JP7122475B2 - ブレーキシステムを運転するための方法およびブレーキシステム - Google Patents
ブレーキシステムを運転するための方法およびブレーキシステム Download PDFInfo
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- JP7122475B2 JP7122475B2 JP2021531180A JP2021531180A JP7122475B2 JP 7122475 B2 JP7122475 B2 JP 7122475B2 JP 2021531180 A JP2021531180 A JP 2021531180A JP 2021531180 A JP2021531180 A JP 2021531180A JP 7122475 B2 JP7122475 B2 JP 7122475B2
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- braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
-
- 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
- B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
-
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Description
102 車両
104 調節ユニット
106 初期圧力値
108 処理規定
110 初期制御値
112 ブレーキ圧
114 初期圧力
116 マスタブレーキシリンダ
118 圧力センサ
120 弁ブロック
122 制御信号
124 弁駆動装置
126 目標値
128 センサ
130 回転数値
132 ガバナ
134 修正ファクタ
200 ブレーキ圧変化
202 初期圧力変化
204 限界圧力
206 ABS制御圧
300 初期制御変化
400 ホイール回転数変化
402 ホイール回転数、スリップ
404 論理状態変化
406 スリップコリドー
p 圧力
t 時間
t0,t1 時点
Claims (10)
- 車両(102)のブレーキシステム(100)を運転するための方法において、
前記ブレーキシステム(100)で初期圧力(114)を表す初期圧力値(106)および前記車両(102)のブレーキダイナミックスを表す処理規定(108)を用いて前記ブレーキシステム(100)のブレーキ圧(112)のための初期制御値(110)を設定し、
前記初期制御値(110)の初期制御勾配を、前記処理規定(108)および前記初期圧力値(106)の初期圧力勾配を用いて設定することを特徴とする、車両のブレーキシステムを運転するための方法。 - 前記車両(102)の車軸毎に前記初期制御値(110)を設定する、請求項1記載の方法。
- 前記処理規定(108)が、前記車両(102)の制動時における車両モデル固有の経時的な垂直力変化を表す、請求項1または2記載の方法。
- 前記処理規定(108)が、前記車両(102)の制動時における車両モデル固有のピッチングダイナミックスを表す、請求項1から3までのいずれか1項記載の方法。
- 前記初期圧力勾配が限界勾配よりも大きいときに、前記初期制御勾配を制限する、請求項1から4までのいずれか1項記載の方法。
- 車両(102)のブレーキシステム(100)を運転するための方法において、
前記ブレーキシステム(100)で初期圧力(114)を表す初期圧力値(106)および前記車両(102)のブレーキダイナミックスを表す処理規定(108)を用いて前記ブレーキシステム(100)のブレーキ圧(112)のための初期制御値(110)を設定し、
ホイールブレーキシリンダ毎に前記ブレーキ圧(112)の目標値(126)を、前記初期制御値(110)および前記ホイールブレーキシリンダによって制動されたホイールのホイール回転数(402)の微分を用いて個別に調整し、
前記目標値(126)を、制動開始中に前記初期制御値(110)に応じて設定し、制動開始時間の経過後に前記初期制御値(110)および前記ホイール回転数(402)の微分を用いて調整する、方法。 - 前記目標値(126)を、前記ホイール回転数(402)がスリップコリドー(406)内で低下するように、調整する、請求項6記載の方法。
- ブレーキシステム(100)において、請求項1から7までのいずれか1項記載の方法を相応の装置で実施、実行および/または制御するために構成されている、ブレーキシステム(100)。
- コンピュータプログラム製品において、請求項1から7までのいずれか1項記載の方法を実施、実行および/または制御するために設計されている、コンピュータプログラム製品。
- 機械読み取り可能な記憶媒体において、前記機械読み取り可能な記憶媒体に請求項9記載のコンピュータプログラム製品が記憶されている、機械読み取り可能な記憶媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018213592.4A DE102018213592A1 (de) | 2018-08-13 | 2018-08-13 | Verfahren zum Betreiben eines Bremssystems und Bremssystem |
DE102018213592.4 | 2018-08-13 | ||
PCT/EP2019/066564 WO2020035200A1 (de) | 2018-08-13 | 2019-06-22 | Verfahren zum betreiben eines bremssystems und bremssystem |
Publications (2)
Publication Number | Publication Date |
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JP2021534037A JP2021534037A (ja) | 2021-12-09 |
