WO1991004180A1 - Anti-lock regulating system - Google Patents

Anti-lock regulating system Download PDF

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Publication number
WO1991004180A1
WO1991004180A1 PCT/EP1990/001510 EP9001510W WO9104180A1 WO 1991004180 A1 WO1991004180 A1 WO 1991004180A1 EP 9001510 W EP9001510 W EP 9001510W WO 9104180 A1 WO9104180 A1 WO 9104180A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
asr
valves
abs
brake pressure
Prior art date
Application number
PCT/EP1990/001510
Other languages
German (de)
French (fr)
Inventor
Herbert Demel
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 WO1991004180A1 publication Critical patent/WO1991004180A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—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
    • 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
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction 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
    • 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
    • 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
    • B60T2270/20—ASR control systems
    • B60T2270/203—ASR control systems hydraulic system components

Definitions

  • DE-OS 33 37 545 known to use the brake pressure control valves associated with the driven wheels also in ASR for brake pressure control.
  • brake pressure control valve which applies a high-pressure source to the inputs of the brake pressure control valves of the driven wheels during ASR operation.
  • FIGS. 2 and 4 Two hydraulic exemplary embodiments are explained with the aid of the drawing.
  • the associated control according to the invention is shown in FIGS. 2 and 4.
  • brakes 3 and 4 are applied directly by master cylinder pressure. If one of the wheels 6 or 7 tends to lock, sensors (not shown) arranged on the wheels give signals to an evaluation circuit which controls the corresponding 3/3-way solenoid control valve 8 or 9; the valve then either switches to its second position (hold pressure) or to its third position (pressure reduction). Simultaneously with the 3/3-way solenoid valve, the high-pressure pump 10 is also switched on in order to return the amount of relief fluid via the brake line 2 ", 2 1 to the main cylinder 1. If, for example, wheel 6 rotates when one of the wheels 6 or 7 starts, this is detected by the associated sensor from the control unit.
  • Fig. 1 only the hydraulic control for the driven wheels in the ABS and ASR case is shown.
  • the master brake cylinder 1 additionally operates the front wheel brakes via a second brake circuit (not shown), a brake pressure control valve for the ABS case being connected upstream of each wheel brake cylinder.
  • FIG. 2 shows the associated valve control, with the control valves 20 and 21 for the front wheels now being shown more.
  • the valves of FIG. 1 are provided with “" "in FIG. 2.
  • Output stages 23a-23d are connected between an evaluation circuit for ABS 22 and the valves 8 ', 9', 20 and 21. ABS operation is possible via the arrangement described so far (including the sensors, not shown).
  • valves 8 ', 9' and 11 'are controlled by an evaluation circuit 24 no separate output stages are provided. Rather, the valves 8 1 and 9 'are controlled via OR gates 25a and 25b and the output stages 23a and 23b.
  • the control of the feed valve 11 ' which must be activated from the start of ASR operation, is effected via an output signal of the ASR control unit on line 25 which is present during ASR operation. On the one hand, this switches a switch 26 to control the valve 11 'and, on the other hand, acts on the valve 11' via an OR gate 27 and the output stage 23c.
  • FIG. 3 shows a master brake cylinder for two brake circuits with 30, a unit containing three brake pressure control valves for the ABS case, with 31.
  • the brakes of the front wheels 32a and 32b are regulated separately and the brakes of the rear wheels 33 (in the ABS case) are regulated jointly.
  • a pressure generator consisting of pump 34 and accumulator 35, two 3/3 valves 36a and 36b and hydraulic arrangements 37a and 37b are provided which separate the master brake cylinder 30 or the unit 31 from the rear wheel brakes during ASR operation and by moving the pistons in the hydraulic arrangements 37a and 37b by varying the pressure by means of the valves 36a and 36b, vary the braking pressure in the brakes of the wheels 33.
  • valves (in 31) are acted on in the ABS case than in the ASR case (36a and 36b).
  • Fig. 4 shows the associated control of the valves.
  • the two evaluation circuits are designated 40 (ABS) and 41 (ASR).
  • the three ABS valves in block 31 are labeled 31a 'and 31b 1 (front wheels) and 31c' (rear wheels). In the ABS case, these valves are controlled by the evaluation circuit 40 via output stages 42a vis 42c.
  • the evaluation circuit 41 emits a signal on a line 43, through which two switches 44a (for example relays) and 44b are switched.
  • the valve control signals of the evaluation circuit now pass through OR gates 45a and 45b, the output stages 42a and 42b and the switches 44a and 44b to the ASR valves 36a 'and 36b 1 .

