EP4399130A1 - Procédé de commande d'un levier de pédale d'un servofrein hydraulique - Google Patents

Procédé de commande d'un levier de pédale d'un servofrein hydraulique

Info

Publication number
EP4399130A1
EP4399130A1 EP22741272.3A EP22741272A EP4399130A1 EP 4399130 A1 EP4399130 A1 EP 4399130A1 EP 22741272 A EP22741272 A EP 22741272A EP 4399130 A1 EP4399130 A1 EP 4399130A1
Authority
EP
European Patent Office
Prior art keywords
hydraulic
pedal lever
brake
plunger
master
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.)
Pending
Application number
EP22741272.3A
Other languages
German (de)
English (en)
Inventor
Frank Overzier
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 EP4399130A1 publication Critical patent/EP4399130A1/fr
Pending 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
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
    • B60R21/09—Control elements or operating handles movable from an operative to an out-of-the way position, e.g. pedals, switch knobs, window cranks
    • 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
    • B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
    • B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
    • B60T11/16—Master control, e.g. master cylinders
    • 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
    • B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
    • B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
    • B60T11/28—Valves specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B60T13/14—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using accumulators or reservoirs fed by pumps
    • B60T13/142—Systems with master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—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 electrical assistance or drive
    • B60T13/741—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 electrical assistance or drive acting on an ultimate actuator
    • 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
    • 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
    • B60T7/06—Disposition of pedal
    • 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
    • B60T8/321—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 deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/326—Hydraulic 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input

Definitions

  • a brake system typically has an electronic brake booster (eBKV) and an ESP system.
  • eBKV electronic brake booster
  • the majority of the brake system functions can be realized by means of an ESP system and the brake booster is used as an external actuator to build up dynamic pressure.
  • Brake systems can work with closed hydraulics, ie a reservoir with hydraulic fluid in the brake system is only used to compensate for leakage and temperature and is therefore an available one hydraulic volume is constant. Examples of this are classic brake systems such as vacuum brake boosters, electromechanical brake boosters such as the iBooster or a Decoupled Power Brake (DPB) combined with an ESP system.
  • braking systems can work with open hydraulics, such as IPB systems (IPB: integrated power brake).
  • IPB integrated power brake
  • a reservoir with hydraulic fluid can be used during normal operation for temporary storage of hydraulic volume. The hydraulic volume of the brake system used can thus change during braking.
  • Each brake system has different disadvantages, for example systems with closed hydraulics have the problem that suction of an ESP system, depending on operation, has more hydraulic volume in the relevant area of the brake system, ie below the master brake cylinder up to the brake cylinders on the wheels than should be present in normal operation.
  • power brake systems have a brake pedal that is coupled to a master brake cylinder by means of a pedal lever.
  • the brake pedal is actuated, whereupon brake fluid or brake hydraulic fluid is moved into a pedal force simulator in order to give the driver a force feedback and thereby make the brake system more controllable.
  • the brake pedal In the case of highly automated driving, the brake pedal is not required because the vehicle controller requests the deceleration independently. Efforts are therefore being made to move the brake pedal to a position where it does not bother the driver, e.g. to give the driver more legroom.
  • One solution can be to move the brake pedal to its end position with the help of an actuator, or a position of the brake pedal with maximum actuation. This then corresponds to a passive position of the pedal lever.
  • the forces required for this are relatively high because one would have to work against the force of the simulator. Decoupling the simulator from the hydraulic power flow can help to reduce the force level for the pedal movement.
  • a method for controlling a pedal lever of a hydraulic power brake for an at least partially automated mobile platform is proposed, the pedal lever acting mechanically on a master brake cylinder and the pedal lever being mechanically coupled to an actuating actuator.
  • a first signal for controlling the pedal lever into a passive position is provided, in particular to a control unit for the power brake.
  • a first hydraulic connection is formed between the master brake cylinder and a compensating volume.
  • a first hydraulic volume of the master brake cylinder is transferred into the compensation volume by means of the actuation actuator, which acts on the pedal lever, in order to control the pedal lever into a passive position.
  • the pedal lever can act on at least one piston of the master brake cylinder in order to displace the piston in the master brake cylinder for a braking effect.
  • the operating actuator can have an electric drive.
  • such a power brake can be designed in the form of a decoupled electric brake booster (DPB), in which the driver brakes in a brake force binding simulator during normal operation and the actual brake pressure is generated by means of a plunger.
  • DPB decoupled electric brake booster
  • This pre-pressure can be forwarded to a driving dynamics control system via two brake lines.
  • braking pressure can be built up with the plunger of the power brake, independently of the actuation of a brake pedal.
  • the power brake can mainly take over a necessary dynamic build-up of braking pressure.
  • the driving dynamics control can provide stabilization functions and emergency functions that may be required, such as building up hydraulic brake pressure, in the event of a fault.
  • a driver of a vehicle with such a braking system does not notice this method, since in the case of the power brake a master cylinder with a pedal or pedal lever can be decoupled from the plunger, which is designed to build up braking pressure.
  • the external power brake can regulate the hydraulic volume provided in such a way that the driving dynamics control is provided with a sufficient hydraulic volume without additional hydraulic volume being added from an additional reservoir. i.e. when a first dynamic pressure of the vehicle dynamics control is reduced again, the power brake can be set up to take up the provided hydraulic volume again without having to deliver it to the additional reservoir.
  • the system consisting of the external power brake and the driving dynamics control can be set up to transmit a signal to the external power brake when the driving dynamics control, such as a brake force modulation system, is activated, so that the external power brake interacts hydraulically with the driving dynamics control in such a way that the driving dynamics control is provided with a sufficient hydraulic volume is to build up a first hydraulic pressure without the hydraulic volume in the system of external power brake and Driving dynamics control changed. In this way it can be ensured that the hydraulic volume, which is sucked in by the vehicle dynamics control, is made available from a plunger of the power brake and not from a hydraulic reservoir.
  • the driving dynamics control such as a brake force modulation system
  • the system can be set up so that information that the driving dynamics control system wants to suck in hydraulic volume is determined and transmitted to the power brake, whereupon the plunger of the power brake is actively controlled to build up a sufficient but low second hydraulic pressure, so that the hydraulic Volume is not taken from a hydraulic reservoir, but from the plunger, since the second pressure generated by the plunger of the power brake is sufficiently high to avoid suction from the hydraulic reservoir.
  • This method of controlling the system results in closed hydraulics when the first dynamic pressure of the vehicle dynamics control is built up. This eliminates the need to provide measures to transfer the hydraulic volume that has been sucked back into the hydraulic reservoir in order to ensure that there is no hydraulic pressure when the system is in the rest position.
  • a plunger without snifting bores can thus also be used in this system, as a result of which, among other things, installation space and, in particular, width for the system can be saved. This ensures that no pressure remains in the brake system after the brake has been released or after operation of the vehicle dynamics control system, and the functionality of the brake system is therefore retained.
  • the hydraulic decoupling of the pedal force simulator from the master cylinder significantly reduces the force required to actuate the pedal, as a result of which the actuation actuator for the pedal movement can be designed more economically.
  • the maximum actuation of the pedal can be realized in an end position of the pedal, because in the normal active operation of the power brake, typically only half the pedal travel is used, since then only a first piston (MCI) of the master brake cylinder is displaced, from which the hydraulic volume acts on the braking force simulator. A second one remains in active operation hydraulic volume of the master cylinder closed, so that a second piston of the master cylinder can not be moved.
  • the compensating volume in particular for transferring the first hydraulic volume, is a hydraulic fluid reservoir of the power brake. Then, in a further step, at least one first hydraulic valve of the hydraulic power brake is opened in order to form the first hydraulic connection between the hydraulic fluid reservoir and the master brake cylinder.
  • the hydraulic fluid reservoir can be an external device to the power brake.
  • the method according to this aspect is easy to implement and requires little effort to implement.
  • the compensating volume is provided by mechanically displacing a piston of a plunger of the hydraulic power brake.
  • the piston of the plunger can be moved from an initial position using an electric drive in order to provide the required hydraulic volume.
  • the method according to this aspect can also be provided for externally powered brakes that do not contain a direct hydraulic connection between the master brake cylinder and the hydraulic fluid reservoir.
  • the brake fluid volume is absorbed by the plunger.
  • the plunger can previously move the amount of brake fluid to be absorbed into the hydraulic fluid reservoir via appropriately controlled valves, such as PSV, CSV and MC.
  • the piston of the plunger is controlled during the transfer of the hydraulic volume of the master brake cylinder in such a way that a minimum overpressure value is not exceeded in the hydraulic connection between the master brake cylinder and the plunger.
  • the method can advantageously limit an overpressure in the power brake to a maximum value when the pedal lever is controlled.
  • the actuation actuator of the pedal lever has an electric drive.
  • the actuation actuator itself can have an electric motor or another electric drive.
  • the operating actuator can be operated hydraulically.
  • the pedal lever can be coupled indirectly to the actuating actuator, in that the master brake cylinder is set up and/or coupled to the pedal lever, in particular via an actuating rod of the master brake cylinder, in such a way that the actuating actuator can be Brake cylinder acts on the pedal lever in order to move the pedal lever into a fully actuated stop or end position.
  • the pedal lever in particular subsequent to one of the methods described above for controlling the pedal lever, is controlled from the passive position into a manual actuation position by, in one step, a second signal for controlling the pedal lever in the actuation Position, in particular to the control unit for the power brake, is provided.
  • a second hydraulic connection is formed between the master brake cylinder and the hydraulic fluid reservoir by means of at least one second hydraulic valve of the hydraulic power brake.
  • a second hydraulic volume for the master brake cylinder is transferred from the hydraulic fluid reservoir by means of the actuating actuator, which acts on the pedal lever, through the second hydraulic connection, in order to control the pedal lever into the actuating position.
  • the second hydraulic connection can be the same as the first hydraulic connection and/or the second hydraulic valve can be the same as the first hydraulic valve.
  • the second hydraulic connection can be realized by means of at least one check valve and/or by means of a check valve of the plunger be realized and/or the second hydraulic valve can be designed in the form of seals of the master brake cylinder and/or of the plunger, which act in accordance with a check valve.
  • these seals of the master brake cylinder and/or the plunger can be lip seals which seal off hydraulic flow in one direction only.
  • the second hydraulic connection between the master brake cylinder and the hydraulic fluid reservoir has a check valve.
  • the check valve is designed as a seal of the master brake cylinder.
  • the pedal lever is controlled from the passive position into the manual operating position by providing the second signal for controlling the pedal lever in the operating position, in particular to the control unit for the power brake, in one step.
  • a third hydraulic connection is formed between the master brake cylinder and the plunger by means of at least a third hydraulic valve of the hydraulic power brake.
  • the second hydraulic volume for the master brake cylinder is made available by mechanically displacing the piston of the plunger of the hydraulic power brake.
  • the second hydraulic volume is transferred to the master brake cylinder by mechanically displacing the piston of the plunger and the operating actuator acting on the pedal lever to control the pedal lever from the passive position to the operating position.
  • this aspect of the method has the advantage that it can be implemented in power brakes that do not have a check valve and lip seals.
  • a vacuum in the hydraulic power brake can be controlled in order to prevent the brake pads from being pulled back from a desired position.
  • the control of the pedal lever from the passive position to the manual actuation position can be accelerated with a slight overpressure.
  • the restoring force of the springs of the master brake cylinder can always be designed in such a way that the pedal lever always returns to its initial position due to the restoring force of the springs.
  • first and/or the second and/or the third hydraulic connection can be identical.
  • first and/or the second and/or the third hydraulic valve can be identical.
  • the displacement of the piston of the plunger, while the second hydraulic volume is being provided to the master brake cylinder, is controlled in such a way that a minimum overpressure is not exceeded in the third hydraulic connection between the master brake cylinder and the plunger becomes.
  • a control unit of the power brake can be set up and configured to control the actuating actuator and the piston of the plunger in such a way that no hydraulic overpressure occurs in the third hydraulic connection.
  • control unit can be set up and configured to set a specific positive or negative pressure in the third hydraulic connection between the master brake cylinder and the plunger in sub-steps of the method.
  • the power brake can have a pressure sensor in the connection between the master brake cylinder and the plunger, which provides a current hydraulic pressure to the control unit.
  • the first signal for controlling the pedal lever into the passive position and the second signal for controlling the pedal lever into the actuated position are provided by a control unit of a mobile platform.
  • the first control signal and/or the second control signal can be a binary signal and/or an analog signal.
  • a hydraulic power brake which has an actuating actuator and a plunger and/or a hydraulic reservoir and a control unit. Furthermore, hydraulic power brakes have at least one first hydraulic valve and/or second hydraulic valve and can in particular have a pressure sensor.
  • the control unit is set up to carry out one of the methods described above.
  • a use of a hydraulic power brake as described above for braking at least one wheel of a mobile platform is proposed.
  • a mobile platform can be understood to mean an at least partially automated system that is mobile and/or a driver assistance system of a vehicle.
  • An example can be an at least partially automated vehicle or a vehicle with a driver assistance system. That is, in this context, an at least partially automated system includes a mobile platform in terms of at least partially automated functionality, but a mobile platform also includes vehicles and other mobile machines including driver assistance systems.
  • Other examples of mobile platforms can be driver assistance systems with multiple sensors, mobile multi-sensor robots such as robotic vacuum cleaners or lawn mowers, a multi-sensor surveillance system, a manufacturing machine, a personal assistant or an access control system. Each of these systems can be a fully or partially automated system.
  • FIGS. 1a-d to 4a-d Exemplary embodiments of the invention are illustrated with reference to FIGS. 1a-d to 4a-d and explained in more detail below. Show it:
  • FIG. 1 a) a power brake with a pedal lever in the operating position; b) valve positions of the power brake to control the pedal lever in a passive position; c) a position of the master brake cylinder in the passive position; d) Valve positions of the power brake in the passive position.
  • FIG. 2 a) a power brake with a pedal lever in the operating position; b) a changed position of the plunger; c) a master cylinder and plunger in passive position; d) Valve positions of the power brake in the passive position.
  • FIG. 3 a) a power brake with a pedal lever in the passive position; b) valve positions to control the pedal lever to an actuated position; c) a position of the master brake cylinder in the operating position; d) the power brake with valve positions in the operating position.
  • FIG. 4 a) a power brake with a pedal lever in the passive position; b) valve positions to control the pedal lever to an actuated position; c) a position of the plunger after transition of the master brake cylinder into the operating position; d) the power brake with valve positions in the operating position.
  • FIG. 1a schematically outlines a power brake 1000 which is coupled to a driving dynamics control system 1100 and with valve positions in an idle state.
  • the power brake 1000 is hydraulically coupled to the driving dynamics control 1100 by means of a first and second coupling valve of the power brake PSV 1,2 1021 or 1022 and a first and second coupling valve of the driving dynamics control SCC 1111 and 1112.
  • Both the power brake 1000 and the vehicle dynamics control system 1100 are designed with two circuits.
  • a master cylinder 1050 can be actuated manually by a pedal or with a pedal lever, which is mechanically connected to the master cylinder 1050, in order to be actuated hydraulically by means of a first and second circuit separation valve CSV 1, 2, 1011 and 1012, respectively to act on brake cylinders 1101, 1102 or 1103 and 1104 in order to achieve an emergency braking effect.
  • the main brake cylinder 1050 is hydraulically connected to a reservoir for hydraulic fluid 1030 by means of two snifting bores.
  • the braking effect on the brake cylinders 1101, 1102 or 1103 and 1104 can be brought about by means of a plunger 1060, in that the plunger 1060 moves hydraulic volume via the coupling valves of the power brake PSV 1,2 1021 or 1022 into the two circuits of the driving dynamics control.
  • the plunger 1060 can be hydraulically coupled to the hydraulic reservoir RSV 1,2 1030 via a valve POV 1061 .
  • the plunger 1060 is coupled to an electric motor in order to be able to deliver or take in hydraulic volume by means of a piston.
  • the electric motor can be regulated by a controller that is coupled to a sensor system for determining the position of the electric motor RPS 1062.
  • the pressure of the master cylinder 1050 can be determined using a pressure sensor 1053 .
  • the dual-circuit master cylinder 1050 can be hydraulically coupled to a brake force simulator PFS 1052 via a valve SSV 1051 in order to simulate a hydraulic pressure build-up for a driver who operates the brake pedal.
  • the hydraulic volume is then made available in normal operation by means of plunger 1060 for driving dynamics control 1100 in order to achieve a braking effect on brake cylinders 1101, 1102 or 1103 and 1104, which are hydraulically coupled to driving dynamics control 1100.
  • a mechanical position of the brake pedal can be determined by a displacement pickup s/U, which is mechanically coupled to the brake pedal or to the pedal lever, in order to control the plunger 1060 .
  • a second hydraulic pressure generated by the plunger 1060 can be determined with a plunger pressure sensor 1065 .
  • hydraulic fluid can be subsequently supplied to the hydraulic system consisting of power brake 1000 and vehicle dynamics control system 1100.
  • the power brake 1000 is hydraulically coupled to a coupling valve of the vehicle dynamics control SCC 1111 or 1112 by means of the coupling valve of the power brake PSV 1,2 1021 or 1022, and thus forms a hydraulic coupling between the power brake 1000 and the vehicle dynamics control 1100.
  • the externally powered brake 1000 can be given a signal for controlling the pedal lever into a passive position by means of an actuation actuator 1070 in this manual mode.
  • the first and second circuit separation valve CSV 1, 2 1011 or 1012, as well as the first and second coupling valve of the power brake PSV 1,2 1021 or 1022 are a coupling valve POV 1061 of the plunger 1060 with the hydraulic reservoir RSV 1,2 1030 opened and the valve SSV 1051 to the brake force simulator PFS 1052 closed.
  • the driving dynamics control (ESP system) 1100 remains passive.
  • the figure lc sketches schematically how the actuation actuator 1070 operates the pedal lever to the hydraulic volumes MCI, MC2 from the master brake cylinder 1050 through the first and second circuit separation valve CSV 1, 2 1011 and 1012, and the first and second To transfer coupling valve PSV 1.2 1021 or 1022 and the coupling valve POV 1061 in the reservoir for hydraulic fluid 1030.
  • the actuation actuator 1070 only has to apply the force to overcome a return spring of the brake master cylinder and friction, since the brake master cylinder 1050 is decoupled from the brake force simulator PFS 1052 .
  • Figure 1d schematically outlines the changed position of the tappets of master brake cylinder 1050 in the passive position and the corresponding position of the pedal lever.
  • the valve positions of the power brake 1000 correspond to the initial state as shown in FIG.
  • the AD driving mode request is sent to the power brake 1050:
  • the power brake 1050 is returned to the full system mode after controlling the pedal lever to the passive position, but the valve SSV 1051 to the brake force simulator PFS 1052 remains closed in the highly automated driving mode (AD driving mode) because the braking force simulation, which can be carried out using the PFS 1052 brake force simulator, is not required for highly automated driving.
  • AD driving mode highly automated driving mode
  • FIG. 2a schematically outlines a second exemplary embodiment of the method for controlling the pedal lever.
  • the starting point for the method is the operating position of the pedal lever and the master brake cylinder 1050 according to the method that is described with FIG.
  • the externally-powered brake can be given a signal to control the pedal lever into a passive position in this manual mode.
  • valve SSV 1051 to the brake force simulator PFS 1052 and the coupling valve POV 1061 of the plunger 1060 to the hydraulic reservoir RSV 1.2 1030 is or remains closed.
  • the driving dynamics control (ESP system) 1100 remains passive.
  • the piston of the plunger 1060 is displaced in such a way that the plunger 1060 can absorb the hydraulic volume of the master brake cylinder 1050 . Any excess hydraulic volume of the plunger 1060 that occurs in the process is relieved by the first and second circuit separating valve CSV 1, 2 1011 or 1012, and the first and second coupling valve PSV 1,2 1021 or
  • Figure 2c schematically sketches how the hydraulic volumes MCI, MC2 of the master brake cylinder 1050 flow through the opened first and second circuit separation valves CSV 1, 2 1011 and 1012, as well as the first and second coupling valve of the power brake PSV 1,2 1021 and .
  • valve positions of power brake 1000 correspond to the initial state, as shown in FIG. 2a.
  • FIG. 3b schematically outlines changed valve positions in order to transfer a required hydraulic volume into master brake cylinder 1050 from reservoir for hydraulic fluid 1030.
  • the first and second circuit separation valve CSV 1, 2 1011 or 1012, and the first and second coupling valve of the power brake PSV 1,2 1021 or 1022 are opened.
  • the coupling valve POV 1061 which can hydraulically couple the plunger 1060 to the hydraulic reservoir RSV 1,2 1030, and the valve SSV 1051 to the brake force simulator PFS 1052 are or remain closed.
  • the driving dynamics control (ESP system) 1100 remains passive.
  • FIG. 3c sketches schematically how the actuation actuator 1070 actuates the pedal lever to the hydraulic volumes MCI, MC2 in the master brake cylinder 1050 through the first and second circuit separation valve CSV 1, 2 1011 and 1012 and the first and second check valve BSV 1.2 1041 or 1042 to be transferred into the reservoir for hydraulic fluid 1030.
  • the actuation actuator 1070 is supported by the return spring of the master brake cylinder.
  • FIG. 3d schematically sketches the changed position of the tappets of the master brake cylinder 1050 in the actuation position and the corresponding position of the pedal lever.
  • the valve positions of power brake 1000 correspond to the initial state, as shown in FIG. 3a. After reaching the pedal end position in the actuation position, the request for manual driving mode is sent to the power brake 1050:
  • FIG. 4a schematically outlines a fourth exemplary embodiment of the method for controlling the pedal lever.
  • FIG. 4b schematically outlines modified valve positions in order to transfer a required hydraulic volume into master brake cylinder 1050 from reservoir for hydraulic fluid 1030.
  • the first and second circuit separation valve CSV 1, 2 1011 or 1012, and the first and second coupling valve of the power brake PSV 1,2 1021 or 1022 are opened.
  • the coupling valve POV 1061 which can hydraulically couple the plunger 1060 to the hydraulic reservoir RSV 1,2 1030, and the valve SSV 1051 to the brake force simulator PFS 1052 are or remain closed.
  • FIG. 4c schematically outlines how the actuation actuator 1070 actuates the pedal lever in order to provide the required hydraulic volume MCI, MC2 for the master brake cylinder 1050 through the first and second circuit separation valve CSV 1, 2 1011 or 1012 and the first and second coupling valve of the power brake PSV 1,2 1021 or 1022 with a hydraulic volume to be transferred from the hydraulic volume of the plunger 1060, in which the piston of the plunger 1060 is moved accordingly.
  • the piston of the plunger 1060 is controlled in such a way that in the hydraulic connection between the master brake cylinder 1050 and the plunger 1060 a minimum overpressure value is not exceeded.
  • the actuation actuator 1070 is assisted by the return spring of the master brake cylinder in controlling the respective piston of the master brake cylinder 1050 into the actuation position.
  • the piston of plunger 1060 is returned to a starting position for activating the brake, in which the required hydraulic volume is provided by the first and second circuit separating valve CSV 1, 2 1011 or 1012 and the first and second coupling valve of the power brake PSV 1,2 1021 and 1022 and the snifting bores of the master brake cylinder 1050, which are released in the actuation position, is transferred from the reservoir for hydraulic fluid 1030.
  • the request for the manual driving mode is sent to the power brake 1050.
  • the first hydraulic volume and/or the second hydraulic volume and/or the third hydraulic volume can be the same.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Braking Elements And Transmission Devices (AREA)

Abstract

L'invention concerne un procédé de commande d'un levier de pédale d'un servofrein hydraulique pour une plate-forme mobile au moins partiellement automatisée, dans lequel le levier de pédale agit mécaniquement sur un maître-cylindre de frein, et le levier de pédale est couplé mécaniquement à un actionneur ; le procédé comprenant les étapes consistant à : fournir un premier signal à une unité de commande pour le servofrein dans le but de commander le levier de pédale de manière à le déplacer dans une position passive ; établir une première liaison hydraulique entre le maître-cylindre de frein et un volume de compensation ; et transférer un premier volume hydraulique du maître-cylindre de frein dans le volume de compensation au moyen de l'actionneur agissant sur le levier de pédale pour commander le levier de pédale de manière à le déplacer dans une position passive.
EP22741272.3A 2021-09-09 2022-07-08 Procédé de commande d'un levier de pédale d'un servofrein hydraulique Pending EP4399130A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021209950.5A DE102021209950A1 (de) 2021-09-09 2021-09-09 Verfahren zur Steuerung eines Pedalhebels einer hydraulischen Fremdkraftbremse
PCT/EP2022/069133 WO2023036497A1 (fr) 2021-09-09 2022-07-08 Procédé de commande d'un levier de pédale d'un servofrein hydraulique

Publications (1)

Publication Number Publication Date
EP4399130A1 true EP4399130A1 (fr) 2024-07-17

Family

ID=82494072

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22741272.3A Pending EP4399130A1 (fr) 2021-09-09 2022-07-08 Procédé de commande d'un levier de pédale d'un servofrein hydraulique

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Country Link
US (1) US20240308458A1 (fr)
EP (1) EP4399130A1 (fr)
JP (1) JP2024532533A (fr)
KR (1) KR20240056734A (fr)
CN (1) CN117980202A (fr)
DE (1) DE102021209950A1 (fr)
WO (1) WO2023036497A1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014214786B4 (de) * 2014-07-28 2019-03-14 Volkswagen Aktiengesellschaft Verfahren zum Verstellen wenigstens eines Pedals einer Kraftfahrzeug-Pedalerie sowie Vorrichtung dafür
US10525951B2 (en) * 2017-12-08 2020-01-07 Robert Bosch Gmbh Vehicle braking system and method of operating the same
DE102018206586B4 (de) * 2018-04-27 2020-06-25 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben eines Fahrzeuges mit einem elektrohydraulischen Bremssystem sowie elektrohydraulisches Bremssystem eines Fahrzeuges

Also Published As

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DE102021209950A1 (de) 2023-03-09
US20240308458A1 (en) 2024-09-19
WO2023036497A1 (fr) 2023-03-16
CN117980202A (zh) 2024-05-03
JP2024532533A (ja) 2024-09-05
KR20240056734A (ko) 2024-04-30

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