JP7122475B2 true JP7122475B2 (ja) | 2022-08-19 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2021531180A Active JP7122475B2 (ja) | 2018-08-13 | 2019-06-22 | ブレーキシステムを運転するための方法およびブレーキシステム |
Country Status (6)
Country | Link |
---|---|
US (1) | US11752991B2 (ja) |
EP (1) | EP3837144B1 (ja) |
JP (1) | JP7122475B2 (ja) |
CN (1) | CN112533804B (ja) |
DE (1) | DE102018213592A1 (ja) |
WO (1) | WO2020035200A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019210670A1 (de) * | 2019-07-18 | 2021-01-21 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Bremssystems, Computerprogramm und Computerprogramm-Produkt, Bremssystem |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3829951A1 (de) * | 1988-09-03 | 1990-03-15 | Daimler Benz Ag | Verfahren zur lastabhaengigen regelung des bremsdruckes an fahrzeugen und vorrichtung zur durchfuehrung des verfahrens |
US5772289A (en) * | 1994-10-11 | 1998-06-30 | Nissan Diesel Co., Ltd. | Vehicle braking force controller |
JPH0971231A (ja) * | 1995-09-06 | 1997-03-18 | Nissan Diesel Motor Co Ltd | 車両の制動力制御装置 |
DE19946777B4 (de) * | 1999-09-29 | 2008-01-10 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Abschätzung eines Vordrucks bei einer Kraftfahrzeug-Bremsanlage |
DE102006036280B3 (de) | 2006-08-03 | 2008-01-31 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren zur Bremsdruckverteilung auf die Achsen eines Fahrzeugs |
JP5455802B2 (ja) * | 2010-06-11 | 2014-03-26 | 日立建機株式会社 | 電動車両のピッチング制御装置 |
CN102358275B (zh) * | 2011-09-05 | 2013-03-27 | 北京航空航天大学 | 用于车辆自动驾驶机器人的紧急制动控制装置与控制方法 |
DE102011084069A1 (de) * | 2011-10-06 | 2013-04-11 | Continental Teves Ag & Co. Ohg | Verfahren zur Bestimmung eines Modell-Vordrucks mittels eines mathematischen Modells in einem elektronisch geregelten Kraftfahrzeugbremssystem |
CN205149832U (zh) * | 2015-12-08 | 2016-04-13 | 四川建筑职业技术学院 | 一种基于abs防抱死系统的助制动辅助系统 |
CN106043263A (zh) | 2016-07-04 | 2016-10-26 | 吉林大学 | 智能纯电动客车制动控制系统及其控制方法 |
-
2018
- 2018-08-13 DE DE102018213592.4A patent/DE102018213592A1/de active Pending
-
2019
- 2019-06-22 EP EP19734731.3A patent/EP3837144B1/de active Active
- 2019-06-22 JP JP2021531180A patent/JP7122475B2/ja active Active
- 2019-06-22 US US17/259,878 patent/US11752991B2/en active Active
- 2019-06-22 CN CN201980054111.1A patent/CN112533804B/zh active Active
- 2019-06-22 WO PCT/EP2019/066564 patent/WO2020035200A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
EP3837144B1 (de) | 2024-05-15 |
US11752991B2 (en) | 2023-09-12 |
US20210276518A1 (en) | 2021-09-09 |
WO2020035200A1 (de) | 2020-02-20 |
EP3837144A1 (de) | 2021-06-23 |
JP2021534037A (ja) | 2021-12-09 |
DE102018213592A1 (de) | 2020-02-13 |
CN112533804B (zh) | 2023-03-31 |
CN112533804A (zh) | 2021-03-19 |
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