Abstract

Anti-lock regulating system in which an ASR case ABS final stages (23c.(42a, 42b)) are used to control the ASR valves ((36a', 36b')11).

Description

Antiblockierregelsystem Anti-lock control system
Stand der TechnikState of the art
Es ist z.B. aus der DE-OS 33 37 545 bekannt, die den angetriebenen Rädern zu¬ geordneten Bremsdrucksteuerventile auch bei ASR zur Bremsdrucksteuerung mit einzusetzen. Es gibt dann noch ein sogenanntes Bremsdrucksteuerventil, das be ASR-Betrieb eine Hochdruckquelle an die Eingänge der Bremsdrucksteuerventile der angetriebenen Räder angelegt.It is e.g. from DE-OS 33 37 545 known to use the brake pressure control valves associated with the driven wheels also in ASR for brake pressure control. There is also a so-called brake pressure control valve, which applies a high-pressure source to the inputs of the brake pressure control valves of the driven wheels during ASR operation.
Zur Ansteuerung der insgesamt fünf Ventile (vier bei ABS genutzte Ventile, drei bei ASR genutzte Ventile) werden siehen Endstufen benutzt.To control the total of five valves (four valves used with ABS, three valves used with ASR), see final stages are used.
Vorteile der ErfindungAdvantages of the invention
Bei der erfindungsgemäßen Ausbildung der ABS/ASR werden teuere Endstufen ein¬ gespart.In the design of the ABS / ASR according to the invention, expensive output stages are saved.
FigurenbeschreibungFigure description
Anhand der Zeichnung werden in Fig. 1 und 3 zwei hydraulische Ausführungsbei- spiele erläutert. Die zugehörige erfindungsgemäße Ansteuerung ist in der Fig. 2 und 4 dargestellt.1 and 3, two hydraulic exemplary embodiments are explained with the aid of the drawing. The associated control according to the invention is shown in FIGS. 2 and 4.
Beim gewöhnlichen Bremsen werden die Bremsen 3 und 4 direkt von Hauptbrems¬ zylinderdruck beauftragt. Neigt eines der Räder 6 oder 7 zum Blockieren, so geben an den Rädern angeordnete, nicht dargestellte Sensoren Signale an eine AuswerteSchaltung die das entsprechende 3/3-Wege-Magnet-Steuerventil 8 oder 9 ansteuert; das Ventil schaltet dann entweder in seine zweite Stellung (Druck¬ halten) oder in seine dritte Stellung (Druckabbau) . Gleichzeitig mit dem 3/3-Wege-Magnetventil wird auch die Hochdruckpumpe 10 eingeschaltet, um die Entlastungs-Flüssigkeitsmenge über die Bremsleitung 2", 21 an den Hauptzylin¬ der 1 zurückgegeben. Dreht beim Anfahren eines der Räder 6 oder 7 z.B. Rad 6 durch, so wird dies über den zugehörigen Sensor von Steuergerät erfaßt. Es gibt ein Signal an das Einspeiseventil 11 und an das 3/3-Wege-Magnet-Steuerventil 9 des nicht durchdre¬ henden Rades. Die Ventile schalten um, wodurch einerseits der Hochdruckspeicher 12 mit den Brerasleitungszweigen 2' und 2" verbunden wird, andererseits aber das 3/3-Wege-Magnetventil 9 in die Druckhalten-Stellung umschaltet, so daß die Bremsflüssigkeit nur über das nicht umgeschaltete 3/3-Wege-Magnetventil 8 zu de Bremszylinder 3 des durchdrehenden Rades 6 gelangen kann. Das andere Rad 7 kann dann Drehmoment abgeben und das Fahrzeug fortbewegen. Die jeweilige Druckhöhe wird mittels einer nicht dargestellten Steuerschaltung in Abhängigkeit vom fest¬ gestellten Antriebsschlupf variiert.In normal braking, brakes 3 and 4 are applied directly by master cylinder pressure. If one of the wheels 6 or 7 tends to lock, sensors (not shown) arranged on the wheels give signals to an evaluation circuit which controls the corresponding 3/3-way solenoid control valve 8 or 9; the valve then either switches to its second position (hold pressure) or to its third position (pressure reduction). Simultaneously