the front wheels are sensors for the wheel speed. Corresponding sensors assigned to the rear wheels are denoted by 3 and 4 . The signals of the sensors 1 and 2 are fed to a two-channel evaluation circuit 5 which , in the case of blocking, derives brake pressure control signals for the respective wheel brake from the signals of the sensors 1 and 2 (individual control). The type of control (slip controller, delay controller, mixer controller, etc.) is not essential to the present invention. There is also an individual control if reference signals (eg vehicle speed) for both channels are derived from the signals of both channels in the evaluation circuit. The brake pressure control signals generated in the evaluation circuit 5 are assigned to the three wheel brakes assigned 3/3 valves 6 , each of which has a brake pressure lowering position, a constant hold position and a pressure build-up position.

Den Hinterrädern ist ein entsprechendes Individualregelsystem zugeordnet, be­ stehend aus den Meßwertgebern 3 und 4, einer zweikanaligen Auswerteschaltung 7 a und 7 b und Bremsdrucksteuerventilen 8. Die Regelungsart Individualregelung ist dann wirksam, wenn die Hinterachse eine vorgegebene Belastung aufweist. Das Signal zur Einschaltung der Individualregelung wird mit Hilfe eines Sensors 9 und eines Vergleichers 10 gewonnen, die anhand des Einfederwegs oder des Drucks der Federung feststellen, ob die Hinterachse mit einer vorgegebenen Last belastet ist. Ist dies nicht der Fall, so wird auf select-low-Regelung umgeschaltet. Bei dieser Regelungsart wird durch den Block 7 c der Druck an beiden Rädern gemeinsam geregelt (über Oder-Gatter 11 eingekoppelt), und zwar durch die Signale des zuerst Blockierneigung zeigenden Rads.A corresponding individual control system is assigned to the rear wheels, consisting of the sensors 3 and 4 , a two-channel evaluation circuit 7 a and 7 b and brake pressure control valves 8 . The individual control mode is effective when the rear axle has a specified load. The signal for switching on the individual control is obtained with the aid of a sensor 9 and a comparator 10 , which determine on the basis of the spring deflection or the pressure of the suspension whether the rear axle is loaded with a predetermined load. If this is not the case, the system switches to select-low control. In this control mode, the pressure at both wheels is determined by the block 7 c controlled together (coupled via OR gate 11), by the signals of the first locking tendency facing wheel.

Zusätzlich kann durch das Signal des Vergleichers 10 auch noch die Giermomenten­ aufbauverzögerung an den Vorderrädern (Leitung 12) umgeschaltet werden derart, daß bei hoher Last und Individualregelung eine stärkere Giermomentenaufbauver­ zögerung wirksam ist.In addition, the yaw moment build-up delay on the front wheels (line 12 ) can also be switched over by the signal of the comparator 10 such that a stronger yaw moment build-up delay is effective at high load and individual control.

Durch die erfindungsgemäße Ausbildung des Reglers wird bei unterschiedlichen Belastungszuständen eine Optimierung des Bremsweges bei stabilem Fahrzeugver­ halten erzielt.Due to the inventive design of the controller is different Load conditions an optimization of the braking distance with stable vehicle ver keep achieved.

Claims (4)

