EP2265479A1 - Method for controlling a vehicle braking system, the slip of which can be regulated electronically - Google Patents

Method for controlling a vehicle braking system, the slip of which can be regulated electronically

Info

Publication number
EP2265479A1
EP2265479A1 EP09725894A EP09725894A EP2265479A1 EP 2265479 A1 EP2265479 A1 EP 2265479A1 EP 09725894 A EP09725894 A EP 09725894A EP 09725894 A EP09725894 A EP 09725894A EP 2265479 A1 EP2265479 A1 EP 2265479A1
Authority
EP
European Patent Office
Prior art keywords
pressure
brake
valve
vehicle
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09725894A
Other languages
German (de)
French (fr)
Inventor
Karl-Heinz Willmann
Karl-Heinz Senger
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
Publication of EP2265479A1 publication Critical patent/EP2265479A1/en
Withdrawn legal-status Critical Current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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
    • B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • 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
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request

Definitions

  • the invention relates to a method for controlling an electronically slip-controllable vehicle brake system according to the generic features of claim 1.
  • Electronically slip-controllable vehicle brake systems are state of the art.
  • Known vehicle brake systems are able to decelerate individual wheels of a vehicle regardless of the driver's request, for example, to spend a vehicle in a stable driving condition (Electronic
  • Stability control to eliminate slip on the drive wheels (traction control system ASR) or to perform an adaptive speed or distance control to a preceding vehicle (Automatic cruise control; ACC).
  • ASR traction control system
  • ACC Automatic cruise control
  • an electronically slip-controllable vehicle brake system comprises a driver operable by foot pedal 12 brake booster 10 with a downstream master cylinder 14.
  • two identically constructed hydraulic brake circuits 16, 18 are connected to the master cylinder 14.
  • Each brake circuit 16, 18 serves to actuate two wheel brakes 20, 22; 24, 26.
  • a modulation of the prevailing in these wheel brakes 20 - 26 brake pressure is possible by means of solenoid valves, which are controlled by an electronic control unit 28.
  • the outlet of the pressure reduction valves of a brake circuit 16, 18 opens into a common return line 34.
  • a pressure medium reservoir 36 is connected to this return line 34.
  • the return line 34 leads to the suction side of a pressure generator 38 which is actuated by a controllable drive motor 39 and pressure medium under increased pressure to the pressure build-up valves 30 of the wheel brakes 20 - 26 and promotes the master cylinder 14.
  • the suction side of the pressure generator 38 is further connected to a suction line 40.
  • the latter connects the pressure generator 38 to the master brake cylinder 14 in the event that the pressure medium volume provided by the pressure medium reservoir 36 should not be sufficient for a required brake pressure build-up.
  • the suction line 40 is controlled by a so-called high-pressure switching valve 42.
  • each brake circuit 16, 18 equipped with a so-called switching valve 44. This is connected between the master cylinder 14 and the pressure build-up valve 30 and serves to hydraulically decouple the master cylinder 14 of the wheel brakes 20 - 26 in the case of an automatic braking operation.
  • the solenoid valves occupy their basic positions shown in Figure 1 in electronically controlled state.
  • the high-pressure switching valve 42 and the pressure reduction valves 32 of a brake circuit 16, 18 are then in one
  • the pressure build-up valve 30 of the brake circuit 16, 18 of the wheel in question is controlled by the electronic control unit 28 and switched to its blocking position.
  • the pressure reduction valve 32 is in his Open position spent and the drive motor 39 of the pressure generator 38 driven.
  • Pressure fluid from the affected wheel brake 20 - 26 can thereby flow into the hitherto empty accumulator 36 in and be cached therein.
  • pressure medium is sucked out of this accumulator 36 by the pressure generator 38.
  • Pressure reduction in the wheel brake 20 - 26 takes place until the blocked wheel again receives a rotational movement. This can be determined by means of wheel speed sensors (not shown), which supply their measuring signals to the electronic control unit 28.
  • the extracted pressure medium is compressed by the pressure generator 38 and the closed pressure build-up valves 30 of a brake circuit 16, 18 upstream or promoted back into the master cylinder 14. It is thus available for a subsequent brake pressure increase again.
  • the described vehicle brake system is able to automatically, d. H. regardless of the driver's request and thus regardless of an operation of the foot pedal 12 to make a braking operation.
  • the switching valve 44 is switched by the electronic control unit 44 in the blocking position and thus the existing hydraulic connection of the master cylinder 14 with the wheel brakes 20, 22; 24, 26 interrupted.
  • the construction of the brake pressure is effected solely by a control of the drive motor 39 of the pressure generator 38. If the driver during such an automatic braking operation, the foot pedal 12 in addition, for example, because he wants to build a higher brake pressure than specified by the system, the driver takes disadvantageous way a compared to the normal service brake operation changed pedaling characteristic (force / displacement characteristic) true. The driver feels a harder, more relentless pedal than with normal service braking because of the already established by the pressure generator 38 brake pressure in the vehicle brake system in conjunction with the held in the locked position
  • This object is achieved by an invention according to the features of claim 1.
  • Vehicle brake system at least approximately the same
  • Vehicle brake system requires additional hydraulic components.
  • FIG. 1 shows the hydraulic circuit diagram already explained at the beginning of FIG
  • FIG. 2 shows the same vehicle brake system during an automatic brake operation, with foot pedal 12 actuated simultaneously
  • FIG. 3 shows a flow diagram for illustrating the actuation method according to the invention.
  • the vehicle brake system according to FIG. 2 is located in FIG.
  • This operating state is characterized inter alia by the fact that the switching valve 44 is controlled by the electronic control unit 28 and switched to its blocking position.
  • the switching valve 44 thus interrupts a hydraulic connection between the wheel brakes 20 - 26 of a brake circuit 16, 18 and the master cylinder 14.
  • the high-pressure switching valve 40 is also controlled by the control unit 28 and assumes its passage position.
  • the suction side of the pressure generator 38 is thus hydraulically connected to the master cylinder 14, so that the likewise controlled pressure generator 38 can suck additional pressure fluid from the master cylinder 14 and compress it to produce brake pressure.
  • the pressure side of the pressure generator 38 is connected to the wheel brakes 20-26 of the brake circuit 16, 18 via the open pressure buildup valves 30 located in their basic position, while the pressure lowering valves 32 are initially closed in order to allow a brake pressure buildup.
  • the pressure fluid reservoir 36 is no Pressure medium available; a connection of the accumulator 36 with the wheel brakes 20 - 26 is not due to the blocking pressure reduction valves 32.
  • the foot pedal 12 is not operated by the driver; the upcoming brake pressure is generated solely by the actuated pressure generator 38.
  • the first step 50 of the method according to the invention according to FIG. 3 is to determine the automatic braking operation of the vehicle brake system on the basis of the above-explained electronic control signals of the respective components.
  • this actuation of the foot pedal 12 for example by means of a pressure sensor 46 which in at least one of the brake circuits 16, 18 between the master cylinder
  • the pressure sensor 46 registered due to the operation of the foot pedal 12, a pressure increase in this part of the brake circuit 16, 18.
  • Output signal of the sensor 46 used which is proportional to a desired vehicle deceleration by the driver, is supplied to the electronic control unit 28 and evaluated there (step 52).
  • step 54 pressure fluid flows from the wheel brake 20 - 26, which is under applied brake pressure, to the accumulator 36.
  • the drive signal for the drive motor 39 of the pressure generator 38 is calculated by the electronic control unit 28 such that the resulting vehicle deceleration from the maximum value of the Vehicle deceleration corresponding to the operation of the master cylinder 14 or before the operation of the master cylinder 14 prevailing vehicle deceleration corresponds (step 58).
  • the brake circuit 16, 18 which is under brake pressure is the hydraulic one
  • Capacity of the accumulator 36 is switched on.
  • the effluent in the pressure fluid accumulator 36 pressure medium is compensated by the operation of the pressure generator 38.
  • an actuation path for the foot pedal 12 is effected.
  • pressure reduction valves 32 can be used, which are designed as proportional valves and accordingly between their blocking position and their passage position can be spent by the electronic control unit 28 in any number of intermediate positions in which they flow of different sizes
  • more cost-effective pressure reducing valves 32 are used, which are designed as conventional switching valves and can be actuated in a clocked manner.
  • the desired pedal actuation characteristic can be varied by the electronic control unit 28 via the clock frequency and the opening duration of these pressure reduction valves 32.
  • the brake pressures at the wheel brakes 20, 26 of the rear axle especially during an adaptive speed and
  • ACC are very low and on the other hand via the pressure generator 38 a pressure medium volume is promoted, which leads to the wheel brakes 22, 24 of the front axle to a brake pressure build-up, no effect on the total vehicle deceleration of the vehicle for the driver is noticeable.

Abstract

The invention relates to a vehicle braking system, the slip of which can be regulated electronically, for which, in the event of an automatic braking process, the activation of the foot pedal (12) by the driver, does not result in a significant actuating path. The driver therefore disadvantageously perceives different pedal actuating characteristics in the foot actuated and automatic braking operations. According to the invention, a method is proposed for controlling a vehicle braking system, the slip of which is regulated electronically, and with which pedal actuating characteristics, which are largely uniform in the different operating states of the vehicle braking system can be produced. To achieve this, a valve unit (30, 32) is controlled in such a way that a pressure medium flows from the wheel brake (30, 32) to the pressure medium reservoir (36) and the drive motor (39) of the pressure generator (38) is controlled in parallel.

Description

Beschreibung description
Titeltitle
Verfahren zur Steuerung einer elektronisch schlupfregelbaren FahrzeugbremsanlageMethod for controlling an electronically slip-controllable vehicle brake system
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren zur Steuerung einer elektronisch schlupfregelbaren Fahrzeugbremsanlage entsprechend den gattungsbildenden Merkmalen des Anspruchs 1.The invention relates to a method for controlling an electronically slip-controllable vehicle brake system according to the generic features of claim 1.
Elektronisch schlupfregelbare Fahrzeugbremsanlagen zählen zum Stand der Technik. Bekannte Fahrzeugbremsanlagen sind in der Lage unabhängig vom Fahrerwunsch einzelne Räder eines Fahrzeugs abzubremsen, zum Beispiel um ein Fahrzeug dadurch in einen stabilen Fahrzustand zu verbringen (ElektronischeElectronically slip-controllable vehicle brake systems are state of the art. Known vehicle brake systems are able to decelerate individual wheels of a vehicle regardless of the driver's request, for example, to spend a vehicle in a stable driving condition (Electronic
Stabilitätsregelung; ESP), um Schlupf an den Antriebsrädern zu beseitigen (Antischlupfregelung; ASR) oder um eine adaptive Geschwind igkeits- oder Abstandsregelung zu einem vorausfahrenden Fahrzeug vorzunehmen (Automatic cruise control; ACC). Der, an sich bekannte, strukturelle Aufbau derartiger Fahrzeugbremsanlagen ist in Figur 1 gezeigt.Stability control; ESP) to eliminate slip on the drive wheels (traction control system ASR) or to perform an adaptive speed or distance control to a preceding vehicle (Automatic cruise control; ACC). The, known per se, structural design of such vehicle brake systems is shown in Figure 1.
Demnach umfasst eine elektronisch schlupfregelbare Fahrzeugbremsanlage einen vom Fahrer per Fußpedal 12 betätigbaren Bremskraftverstärker 10 mit einem nachgeordneten Hauptbremszylinder 14. An den Hauptbremszylinder 14 sind zwei gleichartig aufgebaute hydraulische Bremskreise 16, 18 angeschlossen. Jeder Bremskreis 16, 18 dient zur Betätigung von jeweils zwei Radbremsen 20, 22; 24, 26. Eine Modulation des in diesen Radbremsen 20 - 26 vorherrschenden Bremsdrucks ist mittels Magnetventilen möglich, die von einem elektronischen Steuergerät 28 ansteuerbar sind. Dazu ist jeder Radbremse 20 - 26 ein, einen Druckaufbau ermöglichendes Druckaufbauventil 30 hydraulisch vorgeschaltet und ein, einen Druckabbau ermöglichendes Druckabsenkventil 32 hydraulisch nachgeschaltet. Der Auslass der Druckabsenkventile eines Bremskreises 16, 18 mündet in eine gemeinsame Rücklaufleitung 34. An diese Rücklaufleitung 34 ist ein Druckmittelspeicher 36 angeschlossen. Die Rücklaufleitung 34 führt zur Saugseite eines Druckerzeugers 38, der von einem ansteuerbaren Antriebsmotor 39 betätigbar ist und Druckmittel unter erhöhtem Druck zu den Druckaufbauventilen 30 der Radbremsen 20 - 26 bzw. zum Hauptbremszylinder 14 fördert.Accordingly, an electronically slip-controllable vehicle brake system comprises a driver operable by foot pedal 12 brake booster 10 with a downstream master cylinder 14. To the master cylinder 14, two identically constructed hydraulic brake circuits 16, 18 are connected. Each brake circuit 16, 18 serves to actuate two wheel brakes 20, 22; 24, 26. A modulation of the prevailing in these wheel brakes 20 - 26 brake pressure is possible by means of solenoid valves, which are controlled by an electronic control unit 28. For this purpose, each wheel brake 20 - 26 a, a pressure build-up enabling pressure build-up valve 30 hydraulically connected upstream and a, a pressure reduction enabling Druckabsenkventil 32 hydraulically downstream. The outlet of the pressure reduction valves of a brake circuit 16, 18 opens into a common return line 34. To this return line 34, a pressure medium reservoir 36 is connected. The return line 34 leads to the suction side of a pressure generator 38 which is actuated by a controllable drive motor 39 and pressure medium under increased pressure to the pressure build-up valves 30 of the wheel brakes 20 - 26 and promotes the master cylinder 14.
Die Saugseite des Druckerzeugers 38 ist weiterhin mit einer Ansaugleitung 40 verbunden. Letztere verbindet den Druckerzeuger 38 mit dem Hauptbremszylinder 14 für den Fall, dass das vom Druckmittelspeicher 36 bereitgestellte Druckmittelvolumen für einen erforderlichen Bremsdruckaufbau nicht ausreichen sollte. Die Ansaugleitung 40 ist von einem sogenannten Hochdruckschaltventil 42 steuerbar.The suction side of the pressure generator 38 is further connected to a suction line 40. The latter connects the pressure generator 38 to the master brake cylinder 14 in the event that the pressure medium volume provided by the pressure medium reservoir 36 should not be sufficient for a required brake pressure build-up. The suction line 40 is controlled by a so-called high-pressure switching valve 42.
Weiterhin ist jeder Bremskreis 16, 18 mit einem sogenannten Umschaltventil 44 bestückt. Dieses ist zwischen den Hauptbremszylinder 14 und das Druckaufbauventil 30 geschaltet und dient dazu, im Falle eines automatischen Bremsvorgangs den Hauptbremszylinder 14 von den Radbremsen 20 - 26 hydraulisch abzukoppeln.Furthermore, each brake circuit 16, 18 equipped with a so-called switching valve 44. This is connected between the master cylinder 14 and the pressure build-up valve 30 and serves to hydraulically decouple the master cylinder 14 of the wheel brakes 20 - 26 in the case of an automatic braking operation.
Die Magnetventile nehmen im elektronisch nicht angesteuerten Zustand ihre in Figur 1 dargestellte Grundstellungen ein. Das Hochdruckschaltventil 42 und die Druckabsenkventile 32 eines Bremskreises 16, 18 befinden sich dann in einerThe solenoid valves occupy their basic positions shown in Figure 1 in electronically controlled state. The high-pressure switching valve 42 and the pressure reduction valves 32 of a brake circuit 16, 18 are then in one
Sperrstellung, während das Umschaltventil 44 und die Druckaufbauventile 30 ihre Durchlass- oder Offenstellung einnehmen. Mit einer Betätigung des Fußpedals 12 durch den Fahrer ist damit der Aufbau eines Bremsdrucks in den Radbremsen 20 - 26 per Muskelkraft möglich.Lock position, while the switching valve 44 and the pressure build-up valves 30 assume their open or open position. With an operation of the foot pedal 12 by the driver so that the construction of a brake pressure in the wheel brakes 20 - 26 by muscle power possible.
Zur Modulation des Bremsdrucks, beispielsweise, wenn eines der Räder des Fahrzeugs aufgrund eines anliegenden, zu hohen Bremsdrucks zu blockieren droht, wird das Druckaufbauventil 30 des Bremskreises 16, 18 des betreffenden Rades vom elektronischen Steuergerät 28 angesteuert und in seine Sperrstellung umgeschaltet. Gleichzeitig wird das Druckabsenkventil 32 in seine Offenstellung verbracht und der Antriebsmotor 39 des Druckerzeugers 38 angesteuert. Druckmittel aus der betroffenen Radbremse 20 - 26 kann dadurch in den bis dahin leeren Druckmittelspeicher 36 hinein abströmen und darin zwischengespeichert werden. Gleichzeitig wird Druckmittel aus diesem Druckmittelspeicher 36 durch den Druckerzeuger 38 abgesaugt. EineTo modulate the brake pressure, for example, if one of the wheels of the vehicle threatens to block due to an applied, excessive brake pressure, the pressure build-up valve 30 of the brake circuit 16, 18 of the wheel in question is controlled by the electronic control unit 28 and switched to its blocking position. At the same time, the pressure reduction valve 32 is in his Open position spent and the drive motor 39 of the pressure generator 38 driven. Pressure fluid from the affected wheel brake 20 - 26 can thereby flow into the hitherto empty accumulator 36 in and be cached therein. At the same time, pressure medium is sucked out of this accumulator 36 by the pressure generator 38. A
Druckabsenkung in der Radbremse 20 - 26 erfolgt so lange, bis das blockierte Rad wieder eine Rotationsbewegung aufnimmt. Dies ist anhand von Raddrehzahlsensoren (nicht gezeigt) feststellbar, die ihre Messsignale dem elektronischen Steuergerät 28 zuführen. Das abgesaugte Druckmittel wird vom Druckerzeuger 38 verdichtet und den geschlossenen Druckaufbauventilen 30 eines Bremskreises 16, 18 vorgelagert oder zurück in den Hauptbremszylinder 14 gefördert. Es steht damit für eine nachfolgende Bremsdruckerhöhung wieder zur Verfügung.Pressure reduction in the wheel brake 20 - 26 takes place until the blocked wheel again receives a rotational movement. This can be determined by means of wheel speed sensors (not shown), which supply their measuring signals to the electronic control unit 28. The extracted pressure medium is compressed by the pressure generator 38 and the closed pressure build-up valves 30 of a brake circuit 16, 18 upstream or promoted back into the master cylinder 14. It is thus available for a subsequent brake pressure increase again.
Die beschriebene Fahrzeugbremsanlage ist in der Lage, automatisch, d. h. unabhängig vom Fahrerwunsch und damit unabhängig von einer Betätigung des Fußpedals 12, einen Bremsvorgang vorzunehmen. Bei automatischen Bremsvorgängen wird das Umschaltventil 44 vom elektronischen Steuergerät 44 in die Sperrstellung umgeschaltet und damit die bestehende hydraulische Verbindung des Hauptbremszylinders 14 mit den Radbremsen 20, 22; 24, 26 unterbrochen. Der Aufbau des Bremsdrucks erfolgt allein durch eine Ansteuerung des Antriebsmotors 39 des Druckerzeugers 38. Betätigt der Fahrer während eines solchen automatischen Bremsvorgangs das Fußpedal 12 zusätzlich, beispielsweise weil er einen höheren Bremsdruck, als vom System vorgegeben, aufbauen möchte, so nimmt der Fahrer nachteiliger Weise eine gegenüber dem normalen Betriebsbremsbetrieb veränderte Pedalbetätigungscharakteristik (Kraft/Weg- Kennlinie) wahr. Der Fahrer empfindet ein härteres, unnachgiebigeres Pedal als bei üblichen Betriebsbremsungen wegen des bereits vom Druckerzeuger 38 aufgebauten Bremsdrucks in der Fahrzeugbremsanlage in Verbindung mit dem in der Sperrstellung gehaltenenThe described vehicle brake system is able to automatically, d. H. regardless of the driver's request and thus regardless of an operation of the foot pedal 12 to make a braking operation. In automatic braking operations, the switching valve 44 is switched by the electronic control unit 44 in the blocking position and thus the existing hydraulic connection of the master cylinder 14 with the wheel brakes 20, 22; 24, 26 interrupted. The construction of the brake pressure is effected solely by a control of the drive motor 39 of the pressure generator 38. If the driver during such an automatic braking operation, the foot pedal 12 in addition, for example, because he wants to build a higher brake pressure than specified by the system, the driver takes disadvantageous way a compared to the normal service brake operation changed pedaling characteristic (force / displacement characteristic) true. The driver feels a harder, more relentless pedal than with normal service braking because of the already established by the pressure generator 38 brake pressure in the vehicle brake system in conjunction with the held in the locked position
Umschaltventil 44 sowie aufgrund der relativ geringen Fördermenge von Druckmittel durch den Druckerzeuger 38 über das geöffnete Hochdruckschaltventil 42. Unterschiedliche und vom jeweiligen Betriebszustand der Fahrzeugbremsanlage abhängige Pedalbetätigungscharakteristiken (Kraft/Weg- Kennlinie) des Fußpedals 12 erschweren die Dosierung des Bremsdrucks und können den Fahrer irritieren.Changeover valve 44 and due to the relatively low flow rate of pressure medium through the pressure generator 38 via the open high-pressure switching valve 42nd Different and depending on the respective operating state of the vehicle brake system pedal actuation characteristics (force / displacement curve) of the foot pedal 12 complicate the dosage of the brake pressure and can irritate the driver.
Es ist daher Aufgabe der vorliegenden Erfindung, ein Verfahren zur Betätigung einer Fahrzeugbremsanlage während eines automatischen Bremsbetriebs vorzuschlagen, das eine zumindest annähernd gleiche Pedalbetätigungscharakteristik (Kraft/Weg- Kennlinie) des Fußpedals 12 ergibt als bei üblichen Betriebsbremsvorgängen. Diese Aufgabe löst eine Erfindung gemäß den Merkmalen des Anspruchs 1.It is therefore an object of the present invention to propose a method for actuating a vehicle brake system during an automatic braking operation, which gives an at least approximately the same pedaling characteristic (force / displacement characteristic) of the foot pedal 12 as in normal service braking operations. This object is achieved by an invention according to the features of claim 1.
Offenbarung der ErfindungDisclosure of the invention
Vorteil der Erfindung ist, dass eine in allen Betriebszuständen derAdvantage of the invention is that one in all operating conditions of
Fahrzeugbremsanlage zumindest annähernd gleicheVehicle brake system at least approximately the same
Pedalbetätigungscharakteristik erreicht wird, ohne dass diePedal actuation characteristic is achieved without the
Fahrzeugbremsanlage hierzu zusätzliche hydraulische Komponenten benötigt.Vehicle brake system requires additional hydraulic components.
Auch bei der Fertigung eines Hydroaggregats, wie es bei bekannten elektronisch schlupfgeregelten Fahrzeugbremsanlage üblicherweise eingesetzt wird, sind deshalb keine Zusatzmaßnahmen notwendig und unerwünschteAlso in the production of a hydraulic unit, as is commonly used in known electronic slip-controlled vehicle brake system, therefore, no additional measures are necessary and undesirable
Wechselwirkungen mit anderen Bremsregelfunktionen der Fahrzeugbremsanlage sind durch die Erfindung nicht zu erwarten. Die unter allen Betriebsbedingungen der Fahrzeugbremsanlage zumindest annähernd gleiche Pedalbetätigungscharakteristik ist allein durch steuerungstechnischeInteractions with other brake control functions of the vehicle brake system are not expected by the invention. The under all operating conditions of the vehicle brake system at least approximately the same pedaling characteristic is solely by control technology
Maßnahmen erreichbar und ist dadurch verhältnismäßig kostengünstig darstellbar.Measures achievable and is therefore relatively inexpensive to represent.
Weitere Vorteile oder vorteilhafte Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen oder der nachfolgenden Beschreibung.Further advantages or advantageous developments of the invention will become apparent from the dependent claims or the description below.
Zeichnung Das der Erfindung zugrundeliegende Verfahren zur Steuerung einer elektronisch schlupfregelbaren Fahrzeugbremsanlage wird anhand beiliegender Zeichnungen erläutert:drawing The method of the invention for controlling an electronically slip-controllable vehicle brake system is explained with reference to the accompanying drawings:
Figur 1 zeigt den bereits eingangs erläuterten Hydraulikschaltplan einer aus demFIG. 1 shows the hydraulic circuit diagram already explained at the beginning of FIG
Stand der Technik bekannten elektronisch schlupfregelbaren Fahrzeugbremsanlage in Grundstellung;The prior art known electronic slip-controllable vehicle brake system in basic position;
Figur 2 zeigt die selbe Fahrzeugbremsanlage während eines automatischen Bremsbetriebs, bei gleichzeitig betätigtem Fußpedal 12 und Figur 3 zeigt ein Ablaufdiagramm zur Veranschaulichung des erfindungsgemäßen Ansteuerverfahrens.FIG. 2 shows the same vehicle brake system during an automatic brake operation, with foot pedal 12 actuated simultaneously, and FIG. 3 shows a flow diagram for illustrating the actuation method according to the invention.
Beschreibung der ErfindungDescription of the invention
Die einzelnen Komponenten einer elektronisch schlupfregelbarenThe individual components of an electronic slip-controllable
Fahrzeugbremsanlage wurden bereits in Zusammenhang mit der Beschreibung von Figur 1 erläutert. Nachfolgend wird deshalb unter Beibehaltung der in Figur 1 verwendeten Bezugsziffern lediglich auf die Figuren 2 und 3 eingegangen.Vehicle brake system have already been explained in connection with the description of Figure 1. Below, therefore, while maintaining the reference numerals used in Figure 1, only the figures 2 and 3 will be discussed.
Wie erwähnt, befindet sich die Fahrzeugbremsanlage nach Figur 2 imAs mentioned, the vehicle brake system according to FIG. 2 is located in FIG
Betriebszustand des automatischen Bremsbetriebs. Dieser Betriebszustand zeichnet sich unter anderem dadurch aus, dass das Umschaltventil 44 vom elektronischen Steuergerät 28 angesteuert und in seine Sperrstellung umgeschaltet ist. Das Umschaltventil 44 unterbricht damit eine hydraulische Verbindung zwischen den Radbremsen 20 - 26 eines Bremskreises 16, 18 und dem Hauptbremszylinder 14. Ferner ist das Hochdruckschaltventil 40 ebenfalls vom Steuergerät 28 angesteuert und nimmt seine Durchlassstellung ein. Die Saugseite des Druckerzeugers 38 ist damit hydraulisch mit dem Hauptbremszylinder 14 verbunden, so dass der ebenfalls angesteuerte Druckerzeuger 38 zusätzliches Druckmittel aus dem Hauptbremszylinder 14 ansaugen und zur Bremsdruckerzeugung verdichten kann. Die Druckseite des Druckerzeugers 38 ist über die in ihrer Grundstellung befindlichen, geöffneten Druckaufbauventile 30 mit den Radbremsen 20 - 26 des Bremskreises 16, 18 verbunden, während die Druckabsenkventile 32 zunächst geschlossen sind, um einen Bremsdruckaufbau zu gestatten. Im Druckmittelspeicher 36 ist kein Druckmittel vorhanden; eine Verbindung des Druckmittelspeichers 36 mit den Radbremsen 20 - 26 besteht aufgrund der sperrenden Druckabbauventile 32 nicht. Das Fußpedals 12 ist nicht vom Fahrer betätigt; der anstehende Bremsdruck ist allein vom betätigten Druckerzeuger 38 erzeugt.Operating state of the automatic braking operation. This operating state is characterized inter alia by the fact that the switching valve 44 is controlled by the electronic control unit 28 and switched to its blocking position. The switching valve 44 thus interrupts a hydraulic connection between the wheel brakes 20 - 26 of a brake circuit 16, 18 and the master cylinder 14. Further, the high-pressure switching valve 40 is also controlled by the control unit 28 and assumes its passage position. The suction side of the pressure generator 38 is thus hydraulically connected to the master cylinder 14, so that the likewise controlled pressure generator 38 can suck additional pressure fluid from the master cylinder 14 and compress it to produce brake pressure. The pressure side of the pressure generator 38 is connected to the wheel brakes 20-26 of the brake circuit 16, 18 via the open pressure buildup valves 30 located in their basic position, while the pressure lowering valves 32 are initially closed in order to allow a brake pressure buildup. In the pressure fluid reservoir 36 is no Pressure medium available; a connection of the accumulator 36 with the wheel brakes 20 - 26 is not due to the blocking pressure reduction valves 32. The foot pedal 12 is not operated by the driver; the upcoming brake pressure is generated solely by the actuated pressure generator 38.
Der erste Schritt 50 des erfindungsgemäßen Verfahrens nach Figur 3 besteht darin, den automatischen Bremsbetrieb der Fahrzeugbremsanlage anhand der oben erläuterten elektronischen Ansteuersignale der jeweiligen Komponenten festzustellen.The first step 50 of the method according to the invention according to FIG. 3 is to determine the automatic braking operation of the vehicle brake system on the basis of the above-explained electronic control signals of the respective components.
Erfolgt nun während dieses stattfindenden automatischen Bremsbetriebs zusätzlich eine Betätigung des Fußpedals 12 durch den Fahrer, beispielsweise weil dieser eine höhere Bremsverzögerung vornehmen möchte, so kann diese Betätigung des Fußpedals 12 beispielsweise mittels eines Drucksensors 46, der in wenigstens einem der Bremskreise 16, 18 zwischen dem HauptbremszylinderIf, during this automatic braking operation taking place, an additional actuation of the foot pedal 12 by the driver, for example because he wishes to make a higher deceleration, this actuation of the foot pedal 12, for example by means of a pressure sensor 46 which in at least one of the brake circuits 16, 18 between the master cylinder
14 und dem Umschaltventil 44 bzw. dem Hochdruckschaltventil 42 eingebaut ist, erkannt werden. Der Drucksensor 46 registriert aufgrund der Betätigung des Fußpedal 12 einen Druckanstieg in diesem Teil des Bremskreises 16, 18. Alternativ kann auch ein mit dem Fußpedal 12 gekoppelter und dessen Betätigungsweg erfassender Wegsensor eingesetzt werden. Das14 and the switching valve 44 and the high-pressure switching valve 42 is installed, are detected. The pressure sensor 46 registered due to the operation of the foot pedal 12, a pressure increase in this part of the brake circuit 16, 18. Alternatively, also coupled to the foot pedal 12 and whose actuating travel detecting displacement sensor can be used. The
Ausgangssignal des eingesetzten Sensors 46, welches proportional zu einer vom Fahrer gewünschten Fahrzeugverzögerung ist, wird dem elektronischen Steuergerät 28 zugeführt und dort ausgewertet (Schritt 52).Output signal of the sensor 46 used, which is proportional to a desired vehicle deceleration by the driver, is supplied to the electronic control unit 28 and evaluated there (step 52).
Haben beide Schritte 50 und 52 im elektronischen Steuergerät 28 zu einem positiven Ergebnis geführt, steuert das Steuergerät 28 wenigstens eines der im Bremskreis 16, 18 vorhandenen Druckabsenkventile 32 an und schaltet es in die Durchlassstellung um (Schritt 54). Dadurch fließt Druckmittel aus der unter anliegendem Bremsdruck stehenden Radbremse 20 - 26 zum Druckmittelspeicher 36 ab. Ein zu erwartender Druckabfall in der Radbremse 20 -If both steps 50 and 52 have led to a positive result in the electronic control unit 28, the control unit 28 activates at least one of the pressure reducing valves 32 present in the brake circuit 16, 18 and switches it into the passage position (step 54). As a result, pressure fluid flows from the wheel brake 20 - 26, which is under applied brake pressure, to the accumulator 36. An expected pressure drop in the wheel brake 20 -
26 wird verhindert, indem gleichzeitig mit dem Ansteuersignal für die Druckabsenkventile 32 der Antriebsmotor 39 des Druckerzeugers 38 angesteuert wird (Schritt 56). Dabei wird das Ansteuersignal für den Antriebsmotor 39 des Druckerzeugers 38 vom elektronischen Steuergerät 28 derart berechnet, dass die sich ergebende Fahrzeugverzögerung dem Maximalwert aus der Fahrzeugverzögerung entsprechend der Betätigung des Hauptbremszylinders 14 oder der vor der Betätigung des Hauptbremszylinders 14 vorherrschenden Fahrzeugverzögerung entspricht (Schritt 58). Alternativ wäre es ebenso möglich, die vom elektronischen Steuergerät 28 vorgenommene Ansteuerungen der Ventileinheit 30, 32 und diejenige des Antriebsmotors 39 des Druckerzeugers 38 derart aufeinander abzustimmen, dass sich eine Fahrzeugverzögerung entsprechend der Betätigung des Hauptbremszylinders 14 einstellt.26 is prevented by driving the drive motor 39 of the pressure generator 38 simultaneously with the driving signal for the pressure reducing valves 32 (step 56). In this case, the drive signal for the drive motor 39 of the pressure generator 38 is calculated by the electronic control unit 28 such that the resulting vehicle deceleration from the maximum value of the Vehicle deceleration corresponding to the operation of the master cylinder 14 or before the operation of the master cylinder 14 prevailing vehicle deceleration corresponds (step 58). Alternatively, it would also be possible to match the actuations of the valve unit 30, 32 made by the electronic control unit 28 and that of the drive motor 39 of the pressure generator 38 in such a way that a vehicle deceleration corresponding to the actuation of the master cylinder 14 is achieved.
Funktional wird mit einer Ansteuerung wenigstens eines der Druckabsenkventile 32 dem unter Bremsdruck stehenden Bremskreis 16, 18 die hydraulischeFunctionally, with the activation of at least one of the pressure reduction valves 32, the brake circuit 16, 18 which is under brake pressure is the hydraulic one
Kapazität des Druckmittelspeichers 36 zugeschaltet. Das in den Druckmittelspeicher 36 abströmende Druckmittel wird durch die Betätigung des Druckerzeugers 38 ausgeglichen. Mit einer Betätigung des Druckerzeugers 38 wird ein Betätigungsweg für das Fußpedal 12 bewirkt.Capacity of the accumulator 36 is switched on. The effluent in the pressure fluid accumulator 36 pressure medium is compensated by the operation of the pressure generator 38. With an actuation of the pressure generator 38, an actuation path for the foot pedal 12 is effected.
In einer ersten Ausgestaltung der Erfindung können Druckabsenkventile 32 eingesetzt werden, die als Proportionalventile ausgebildet sind und dementsprechend zwischen ihrer Sperrstellung und ihrer Durchlassstellung vom elektronischen Steuergerät 28 in beliebig viele Zwischenstellungen verbracht werden können, in denen sie unterschiedlich große Strömungsquerschnitte derIn a first embodiment of the invention, pressure reduction valves 32 can be used, which are designed as proportional valves and accordingly between their blocking position and their passage position can be spent by the electronic control unit 28 in any number of intermediate positions in which they flow of different sizes
Rücklaufleitung 34 freigeben. Die Verwendung von Druckabsenkventilen 32 in Proportionalventiltechnik erlaubt damit die Darstellung unterschiedlicher Pedalbetätigungscharakteristiken (Kraft/Weg- Kennlinie) durch eine vom elektronischen Steuergerät 28 vornehmbare Variation des Ansteuersignals für diese Druckabsenkventile 32.Release return line 34. The use of pressure reducing valves 32 in proportional valve technology thus allows the representation of different pedal operation characteristics (force / displacement characteristic) by a vornehmbare by the electronic control unit 28 variation of the drive signal for these pressure reduction valves 32nd
In einer zweiten möglichen Ausgestaltung werden kostengünstigere Druckabsenkventile 32 eingesetzt, die als konventionelle Schaltventile ausgebildet sind und getaktet ansteuerbar sind. Die gewünschte Pedalbetätigungscharakteristik lässt sich in diesem Fall über die Taktfrequenz und die Öffnungsdauer dieser Druckabsenkventile 32 durch das elektronische Steuergerät 28 variieren. Weiterhin ist möglich mit dem erfindungsgemäßen Verfahren nur ausgewählte Druckabsenkventile 32 der Fahrzeugbremsanlage anzusteuern, z.B. allein die Druckabsenkventile 32 an den Radbremsen 20, 26 der Hinterachse eines Fahrzeugs. Da einerseits die Bremsdrücke an den Radbremsen 20, 26 der Hinterachse, insbesondere während einer adaptiven Geschwindigkeits- undIn a second possible embodiment, more cost-effective pressure reducing valves 32 are used, which are designed as conventional switching valves and can be actuated in a clocked manner. In this case, the desired pedal actuation characteristic can be varied by the electronic control unit 28 via the clock frequency and the opening duration of these pressure reduction valves 32. Furthermore, it is possible with the method according to the invention to control only selected pressure reduction valves 32 of the vehicle brake system, for example, only the pressure reduction valves 32 on the wheel brakes 20, 26 of the rear axle of a vehicle. On the one hand, the brake pressures at the wheel brakes 20, 26 of the rear axle, especially during an adaptive speed and
Abstandsregelung (Automatic cruise control; ACC), sehr niedrig sind und andererseits über den Druckerzeuger 38 ein Druckmittelvolumen gefördert wird, das an den Radbremsen 22, 24 der Vorderachse zu einem Bremsdruckaufbau führt, ist keine Auswirkung auf die Gesamtfahrzeugverzögerung des Fahrzeugs für den Fahrer wahrnehmbar.ACC are very low and on the other hand via the pressure generator 38 a pressure medium volume is promoted, which leads to the wheel brakes 22, 24 of the front axle to a brake pressure build-up, no effect on the total vehicle deceleration of the vehicle for the driver is noticeable.
Selbstverständlich sind weitere Ergänzungen oder Weiterbildungen am Ausführungsbeispiel denkbar, ohne vom Grundgedanken der Erfindung abzuweichen. Of course, further additions or developments of the embodiment are conceivable without departing from the spirit of the invention.

Claims

Ansprüche claims
1. Verfahren zur Steuerung einer elektronisch schlupfregelbaren1. Method for controlling an electronically slip-controllable
Fahrzeugbremsanlage umfassend, einen vom Fahrer wenigstens mittelbar betätigbaren Hauptbremszylinder (14), einen an den Hauptbremszylinder (14) angeschlossenen Bremskreis (16; 18) mit wenigstens einer Radbremse (20, 22; 24, 26), ein elektronisches Steuergerät (28), eine vom elektronischen Steuergerät (28) ansteuerbare Ventileinheit (30, 32) zur Modulation des Bremsdrucks an einer Radbremse (20 - 26) derA vehicle brake system comprising a master brake cylinder (14) which can be actuated at least indirectly by the driver, a brake circuit (16, 18) connected to the master brake cylinder (14) with at least one wheel brake (20, 22, 24, 26), an electronic control unit (28) from the electronic control unit (28) controllable valve unit (30, 32) for modulating the brake pressure to a wheel brake (20 - 26) of the
Fahrzeugbremsanlage, einen Druckerzeuger (38), der von einem durch das Steuergerät (28) ansteuerbaren Antriebsmotor (39) betätigbar ist, wenigstens ein, eine Betätigung des Hauptbremszylinders (14) erfassendes Sensorelement (46) und einen Druckmittelspeicher (36), der zwischen der Ventileinheit (30, 32) zur Modulation des Bremsdrucks in den Radbremsen (20 - 26) und der Saugseite des Druckerzeugers (38) angeordnet ist, dadurch gekennzeichnet, dass mit einer Betätigung des Hauptbremszylinders (14) während eines automatischen Bremsvorgangs wenigstens eine Ventileinheit (30, 32) zur Modulation des Bremsdrucks in einer Radbremse (20 - 26) derart angesteuert wird, dass Druckmittel aus der Radbremse (20 - 26) in denVehicle brake system, a pressure generator (38) which can be actuated by a drive motor (39) which can be actuated by the control unit (28), at least one sensor element (46) detecting an actuation of the master brake cylinder (14) and a pressure medium reservoir (36) which is located between the Valve unit (30, 32) for modulating the brake pressure in the wheel brakes (20 - 26) and the suction side of the pressure generator (38) is arranged, characterized in that with an actuation of the master cylinder (14) during an automatic braking operation at least one valve unit (30 , 32) for modulating the brake pressure in a wheel brake (20 - 26) is controlled such that pressure medium from the wheel brake (20 - 26) in the
Druckmittelspeicher (36) abströmt und dass dazu parallel eine Ansteuerung des Antriebmotors (39) des Druckerzeugers (38) erfolgt. Pressure fluid accumulator (36) flows and that in parallel there is a control of the drive motor (39) of the pressure generator (38).
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass vom elektronischen Steuergerät (28) die Ansteuerungen der Ventileinheit (30, 32) und die Ansteuerung des Antriebsmotors (39) des Druckerzeugers (38) derart aufeinander abgestimmt werden, dass sich eine Fahrzeugverzögerung einstellt, die dem Maximalwert aus der2. The method according to claim 1, characterized in that from the electronic control unit (28) the controls of the valve unit (30, 32) and the control of the drive motor (39) of the pressure generator (38) are coordinated such that adjusts a vehicle deceleration, the maximum value from the
Fahrzeugverzögerung entsprechend der Betätigung des Hauptbremszylinders (14) oder der vorherrschenden Fahrzeugverzögerung vor Betätigung des Hauptbremszylinders (14) entspricht.Vehicle deceleration corresponding to the operation of the master cylinder (14) or the prevailing vehicle deceleration prior to actuation of the master cylinder (14).
3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass vom elektronischen Steuergerät (28) die Ansteuerungen der Ventileinheit (30, 32) und die Ansteuerung des Antriebsmotors (39) des Druckerzeugers (38) derart aufeinander abgestimmt werden, dass sich eine Fahrzeugverzögerung entsprechend der Betätigung des Hauptbremszylinders (14) einstellt.3. The method according to claim 1, characterized in that from the electronic control unit (28) the controls of the valve unit (30, 32) and the control of the drive motor (39) of the pressure generator (38) are coordinated such that a vehicle deceleration corresponding to Actuation of the master cylinder (14) adjusts.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Ventileinheit (30, 32) zur Modulation des Bremsdrucks einer Radbremse (20 - 26) wenigstens ein vom Steuergerät (28) ansteuerbares Proportionalventil umfasst.4. The method according to any one of claims 1 to 3, characterized in that the valve unit (30, 32) for modulating the brake pressure of a wheel brake (20 - 26) comprises at least one controllable by the control unit (28) proportional valve.
5. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Ventileinheit (30, 32) zur Modulation des Bremsdrucks einer Radbremse (20 - 26) wenigstens ein vom Steuergerät (28) getaktet ansteuerbares Schaltventil umfasst.5. The method according to any one of claims 1 to 3, characterized in that the valve unit (30, 32) for modulating the brake pressure of a wheel brake (20 - 26) comprises at least one clocked by the control unit (28) controllable switching valve.
6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Ventileinheit (30, 32) zur Modulation des Bremsdrucks einer Radbremse (20 - 26) ein der Radbremse hydraulisch vorgeschaltetes Druckaufbauventil (30) und ein der Radbremse nachgeschaltetes6. The method according to any one of claims 1 to 5, characterized in that the valve unit (30, 32) for modulating the brake pressure of a wheel brake (20 - 26) one of the wheel brake hydraulically upstream pressure build-up valve (30) and one of the wheel brake downstream
Druckabsenkventil (32) umfasst. Pressure lowering valve (32) includes.
7. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass allein die Ventileinheiten (30, 32) zur Modulation des Bremsdrucks der Radbremsen (20 - 26) einer Achse des Fahrzeugs, vorzugsweise der Hinterachse des Fahrzeugs, angesteuert werden. 7. The method according to any one of claims 1 to 4, characterized in that only the valve units (30, 32) for modulating the brake pressure of the wheel brakes (20 - 26) of an axis of the vehicle, preferably the rear axle of the vehicle, are controlled.
EP09725894A 2008-03-28 2009-01-27 Method for controlling a vehicle braking system, the slip of which can be regulated electronically Withdrawn EP2265479A1 (en)

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DE102008000873A DE102008000873A1 (en) 2008-03-28 2008-03-28 Method for controlling an electronically slip-controllable vehicle brake system
PCT/EP2009/050882 WO2009118208A1 (en) 2008-03-28 2009-01-27 Method for controlling a vehicle braking system, the slip of which can be regulated electronically

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US8510009B2 (en) 2013-08-13
US20110029215A1 (en) 2011-02-03
CN102046438A (en) 2011-05-04
CN102046438B (en) 2014-12-17

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