with the 3/3-way solenoid valve, the high-pressure pump 10 is also switched on in order to return the amount of relief fluid via the brake line 2 ", 2 1 to the main cylinder 1. If, for example, wheel 6 rotates when one of the wheels 6 or 7 starts, this is detected by the associated sensor from the control unit. There is a signal to the feed valve 11 and to the 3/3-way solenoid control valve 9 of the non-spinning wheel. The valves switch, whereby on the one hand the high-pressure accumulator 12 is connected to the Breras line branches 2 'and 2 ", but on the other hand the 3/3-way solenoid valve 9 switches to the pressure-maintaining position, so that the brake fluid is switched only via the non-switched 3 / 3-way solenoid valve 8 can get to the brake cylinder 3 of the spinning wheel 6. The other wheel 7 can then deliver torque and the vehicle can move in. The respective pressure level is varied by means of a control circuit (not shown) depending on the determined drive slip.
Es muß sichergestellt sein, daß zur Antriebsschlupfregelung der Hochdruck- Speicher 26 geladen ist, wozu eine Pumpe vorgesehen sein kann.It must be ensured that the high-pressure accumulator 26 is loaded for traction control, for which purpose a pump can be provided.
In Fig. 1 ist lediglich die hydraulische Ansteuerung für die angetriebenen Räder im ABS- und ASR-Fall dargestellt. Vom Hauptbremszylinder 1 werden zu¬ sätzlich noch über einen zweiten nicht dargestellten Bremskreis der Vorder¬ radbremsen bedient, wobei jedem Radbremszylinder noch ein Bremsdrucksteuer¬ ventil für den ABS-Fall vorgeschaltet ist.In Fig. 1 only the hydraulic control for the driven wheels in the ABS and ASR case is shown. The master brake cylinder 1 additionally operates the front wheel brakes via a second brake circuit (not shown), a brake pressure control valve for the ABS case being connected upstream of each wheel brake cylinder.
Fig. 2 zeigt die zugehörige Ventilansteuerung, wobei nun mehr die Steuerven¬ tile 20 und 21 für die Vorderräder mit dargestellt sind. Die Ventile der Fig. 1 sind in Fig. 2 mit '"" versehen.2 shows the associated valve control, with the control valves 20 and 21 for the front wheels now being shown more. The valves of FIG. 1 are provided with "" "in FIG. 2.
Zwischen eine Auswerteschaltung für ABS 22 und die Ventile 8' , 9' , 20 und 21 sind Endstufen 23a - 23d eingeschaltet. Über die bis jetzt beschriebene Anord¬ nung (einschließlich der nicht dargestellten Sensoren) ist ABS-Betrieb möglich.Output stages 23a-23d are connected between an evaluation circuit for ABS 22 and the valves 8 ', 9', 20 and 21. ABS operation is possible via the arrangement described so far (including the sensors, not shown).
Für den ASR-Betrieb, bei dem die Ventile 8', 9' und 11' von einer Auswerte¬ schaltung 24 angesteuert werden sind nun keine gesonderten Endstufen vor¬ gesehen. Vielmehr werden die Ventile 81 und 9' über Oder-Gatter 25a bzw. 25b und die Endstufen 23a bzw. 23b angesteuert. Die Ansteuerung des Einspeiseventils 11', das ab Beginn des ASR-Betriebs angesteuert werden muß, wird über ein während ASR-Betriebs vorhandenes Ausgangssignal des ASR-Steuergeräts auf Leitung 25 bewirkt. Dieses schaltet einerseits eine Weiche 26 auf Ansteuerung des Ventils 11 ' um und wirkt andere seits über ein Oder-Gatter 27 und die Endstufe 23c auf das Ventil 11'.For the ASR mode, in which the valves 8 ', 9' and 11 'are controlled by an evaluation circuit 24, no separate output stages are provided. Rather, the valves 8 1 and 9 'are controlled via OR gates 25a and 25b and the output stages 23a and 23b. The control of the feed valve 11 ', which must be activated from the start of ASR operation, is effected via an output signal of the ASR control unit on line 25 which is present during ASR operation. On the one hand, this switches a switch 26 to control the valve 11 'and, on the other hand, acts on the valve 11' via an OR gate 27 and the output stage 23c.
In Fig. 3 ist ein Hauptbremszylinder für zwei Bremskreise mit 30, eine Ein¬ heit die drei Bremsdrucksteuerventile für den ABS-Fall enthält, mit 31 bezei¬ chnet. Hierüber werden die Bremsen der Vorderräder 32a und 32b getrennt ge¬ regelt und die Bremsen der Hinterräder 33 (im ABS-Fall) gemeinsam geregelt.3 shows a master brake cylinder for two brake circuits with 30, a unit containing three brake pressure control valves for the ABS case, with 31. In this way, the brakes of the front wheels 32a and 32b are regulated separately and the brakes of the rear wheels 33 (in the ABS case) are regulated jointly.
Für die Regelung im ASR-Fall sind ein Druckerzeuger bestehend aus Pumpe 34 und Speicher 35, zwei 3/3-Ventile 36a und 36b sowie Hydraulikanordnungen 37a und 37b vorgesehen, die bei ASR Betrieb den Hauptbremszylinder 30 bzw. die Einheit 31 von den Hinterradbremsen abtrennen und durch Verschieben der Kolben in den Hydraulikanordnungen 37a und 37b durch Druckvariation mittels der Ventile 36a und 36b den Bremsdruck in den Bremsen der Räder 33 variieren.For the regulation in the ASR case, a pressure generator consisting of pump 34 and accumulator 35, two 3/3 valves 36a and 36b and hydraulic arrangements 37a and 37b are provided which separate the master brake cylinder 30 or the unit 31 from the rear wheel brakes during ASR operation and by moving the pistons in the hydraulic arrangements 37a and 37b by varying the pressure by means of the valves 36a and 36b, vary the braking pressure in the brakes of the wheels 33.
Hier werden also im ABS-Fall andere Ventile (in 31) beaufschlagt als im ASR-Fall (36a und 36b).In this case, different valves (in 31) are acted on in the ABS case than in the ASR case (36a and 36b).
Fig. 4 zeigt die zugehörige Ansteuerung der Ventile. Die beiden Auswerte¬ schaltungen sind mit 40 (ABS) und 41 (ASR) bezeichnet. Die drei ABS-Ventile im Block 31 tragen die Bezeichnungen 31a' und 31b1 (Vorderräder) und 31c' (Hinterräder). Diese Ventile werden im ABS-Fall von der Auswerteschaltung 40 über Endstufen 42a vis 42c angesteuert.Fig. 4 shows the associated control of the valves. The two evaluation circuits are designated 40 (ABS) and 41 (ASR). The three ABS valves in block 31 are labeled 31a 'and 31b 1 (front wheels) and 31c' (rear wheels). In the ABS case, these valves are controlled by the evaluation circuit 40 via output stages 42a vis 42c.
Im ASR-Fall gibt die Auswerteschaltung 41 ein Signal auf einer Leitung 43 ab, durch welches zwei Weichen 44a (z.B. Relais) und 44b umgeschaltet werden. Die Ventilsteuersignale der Auswerteschaltung gelangen nun über Oder-Gatter 45a und 45b, die Endstufen 42a und 42b und die Weichen 44a und 44b zu den ÄSR- Ventilen 36a' und 36b1.In the ASR case, the evaluation circuit 41 emits a signal on a line 43, through which two switches 44a (for example relays) and 44b are switched. The valve control signals of the evaluation circuit now pass through OR gates 45a and 45b, the output stages 42a and 42b and the switches 44a and 44b to the ASR valves 36a 'and 36b 1 .
Bei dem Beispiel der Fig. 1 und 2 werden anstelle von sieben nur vier, im Fall der Fig. 3 und 4 anstelle von fünf nur drei Endstufen benötigt. In the example of FIGS. 1 and 2, only four output stages are required instead of seven, in the case of FIGS. 3 and 4 only three output stages are required instead of five.

Claims

AntiblockierregelsystemAnsprüche Antilock control system claims
1. Antiblockierregelsystem für ein Kraftfahrzeug mit Radgeschwindigkeits¬ sensoren, einer Auswerteschaltung und Bremsdrucksteuerventilen, die über Verstärkerstufen (Endverstärker) zwecks Druckmodulation in Abhängigkeit vom Radbewegungsverhalten angesteuert werden und mit einem Äntriebs- schlupfregelsystem, bei dem die Räder der angetriebenen Achse auf Än- triebsschlupf überwacht und bei Durchdrehen wenigstens eines Rads an dessen Bremse mittels Bremsdrucksteuerventilen Bremsdruck eingesteuert und variiert wird, wobei Teile des ABS bei der Antriebsschlupfregelung mit¬ verwendet werden, dadurch gekennzeichnet, daß die Endverstärker des ABS zumindest teilweise auch zur Ansteuerung des Ventile im ASR-Einsatz herange¬ zogen werden.1. Anti-lock control system for a motor vehicle with wheel speed sensors, an evaluation circuit and brake pressure control valves, which are controlled via amplifier stages (power amplifiers) for the purpose of pressure modulation depending on the wheel movement behavior, and with a drive slip control system in which the wheels of the driven axle are monitored for drive slip when at least one wheel is spinning on its brake, brake pressure control valves are used to control and vary brake pressure, parts of the ABS being used in the traction control system, characterized in that the power amplifiers of the ABS are also used, at least in part, to control the valves in the ASR application become.
2. Antiblockierregelsystem nach Anspruch 1, dadurch gekennzeichent, daß bei wenigstens teilweiser Verwendung von nur bei ASR eingesetzen Bremsdrucksteuerventilen der oder den bei ASR-Einsatz mit verwendeten Endstufen eine Weiche zugeordnet ist, um das wahlweise gewünschte ABS- oder ASR-Bremsdrucksteuerventil anzusteuern. 2. Anti-lock control system according to claim 1, characterized gekennzeichent that with at least partial use of only used with ASR brake pressure control valves or the one used in ASR use with output stages a switch is assigned to control the desired ABS or ASR brake pressure control valve.
PCT/EP1990/001510 1989-09-20 1990-09-07 Anti-lock regulating system WO1991004180A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP3931315.8 1989-09-20
DE19893931315 DE3931315A1 (en) 1989-09-20 1989-09-20 ANTI-BLOCKING CONTROL SYSTEM

Publications (1)

Publication Number Publication Date
WO1991004180A1 true WO1991004180A1 (en) 1991-04-04

Family

ID=6389769

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1990/001510 WO1991004180A1 (en) 1989-09-20 1990-09-07 Anti-lock regulating system

Country Status (5)

Country Link
EP (1) EP0493409A1 (en)
JP (1) JPH05500035A (en)
DE (1) DE3931315A1 (en)
HU (1) HUT60958A (en)
WO (1) WO1991004180A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2109961A5 (en) * 1970-10-07 1972-05-26 Teves Gmbh Alfred
EP0180096A2 (en) * 1984-10-30 1986-05-07 Toyota Jidosha Kabushiki Kaisha Wheel slip control system
FR2608116A1 (en) * 1986-12-16 1988-06-17 Akebono Brake Ind BRAKE CONTROL CIRCUIT FOR MOTOR VEHICLE

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1600304A (en) * 1968-12-31 1970-07-20
IT1047382B (en) * 1975-10-31 1980-09-10 Fiat Spa BRAKING SYSTEM FOR VEHICLES
DE3337545A1 (en) * 1983-10-15 1985-04-25 Robert Bosch Gmbh, 7000 Stuttgart HYDRAULIC BRAKE SYSTEM
DE3633687A1 (en) * 1986-10-03 1988-04-14 Bosch Gmbh Robert AUTOMATIC SLIP CONTROL UNIT

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2109961A5 (en) * 1970-10-07 1972-05-26 Teves Gmbh Alfred
EP0180096A2 (en) * 1984-10-30 1986-05-07 Toyota Jidosha Kabushiki Kaisha Wheel slip control system
FR2608116A1 (en) * 1986-12-16 1988-06-17 Akebono Brake Ind BRAKE CONTROL CIRCUIT FOR MOTOR VEHICLE

Also Published As

Publication number Publication date
HU9200947D0 (en) 1992-06-29
DE3931315A1 (en) 1991-03-28
JPH05500035A (en) 1993-01-14
HUT60958A (en) 1992-11-30
EP0493409A1 (en) 1992-07-08

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