1. Antiblockierregelsystem für ein Fahrzeug mit wechselnder Hinterachslast insbesondere Nutzfahrzeug, wobei dieses Antiblockierregelsystem derart ausgelegt ist, daß der Bremdruck an allen Rädern individuele regelbar ist, dadurch gekennzeichnet, daß die Regelung an den Hinterrädern auf select-low umschaltbar ist und daß diese Umschaltung auf select-low bei einer geringen Belastung der Hinterachse erfolgt.1. Anti-lock control system for a vehicle with changing rear axle load, in particular commercial vehicle, this anti-lock control system being designed in such a way that the brake pressure on all wheels can be regulated individually, characterized in that the control on the rear wheels can be switched to select-low and that this switchover to select -low takes place at a low load on the rear axle. 2. Antiblockierregelsystem nach Anspruch 1, bei dem an den Radbremsen der Vorderachse eine Giermomentenaufbauverzögerung wirksam ist, dadurch gekennzeichnet, daß mit dem Umschalten auf select-low-Regelung an der Hinterachse auch die Giermomentenaufbauverzögerung an der Vorderachse im Sinne einer Abschwächung der Giermomentenaufbauverzögerung umge­ schaltet wird. 2. Anti-lock control system according to claim 1, in which on the wheel brakes A yaw moment build-up delay is effective in the front axle characterized in that with switching to select-low control at the Rear axle also the yaw moment build-up delay on the front axle vice versa in the sense of a weakening of the yaw moment build-up delay is switched.   3. Antiblockierregelsystem nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß das Umschaltsignal auf select-low aus dem Einfederweg des Fahrzeuges durch einen lastabhängigen Meßwertgeber abgeleitet wird.3. Anti-lock control system according to claim 1 or 2, characterized in that the switchover signal to select-low from the travel of the vehicle is derived by a load-dependent sensor. 4. Antiblockierregelsystem nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß das Umschaltsignal auf select-low aus einer Druckmessung (bei Fahr­ zeugen mit Niveauregelung oder luftgefederten Fahrzeugen) abgeleitet wird.4. Anti-lock control system according to claim 1 or 2, characterized in that the switchover signal to select-low from a pressure measurement (when driving testify with level control or air-sprung vehicles) becomes.
DE19883838536 1988-11-14 1988-11-14 Anti-lock control system Expired - Fee Related DE3838536C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19883838536 DE3838536C2 (en) 1988-11-14 1988-11-14 Anti-lock control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19883838536 DE3838536C2 (en) 1988-11-14 1988-11-14 Anti-lock control system

Publications (2)

Publication Number Publication Date
DE3838536A1 true DE3838536A1 (en) 1990-05-17
DE3838536C2 DE3838536C2 (en) 1998-06-18

Family

ID=6367127

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19883838536 Expired - Fee Related DE3838536C2 (en) 1988-11-14 1988-11-14 Anti-lock control system

Country Status (1)

Country Link
DE (1) DE3838536C2 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4116373A1 (en) * 1991-05-18 1992-11-19 Teves Gmbh Alfred CIRCUIT ARRANGEMENT FOR CONTROLLING THE BRAKE PRESSURE FOR A BRAKE SYSTEM WITH ANTI-BLOCK CONTROL
EP0655374A2 (en) * 1993-11-25 1995-05-31 Grau Gmbh Anti-lock brake system for vehicles
WO1995032113A1 (en) * 1994-05-21 1995-11-30 Itt Automotive Europe Gmbh Circuit arrangement for a braking system with electronic regulation of the braking power distribution
DE19619381A1 (en) * 1996-05-14 1997-11-20 Wabco Gmbh Yaw moment mitigation method in an anti-lock braking system
DE4429494C2 (en) * 1994-08-19 2000-05-31 Bosch Gmbh Robert Anti-lock control system
WO2005051737A1 (en) * 2003-11-26 2005-06-09 Daimlerchrysler Ag Method and device for carrying out a braking process

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2532332A1 (en) * 1975-07-19 1977-02-03 Bosch Gmbh Robert BRAKE SYSTEM WITH A LOAD DEPENDENT BRAKE PRESSURE REGULATOR
DE2757911A1 (en) * 1977-12-24 1979-06-28 Bosch Gmbh Robert BLOCK PROTECTION CONTROL DEVICE
DE2830580A1 (en) * 1978-07-12 1980-02-28 Wabco Fahrzeugbremsen Gmbh METHOD AND DEVICE FOR REGULATING THE BRAKE PRESSURE IN BLOCK-PROTECTED VEHICLE BRAKE SYSTEMS
DE3215614A1 (en) * 1982-04-27 1983-02-03 Anna Dorothea 8000 München Sapunarow-Ryffel Hydraulic single-tube shock absorber with damping control
EP0256283A2 (en) * 1986-08-07 1988-02-24 Robert Bosch Gmbh Vehicle brake installation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2532332A1 (en) * 1975-07-19 1977-02-03 Bosch Gmbh Robert BRAKE SYSTEM WITH A LOAD DEPENDENT BRAKE PRESSURE REGULATOR
DE2757911A1 (en) * 1977-12-24 1979-06-28 Bosch Gmbh Robert BLOCK PROTECTION CONTROL DEVICE
DE2830580A1 (en) * 1978-07-12 1980-02-28 Wabco Fahrzeugbremsen Gmbh METHOD AND DEVICE FOR REGULATING THE BRAKE PRESSURE IN BLOCK-PROTECTED VEHICLE BRAKE SYSTEMS
DE3215614A1 (en) * 1982-04-27 1983-02-03 Anna Dorothea 8000 München Sapunarow-Ryffel Hydraulic single-tube shock absorber with damping control
EP0256283A2 (en) * 1986-08-07 1988-02-24 Robert Bosch Gmbh Vehicle brake installation

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4116373A1 (en) * 1991-05-18 1992-11-19 Teves Gmbh Alfred CIRCUIT ARRANGEMENT FOR CONTROLLING THE BRAKE PRESSURE FOR A BRAKE SYSTEM WITH ANTI-BLOCK CONTROL
WO1992020555A1 (en) * 1991-05-18 1992-11-26 Alfred Teves Gmbh Circuit arrangement for controlling the build-up pressure in an anti-lock braking system
US5452947A (en) * 1991-05-18 1995-09-26 Iit Automotive Europe Gmbh Circuit configuration for regulating the brake pressure build-up for a brake system comprising an anti-locking control
EP0655374A2 (en) * 1993-11-25 1995-05-31 Grau Gmbh Anti-lock brake system for vehicles
EP0655374A3 (en) * 1993-11-25 1996-01-03 Grau Gmbh Anti-lock brake system for vehicles.
WO1995032113A1 (en) * 1994-05-21 1995-11-30 Itt Automotive Europe Gmbh Circuit arrangement for a braking system with electronic regulation of the braking power distribution
US5887957A (en) * 1994-05-21 1999-03-30 Itt Automotive Europe Gmbh Circuit arrangement for a brake system with electronic brake force distribution control
DE4429494C2 (en) * 1994-08-19 2000-05-31 Bosch Gmbh Robert Anti-lock control system
DE19619381A1 (en) * 1996-05-14 1997-11-20 Wabco Gmbh Yaw moment mitigation method in an anti-lock braking system
US6044319A (en) * 1996-05-14 2000-03-28 Wabco Gmbh Process for attenuating the yawing moment in a vehicle with an anti-lock brake system (ABS)
WO2005051737A1 (en) * 2003-11-26 2005-06-09 Daimlerchrysler Ag Method and device for carrying out a braking process

Also Published As

Publication number Publication date
DE3838536C2 (en) 1998-06-18

Similar Documents

Publication Publication Date Title
EP0051801B1 (en) Antiskidsystem
EP0103580B1 (en) Braking power regulator
DE4038079B4 (en) Vehicle with an anti-skid control
DE3933653B4 (en) A wheel slip
DE3912555C2 (en)
DE3606797A1 (en) CONTROL SYSTEM FOR THE VEHICLE SPEED OF A ROAD VEHICLE
EP0529280B1 (en) Brake pressure control device for vehicle
DE3502051A1 (en) BRAKE PRESSURE CONTROL DEVICE
DE4214182C2 (en) Brake pressure control device for brake pad wear optimization in a motor vehicle
DE3925828C2 (en) Anti-lock control system
DE3838536C2 (en) Anti-lock control system
WO1991014604A1 (en) Antilock braking system
DE4140752A1 (en) SEMIAACTIVE CHASSIS CONTROL SYSTEM
EP0497938B1 (en) Method of operating a vehicle
DE3201045A1 (en) Antilock brake system for vehicles
DE3916513A1 (en) METHOD FOR DETERMINING AND SETTING AN OPTIMAL MEDIUM BRAKE DELAY
EP0552435A2 (en) Method and device for generating a signal for driving a chassis control system
EP0493493B1 (en) Antilock braking system
EP0465470B1 (en) An anti-lock regulating system
EP0881973B1 (en) Process and device for adjusting the braking effect in a vehicle
EP0494194B1 (en) Brake pressure regulating system
EP0448568B1 (en) Antilock braking system
DE4219750B4 (en) Anti-lock control system
DE3518340A1 (en) TRUCK VEHICLE WITH A DOUBLE AXLE UNIT
DE3943860B4 (en) Vehicle movement control method - using brakes to maintain stability depending on difference between wanted and measured yaw

Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
8110 Request for examination paragraph 44
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee