WO2004045897A1 - Method and device for controlling a braking system for motor vehicles - Google Patents

Method and device for controlling a braking system for motor vehicles Download PDF

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Publication number
WO2004045897A1
WO2004045897A1 PCT/EP2003/050830 EP0350830W WO2004045897A1 WO 2004045897 A1 WO2004045897 A1 WO 2004045897A1 EP 0350830 W EP0350830 W EP 0350830W WO 2004045897 A1 WO2004045897 A1 WO 2004045897A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
brake
pressure
determined
straight ahead
Prior art date
Application number
PCT/EP2003/050830
Other languages
German (de)
French (fr)
Inventor
Mark Baijens
Markus Ohly
Artur Kost
Norbert Ehmer
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Priority to EP03796020A priority Critical patent/EP1565339A1/en
Priority to JP2004552725A priority patent/JP2006506271A/en
Publication of WO2004045897A1 publication Critical patent/WO2004045897A1/en

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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
    • B60T8/24—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 vehicle inclination or change of direction, e.g. negotiating bends
    • 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
    • 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
    • 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
    • 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
    • B60T8/34—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
    • 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
    • B60T8/88—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—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 with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • 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

Definitions

  • the invention relates to a method for controlling a brake system for motor vehicles with a vehicle speed control unit, by means of which a specific vehicle deceleration (a) can be set by means of an automatic intervention in the brake control.
  • the invention also relates to a device for controlling a brake system for motor vehicles with a vehicle speed control unit, by means of which a specific vehicle deceleration (a) can be set by means of an automatic intervention in the brake control.
  • the invention also relates to an externally actuated, electronically controllable vehicle brake with a hydraulic brake booster (OHB system) by means of a hydraulic pump.
  • OLB system hydraulic brake booster
  • Vehicle speed control units that set a specific vehicle deceleration (a) by means of an automatic brake intervention are known.
  • the brake system is used to implement a vehicle deceleration (a) that cannot be achieved by an engine drag torque.
  • the brake system then automatically sets a certain brake pressure (without driver actuation).
  • an externally controlled brake pressure that is not specified directly by the driver is built up.
  • the brake pressure build-up can be realized with an "active booster", in which the booster (vacuum brake booster) can be ventilated by means of a valve or it can be generated with a hydraulic pump.
  • TCS traction control
  • ESP vehicle dynamics control
  • wheel pressure sensors are provided that indicate the actual hydraulic pressure in the wheel brakes. In this case, it is possible to set the pressure in the wheel brakes safely via a control in order to achieve the desired deceleration.
  • the setting of the determined vehicle deceleration (a) by means of an automatic intervention in the brake control serves, for example, in the context of a follow-up and distance control (ACC), in addition to increasing driving safety, in particular the comfort of the driver (assistance function). Therefore, the automatic delay should be sufficiently smooth and therefore comfortable.
  • ACC follow-up and distance control
  • the object of the invention is a method and a device for controlling a brake system for motor vehicles with a
  • Specify vehicle speed control unit through which a certain vehicle deceleration is set safely and comfortably for the driver.
  • the object is achieved according to the invention in that a driving situation in which the vehicle is essentially traveling straight ahead (straight-ahead travel) is determined by a It is determined that the vehicle is skewed while driving straight ahead, that if a skewed movement is detected while driving straight ahead, the brake control is modified such that the detected skewed movement of the vehicle is substantially compensated for.
  • a brake pressure (target pressure) necessary for the specific vehicle deceleration (a) is changed so that essentially the same braking force acts on the wheels of the right vehicle side and on the wheels of the left vehicle side, so that the vehicle does not pull to one side when braking while driving straight ahead.
  • inclined pulling and straight-ahead travel are determined on the basis of existing sensors assigned to the brake control, in particular sensors assigned to a driving dynamics control (ESP).
  • ESP driving dynamics control
  • an inclined pull and a straight-ahead drive are determined in accordance with existing variables which are supplied to a driving dynamics control (ESP) or are determined therein.
  • ESP driving dynamics control
  • the vehicle is skewed while driving straight ahead in accordance with at least one determined wheel speed or one of these derived quantity, such as wheel acceleration, a determined yaw rate or a quantity derived therefrom, such as yaw rate speed, and a steering wheel angle of a quantity derived therefrom, such as steering wheel angular speed, is determined.
  • an additional pressure build-up or pressure decrease takes place in such a way that when the vehicle brakes are automatically activated, essentially the same braking force is effective on the wheels on the right-hand side of the vehicle and on the wheels on the left-hand side of the vehicle.
  • a brake pressure (target pressure) necessary for a certain vehicle deceleration (a) is changed for the purpose of misalignment compensation, in that the target pressure on at least one wheel of the vehicle side on which a comparatively lower braking force is effective is increased (modified target pressure).
  • the target pressure is increased essentially by an amount which essentially corresponds to a difference between the braking force transmitted on the wheels of the right vehicle side and the braking force effective on the wheels of the left vehicle side.
  • the vehicle speed control unit is functional or as a structural unit of a follow-up or distance control, such as ACC system, ICC system or AICC system is assigned.
  • Vehicle speed control unit in the method and the device according to the invention is expressly not limited to the function or device of a speed controller in the narrower sense (cruise control). Rather, the invention can also be used particularly advantageously in control units for vehicle speed that are assigned functionally or as a structural unit to a follow-up or distance control (ACC systems, ICC systems, AICC systems, etc.).
  • skewing that the driver must compensate for every automatic braking intervention on the straight is undesirable.
  • skewing during ACC also occurs unexpectedly because the vehicle suddenly pulls wrongly without his intervention.
  • Skewing is not a problem when cornering.
  • the driver compensates for skewing with his steering movements without noticeable loss of comfort. Therefore, the differently acting braking forces are preferably only compensated for during a vehicle deceleration, essentially while driving straight ahead.
  • the object is also achieved according to the invention by a device which is characterized in that the brake system has an electronic brake control unit with means for carrying out the inventive Procedure.
  • an externally actuated, electronically controllable vehicle brake with a hydraulic pump and with at least one analogized isolating valve which is characterized in that the vehicle brake has a device of the type described above and that by means of the electronic brake control unit a certain vehicle deceleration (a ) can be set by generating a brake pressure or a braking force by controlling the hydraulic pump and controlling the analogized isolating valve.
  • a hydraulic brake pressure is generated in the brake system by means of a hydraulic pump and regulated by means of an analogized valve.
  • the pump can be connected on the output side (pressure side) to at least one wheel brake of the vehicle and can also be connected to the master brake cylinder via a hydraulic connection, into which a valve is inserted, which is also referred to below as a "isolation valve".
  • isolation valve is therefore to be understood as a valve with which a hydraulic connection between the master cylinder and the wheel brakes can be interrupted.
  • the isolating valve is preferably designed as an "analogized valve", in particular as an “analogized electromagnetic valve".
  • analogized electromagnetic valves is to be understood here and in the following as electromagnetic valves which assume a certain switching position by actuation with a certain control current for the purpose of setting a certain volume flow of hydraulic fluid (brake fluid) through the valves. That means that The valve can also assume intermediate positions by appropriate control between a (fully) open position and a (fully) closed position and thus at least approximately set a defined pressure drop between the two sides of the valve. A defined pressure reduction can be carried out by an analog overflow of such isolation valves.
  • an automatic intervention in the brake control to achieve a certain vehicle deceleration (a) is particularly simple and easy for the driver and easy to control.
  • a device according to the invention for regulating the vehicle brake system for an externally actuated, electronically controllable vehicle brake with a hydraulic brake booster (OHB system) is used by means of the hydraulic pump.
  • the brake system preferably has an active hydraulic brake booster in which the driver can apply brake pressure to a master brake cylinder by means of an actuating device, preferably a brake pedal, and in which the pressure introduced by the driver is increased by means of a hydraulic pump as an active hydraulic pressure increasing unit.
  • an actuating device preferably a brake pedal
  • a particularly preferred hydraulic brake system for using the invention then has a
  • Actuating device preferably a brake pedal, a vacuum brake booster, an actuatable Master brake cylinder and a pump, the pressure of which can be applied to at least one wheel brake of the vehicle and by means of which a hydraulic brake booster is generated, the pump on the inlet side (suction side) being connectable to the master brake cylinder via at least one hydraulic connection, into which a changeover valve is inserted, and the pump on the output side (pressure side) can be connected to at least one wheel brake of the vehicle via at least one hydraulic connection and can be connected to the master brake cylinder via at least one hydraulic connection into which the isolating valve is inserted.
  • the externally power-operated vehicle brake has a device for regulating the vehicle brake system, which is assigned functionally or as a structural unit to a sequence or distance control, such as an ACC system, ICC system or AICC system.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

The invention relates to a method for controlling a hydraulic braking system for motor vehicles comprising a speed regulation unit, which is used to implement a specific vehicle deceleration (a) by means of an automatic intervention in the braking control system. Said method is characterised in that a driving situation, in which the vehicle is essentially travelling straight-ahead (straight travel), is determined, that a brake pull of the vehicle is determined whilst it is travelling straight-ahead and that if a brake pull is identified during said travel, the brake control system is modified in such a way that it compensates the identified pull on the vehicle.

Description

Verfahren und Vorrichtung zur Regelung einer Bremsanlage für Kraftfahrzeuge Method and device for regulating a brake system for motor vehicles
Die Erfindung betrifft ein Verfahren zur Regelung einer Bremsanlage für Kraftfahrzeuge mit einer Fahrzeuggeschwindigkeitsregeleinheit, durch die eine bestimmte Fahrzeugverzögerung (a) mittels eines automatischen Eingriffs in die Bremsregelung einstellbar ist.The invention relates to a method for controlling a brake system for motor vehicles with a vehicle speed control unit, by means of which a specific vehicle deceleration (a) can be set by means of an automatic intervention in the brake control.
Die Erfindung betrifft ebenso eine Vorrichtung zur Regelung einer Bremsanlage für Kraftfahrzeuge mit einer Fahrzeuggeschwindigkeitsregeleinheit, durch die eine bestimmte Fahrzeugverzögerung (a) mittels eines automatischen Eingriffs in die Bremsregelung einstellbar ist.The invention also relates to a device for controlling a brake system for motor vehicles with a vehicle speed control unit, by means of which a specific vehicle deceleration (a) can be set by means of an automatic intervention in the brake control.
Die Erfindung betrifft auch eine fremdkraftbetätigbare, elektronisch regelbare Fahrzeugbremse mit einer hydraulischen Bremskraftverstärkung (OHB-System) mittels einer hydraulischen Pumpe.The invention also relates to an externally actuated, electronically controllable vehicle brake with a hydraulic brake booster (OHB system) by means of a hydraulic pump.
Bremsanlagen mit einerBraking systems with one
Fahrzeuggeschwindigkeitsregeleinheit, die eine bestimmte Fahrzeugverzögerung (a) mittels eines automatischen Bremseingriffs einstellt, sind bekannt. Die Bremsanlage wird dabei benutzt, um eine Fahrzeugverzögerung (a) , die durch ein Motorschleppmoment nicht erreicht werden kann, zu realisieren. Die Bremsanlage stellt dann automatisch (ohne Fahrerbetätigung) einen bestimmten Bremsdruck ein. Bei einem automatischen Bremseingriff wird ein fremdgesteuerter, nicht vom Fahrer direkt vorgegebener Bremsdruck, aufgebaut. Der Bremsdruckaufbau kann mit einem „aktiven Booster" realisiert werden, bei dem mittels eines Ventils der Booster (Vakuumbremskraftverstärker) fremdgesteuert belüftet werden kann oder er kann mit einer hydraulischen Pumpe erzeugt werden.Vehicle speed control units that set a specific vehicle deceleration (a) by means of an automatic brake intervention are known. The brake system is used to implement a vehicle deceleration (a) that cannot be achieved by an engine drag torque. The brake system then automatically sets a certain brake pressure (without driver actuation). In the case of an automatic brake intervention, an externally controlled brake pressure that is not specified directly by the driver is built up. The brake pressure build-up can be realized with an "active booster", in which the booster (vacuum brake booster) can be ventilated by means of a valve or it can be generated with a hydraulic pump.
Bei Fahrzeugen mit einer Antriebsschlupfregelung (TCS) oder einer Fahrdynamikregelung (ESP) ist es möglich, durch Aktivierung einer hydraulischen Pumpe automatisch einen Bremsdruck aufzubauen. Durch Ansteuerung von Ventilen in der TCS- bzw. ESP-Hydraulik ist der Bremsdruck regelbar bzw. steuerbar.On vehicles with traction control (TCS) or vehicle dynamics control (ESP), it is possible to automatically build up brake pressure by activating a hydraulic pump. The brake pressure can be regulated or controlled by controlling valves in the TCS or ESP hydraulics.
In einigen Bremsanlagen sind Raddrucksensoren vorgesehen, die den tatsächlichen hydraulischen Druck in den Radbremsen anzeigen. In diesem Fall ist es möglich, den Druck in den Radbremsen über eine Regelung sicher einzustellen, um die gewünschte Verzögerung zu erzielen.In some brake systems, wheel pressure sensors are provided that indicate the actual hydraulic pressure in the wheel brakes. In this case, it is possible to set the pressure in the wheel brakes safely via a control in order to achieve the desired deceleration.
In Bremsanlagen ohne Raddrucksensoren, bei denen eine Rückmeldung des realen Drucks an ein Bremsensteuergerät fehlt, kann der Druck nur gesteuert werden. Dann sind Druckunterschiede in verschiedenen Bremskreisen nicht immer sicher zu vermeiden. Denn die Drucksteuerung wird nur über ein Bremsdruckmodell und kalibrierte Ventilkennlinien realisiert. Abweichungen des Druckmodells, der Ventilkennlinien oder Toleranzen in der Hydraulikanlage eines Fahrzeuges können zu Druckunterschieden in den Bremskreisen führen. Diese Druckunterschiede können so groß werden, dass an den Radbremsen des Fahrzeugs unterschiedliche Bremskräfte wirken, die zu einem Schiefziehen des Fahrzeugs führen. Das bedeutet bei einer „Geradeausfahrt" mit einem Lenkrad in Nullstellung (Räder sind nicht verschwenkt gegenüber der Fahrtrichtung) , fährt das Fahrzeug nicht geradeaus sondern es weicht von einem geraden Kurs ab. Insofern wird das normale Abbremsen (Basisbremsfunktion) des Fahrzeugs beeinflusst. Der Fahrer muss korrigierend eingreifen und entsprechend das Lenkrad betätigen, um geradeaus zu fahren.In brake systems without wheel pressure sensors, where there is no feedback of the real pressure to a brake control unit, the pressure can only be controlled. Then pressure differences in different brake circuits cannot always be avoided with certainty. Because the pressure control is only realized via a brake pressure model and calibrated valve characteristics. Deviations in the pressure model, the valve characteristics or tolerances in the hydraulic system of a vehicle can lead to pressure differences in the brake circuits. These pressure differences can become so great that different braking forces act on the wheel brakes of the vehicle, which lead to the vehicle being skewed. That means with one "Straight ahead" with a steering wheel in the zero position (wheels are not swiveled in relation to the direction of travel), the vehicle does not drive straight ahead but deviates from a straight course. In this respect, the normal braking (basic braking function) of the vehicle is influenced. The driver must take corrective action and operate the steering wheel accordingly to drive straight ahead.
Die Einstellung der bestimmten Fahrzeugverzögerung (a) mittels eines automatischen Eingriffs in die Bremsregelung dient beispielsweise im Rahmen einer Folge- und Abstandsregelung (ACC) neben der Erhöhung der Fahrsicherheit insbesondere dem Komfort des Fahrers (Assistenzfunktion) . Daher sollte die automatische Verzögerung hinreichend gleichmäßig und damit komfortabel erfolgen .The setting of the determined vehicle deceleration (a) by means of an automatic intervention in the brake control serves, for example, in the context of a follow-up and distance control (ACC), in addition to increasing driving safety, in particular the comfort of the driver (assistance function). Therefore, the automatic delay should be sufficiently smooth and therefore comfortable.
Aufgabe der Erfindung ist es, ein Verfahren und eine Vorrichtung zur Regelung einer Bremsanlage für Kraftfahrzeuge mit einerThe object of the invention is a method and a device for controlling a brake system for motor vehicles with a
Fahrzeuggeschwindigkeitsregeleinheit anzugeben, durch das/die eine bestimmte Fahrzeugverzögerung sicher und für den Fahrzeugführer komfortabel eingestellt wird.Specify vehicle speed control unit, through which a certain vehicle deceleration is set safely and comfortably for the driver.
Die Aufgabe wird erfindungsgemäß durch die Merkmale der unabhängigen Patentansprüche gelöst.The object is achieved by the features of the independent claims.
Besonders vorteilhafte Weiterbildungen und Ausgestaltungen der Erfindung sind in den abhängigen Unteransprüchen angegeben.Particularly advantageous developments and refinements of the invention are specified in the dependent subclaims.
Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass eine Fahrsituation, bei der das Fahrzeug im wesentlichen geradeaus fährt (Geradeausfahrt) , ermittelt wird, dass ein Schiefziehen des Fahrzeugs während der Geradeausfahrt ermittelt wird, dass bei einem erkannten Schiefziehen während einer Geradeausfahrt die Bremsenregelung so modifiziert wird, dass das erkannte Schiefziehen des Fahrzeug im wesentlichen kompensiert wird.The object is achieved according to the invention in that a driving situation in which the vehicle is essentially traveling straight ahead (straight-ahead travel) is determined by a It is determined that the vehicle is skewed while driving straight ahead, that if a skewed movement is detected while driving straight ahead, the brake control is modified such that the detected skewed movement of the vehicle is substantially compensated for.
Durch die Erfindung kann insbesondere auch bei Fahrzeugen mit einer diagonalen Bremskreisaufteilung ein Schiefziehen des Fahrzeugs durch die modifizierte Bremsenregelung vermieden werden. Damit muss der Fahrer das Schiefziehen durch eine Lenkradbewegung nicht mehr korrigieren.By means of the invention, in particular also in vehicles with a diagonal brake circuit division, skewing of the vehicle by the modified brake control can be avoided. This means that the driver no longer has to correct the misalignment by moving the steering wheel.
Nach der Erfindung ist es vorgesehen, dass ein für die bestimmte Fahrzeugverzögerung (a) notwendiger Bremsdruck (Soll-Druck) verändert wird, damit an den Rädern der rechten Fahrzeugseite und an den Rädern der linken Fahrzeugseite im wesentlichen eine gleiche Bremskraft wirksam wird, so dass das Fahrzeug bei einer Bremsung während der Geradeausfahrt nicht nach einer Seite zieht.According to the invention, it is provided that a brake pressure (target pressure) necessary for the specific vehicle deceleration (a) is changed so that essentially the same braking force acts on the wheels of the right vehicle side and on the wheels of the left vehicle side, so that the vehicle does not pull to one side when braking while driving straight ahead.
Nach der Erfindung ist es vorgesehen, dass ein Schiefziehen und eine Geradeausfahrt auf der Grundlage von der Bremsregelung zugeordneten, vorhandenen Sensoren, insbesondere einer Fahrdynamikregelung (ESP) zugeordneten Sensoren, ermittelt wird.According to the invention, it is provided that inclined pulling and straight-ahead travel are determined on the basis of existing sensors assigned to the brake control, in particular sensors assigned to a driving dynamics control (ESP).
Es ist nach der Erfindung vorgesehen, dass ein Schiefziehen und eine Geradeausfahrt ermittelt wird nach Maßgabe vorhandener Größen, die einer Fahrdynamikregelung (ESP) zugeführt werden oder darin ermittelt werden.It is provided according to the invention that an inclined pull and a straight-ahead drive are determined in accordance with existing variables which are supplied to a driving dynamics control (ESP) or are determined therein.
Erfindungsgemäß ist es vorgesehen, dass ein Schiefziehen des Fahrzeugs während der Geradeausfahrt nach Maßgabe zumindest einer ermittelten Raddrehzahl oder einer davon abgeleiteten Größe, wie Radbeschleunigung, einer ermittelten Gierrate oder einer davon abgeleiteten Größe, wie Gierratengeschwindigkeit, und einem Lenkradwinkel der einer davon abgeleiteten Größe, wie Lenkradwinkelgeschwindigkeit, ermittelt wird.According to the invention it is provided that the vehicle is skewed while driving straight ahead in accordance with at least one determined wheel speed or one of these derived quantity, such as wheel acceleration, a determined yaw rate or a quantity derived therefrom, such as yaw rate speed, and a steering wheel angle of a quantity derived therefrom, such as steering wheel angular speed, is determined.
Nach der Erfindung ist es vorgesehen, dass zwecks Kompensation eines erkannten Schiefziehens ein zusätzlicher Druckaufbau oder Druckabbau so erfolgt, dass bei einer automatischen Ansteuerung der Fahrzeugbremsen an den Räder der rechten Fahrzeugseite und an den Räder der linken Fahrzeugseite im wesentlichen eine gleiche Bremskraft wirksam wird.According to the invention, for the purpose of compensating for a recognized skewing, an additional pressure build-up or pressure decrease takes place in such a way that when the vehicle brakes are automatically activated, essentially the same braking force is effective on the wheels on the right-hand side of the vehicle and on the wheels on the left-hand side of the vehicle.
Das bedeutet es werden insbesondere Druckunterschiede in den Bremskreisen ausgeglichen.This means that pressure differences in the brake circuits in particular are compensated for.
Es ist nach der Erfindung vorgesehen, dass ein für eine bestimmte Fahrzeugverzögerung (a) notwendiger Bremsdruck (Soll-Druck) zwecks Schiefziehkompensation verändert wird, in dem an zumindest einem Rad der Fahrzeugseite, an dem eine vergleichsweise geringere Bremskraft wirksam wird, der Soll-Druck erhöht wird (modifizierter Soll-Druck) .It is provided according to the invention that a brake pressure (target pressure) necessary for a certain vehicle deceleration (a) is changed for the purpose of misalignment compensation, in that the target pressure on at least one wheel of the vehicle side on which a comparatively lower braking force is effective is increased (modified target pressure).
Vorzugsweise ist es dabei vorgesehen, dass der Soll-Druck im wesentlichen um einen Betrag erhöht wird, der im wesentlichen einer Differenz zwischen der an den Rädern der rechten Fahrzeugseite übertragenen Bremskraft und der an den Räder der linken Fahrzeugseite wirksamen Bremskraft entspricht.It is preferably provided that the target pressure is increased essentially by an amount which essentially corresponds to a difference between the braking force transmitted on the wheels of the right vehicle side and the braking force effective on the wheels of the left vehicle side.
Es ist nach der Erfindung vorgesehen, dass die Fahrzeuggeschwindigkeitsregeleinheit funktionell oder als eine Baueinheit einer Folge- oder Abstandsregelung, wie ACC-System, ICC-System oder AICC-System, zugeordnet ist.It is provided according to the invention that the vehicle speed control unit is functional or as a structural unit of a follow-up or distance control, such as ACC system, ICC system or AICC system is assigned.
Das bedeutet der BegriffThat is what the term means
Fahrzeuggeschwindigkeitsregeleinheit ist bei dem erfindungsgemäßen Verfahren und der erfindungsgemäßen Vorrichtung ausdrücklich nicht limitiert auf die Funktion oder Vorrichtung eines Geschwindigkeitsreglers im engeren Sinne (Tempomat) . Vielmehr ist die Erfindung besonders vorteilhaft auch bei Regeleinheiten für die Fahrzeuggeschwindigkeit einsetzbar, die funktioneil oder als eine Baueinheit einer Folge- oder Abstandsregelung (ACC-Systeme, ICC-Systeme, AICC-Systeme etc.) zugeordnet sind.Vehicle speed control unit in the method and the device according to the invention is expressly not limited to the function or device of a speed controller in the narrower sense (cruise control). Rather, the invention can also be used particularly advantageously in control units for vehicle speed that are assigned functionally or as a structural unit to a follow-up or distance control (ACC systems, ICC systems, AICC systems, etc.).
Denn insbesondere für ein KomfortSystem, wie ACC, ist ein Schiefziehen, dass durch den Fahrer bei jedem automatischen Bremseingriff auf der Geraden kompensiert werden muss, nicht erwünscht. Für den Fahrer tritt das Schiefziehen während ACC im Unterschied zu anderen Fahrsituationen zudem unerwartet auf, da das Fahrzeug ohne sein Eingreifen plötzlich schief zieht.Because in particular for a comfort system such as ACC, skewing that the driver must compensate for every automatic braking intervention on the straight is undesirable. For the driver, unlike other driving situations, skewing during ACC also occurs unexpectedly because the vehicle suddenly pulls wrongly without his intervention.
In einer Kurvenfahrt ist das Schiefziehen kein Problem. Der Fahrer kompensiert das Schiefziehen durch seine Lenkbewegungen, ohne dass er merkliche Komforteinbusen. Daher wird die Kompensation der unterschiedlich wirkenden Bremskräfte auch vorzugsweise nur während einer Fahrzeugverzögerung im wesentlichen während einer Geradeausfahrt vorgenommen .Skewing is not a problem when cornering. The driver compensates for skewing with his steering movements without noticeable loss of comfort. Therefore, the differently acting braking forces are preferably only compensated for during a vehicle deceleration, essentially while driving straight ahead.
Die Aufgabe wird erfindungsgemäß auch durch eine Vorrichtung gelöst, die dadurch gekennzeichnet ist, dass die Bremsanlage eine elektronische Bremsenregelungseinheit aufweist, mit Mittel zur Durchführung des erfindungsgemäßen Verfahrens .The object is also achieved according to the invention by a device which is characterized in that the brake system has an electronic brake control unit with means for carrying out the inventive Procedure.
Die Aufgabe wird erfindungsgemäß auch durch eine fremdkraftbetätigbare, elektronisch regelbare Fahrzeugbremse mit einer hydraulischen Pumpe und mit mindestens einem analogisierten Trennventil gelöst, die dadurch gekennzeichnet ist, dass die Fahrzeugbremse eine Vorrichtung der zuvor beschriebenen Art aufweist und dass mittels der elektronischen Bremsenregelungseinheit eine bestimmte Fahrzeugverzögerung (a) durch Erzeugung eines Bremsdrucks bzw. einer Bremskraft durch Ansteuerung der hydraulischen Pumpe und Ansteuerung des analogisierten Trennventils einstellbar ist.The object is also achieved according to the invention by an externally actuated, electronically controllable vehicle brake with a hydraulic pump and with at least one analogized isolating valve, which is characterized in that the vehicle brake has a device of the type described above and that by means of the electronic brake control unit a certain vehicle deceleration (a ) can be set by generating a brake pressure or a braking force by controlling the hydraulic pump and controlling the analogized isolating valve.
Demnach wird bei der Bremsanlage ein hydraulischer Bremsdruck mittels einer hydraulischen Pumpe erzeugt und mittels eines analogisierten Ventils geregelt. Dabei ist die Pumpe ausgangsseitig (Druckseite) mit mindestens einer Radbremse des Fahrzeugs verbindbar und ebenso mit dem Hauptbremszylinder verbindbar über eine hydraulische Verbindung, in die ein Ventil eingefügt ist, das im folgenden auch als „Trennventil" bezeichnet wird. Unter dem Begriff „Trennventil" ist demnach ein Ventil zu verstehen, mit welchem eine hydraulische Verbindung zwischen Hauptbremszylinder und den Radbremsen unterbrochen werden kann. Das Trennventil wird vorzugsweise als "analogisiertes Ventil", insbesondere als " analogisiertes elektromagnetisches Ventil " ausgebildet. Unter dem Begriff „analogisierte elektromagnetische Ventile" sind hier und im folgenden elektromagnetische Ventile zu verstehen, die durch Ansteuerung mit einem bestimmten Steuerstrom eine bestimmte Schaltstellung einnehmen, zwecks Einstellung eines bestimmten Volumenstroms an hydraulischem Fluid (Bremsflüssigkeit) durch die Ventile. Das bedeutet, das Ventil kann durch eine entsprechende Ansteuerung zwischen einer (voll) geöffneten Stellung und einer (voll) geschlossenen Stellung auch Zwischenstellungen einnehmen und so zumindest näherungsweise ein definiertes Druckgefälle zwischen den beiden Seiten des Ventils einstellen. Durch ein analoges Überströmen derartiger Trennventile kann ein definierter Druckabbau durchgeführt werden.Accordingly, a hydraulic brake pressure is generated in the brake system by means of a hydraulic pump and regulated by means of an analogized valve. The pump can be connected on the output side (pressure side) to at least one wheel brake of the vehicle and can also be connected to the master brake cylinder via a hydraulic connection, into which a valve is inserted, which is also referred to below as a "isolation valve". Under the term "isolation valve" is therefore to be understood as a valve with which a hydraulic connection between the master cylinder and the wheel brakes can be interrupted. The isolating valve is preferably designed as an "analogized valve", in particular as an "analogized electromagnetic valve". The term "analogized electromagnetic valves" is to be understood here and in the following as electromagnetic valves which assume a certain switching position by actuation with a certain control current for the purpose of setting a certain volume flow of hydraulic fluid (brake fluid) through the valves. That means that The valve can also assume intermediate positions by appropriate control between a (fully) open position and a (fully) closed position and thus at least approximately set a defined pressure drop between the two sides of the valve. A defined pressure reduction can be carried out by an analog overflow of such isolation valves.
Mit einem derartigen Bremssystem mit analogisierten Trennventilen ist ein automatischer Eingriff in die Bremsregelung zu Erreichung einer bestimmten Fahrzeugverzögerung (a) besonders einfach und für den Fahrer komfortabel möglich und gut regelbar.With such a brake system with analogized isolation valves, an automatic intervention in the brake control to achieve a certain vehicle deceleration (a) is particularly simple and easy for the driver and easy to control.
Ferner ist es vorgesehen, dass eine Vorrichtung nach der Erfindung zur Regelung der Fahrzeugbremsanlage für eine fremdkraftbetätigbare, elektronisch regelbare Fahrzeugbremse mit einer hydraulischen Bremskraftverstärkung (OHB-System) mittels der hydraulischen Pumpe eingesetzt wird.It is further provided that a device according to the invention for regulating the vehicle brake system for an externally actuated, electronically controllable vehicle brake with a hydraulic brake booster (OHB system) is used by means of the hydraulic pump.
Vorzugsweise weist die Bremsanlage dabei eine aktive hydraulische Bremskraftverstärkung auf, bei der der Fahrer mittels einer Betätigungseinrichtung, vorzugsweise ein Bremspedal, Bremsdruck in einen Hauptbremszylinder einsteuern kann und bei dem der vom Fahrer eingesteuerte Druck mittels einer hydraulischen Pumpe als aktive hydraulische Druckerhöhungseinheit verstärkt wird.The brake system preferably has an active hydraulic brake booster in which the driver can apply brake pressure to a master brake cylinder by means of an actuating device, preferably a brake pedal, and in which the pressure introduced by the driver is increased by means of a hydraulic pump as an active hydraulic pressure increasing unit.
Eine besonders bevorzugte hydraulischen Bremsanlage zum Einsatz der Erfindung weist dann eineA particularly preferred hydraulic brake system for using the invention then has a
Betätigungseinrichtung, vorzugsweise ein Bremspedal, ein Vakuum-Bremskraftverstärker, einen betätigbaren Hauptbremszylinder und eine Pumpe auf, mit deren Druck mindestens eine Radbremse des Fahrzeugs beaufschlagbar ist und mittels der eine hydraulische Bremskraftverstärkung erzeugt wird, wobei die Pumpe eingangsseitig (Saugseite) mit dem Hauptbremszylinder verbindbar ist über mindestens eine hydraulische Verbindung, in die ein Umschaltventil eingefügt ist, und wobei die Pumpe ausgangsseitig (Druckseite) mit mindestens einer Radbremse des Fahrzeugs verbindbar ist über mindestens eine hydraulische Verbindung und mit dem Hauptbremszylinder verbindbar ist über mindestens eine hydraulische Verbindung, in die das Trennventil eingefügt ist.Actuating device, preferably a brake pedal, a vacuum brake booster, an actuatable Master brake cylinder and a pump, the pressure of which can be applied to at least one wheel brake of the vehicle and by means of which a hydraulic brake booster is generated, the pump on the inlet side (suction side) being connectable to the master brake cylinder via at least one hydraulic connection, into which a changeover valve is inserted, and the pump on the output side (pressure side) can be connected to at least one wheel brake of the vehicle via at least one hydraulic connection and can be connected to the master brake cylinder via at least one hydraulic connection into which the isolating valve is inserted.
Wird beim genannten System mit aktiver hydraulischer Bremskraftverstärkung der Aussteuerpunkt des Vakuum- Bremskraftverstärkers erreicht und wird das Bremspedal durch den Fahrer weiter betätigt, dann wird durch die hydraulische Druckerhöhungseinheit -bei ungenügender Unterstützung des Vakuum-Bremskraftverstärkers der Druck weiter erhöht, damit der Fahrer die gewünschte Bremsleistung erhält. Somit ist bei derartigen Verfahren mit "aktiver" hydraulischer Bremskraftverstärkung zumindest ein Teil der Bremsunterstützung durch die Druckerhöhungseinheit aktiv erzeugbar.If, in the system mentioned, with active hydraulic brake booster, the control point of the vacuum brake booster is reached and the brake pedal is actuated further by the driver, the pressure is further increased by the hydraulic pressure booster unit, with insufficient support of the vacuum brake booster, so that the driver obtains the desired braking power receives. Thus, in such methods with "active" hydraulic brake booster, at least part of the brake support can be actively generated by the pressure increasing unit.
Nach der Erfindung ist es vorgesehen, dass die fremdkraftbetätigbare Fahrzeugbremse eine Vorrichtung zur Regelung der Fahrzeugbremsanlage aufweist, die funktioneil oder als eine Baueinheit einer Folge- oder Abstandsregelung, wie ACC-System, ICC-System oder AICC- System, zugeordnet ist. According to the invention, it is provided that the externally power-operated vehicle brake has a device for regulating the vehicle brake system, which is assigned functionally or as a structural unit to a sequence or distance control, such as an ACC system, ICC system or AICC system.

Claims

PATENTANSPRÜCHE
1. Verfahren zur Regelung einer Bremsanlage für Kraftfahrzeuge mit einer1. Method for controlling a brake system for motor vehicles with a
Fahrzeuggeschwindigkeitsregeleinheit, durch die eine bestimmte Fahrzeugverzögerung (a) mittels eines automatischen Eingriffs in die Bremsregelung einstellbar ist, dadurch gekennzeichnet, dass eine Fahrsituation, bei der das Fahrzeug im wesentlichen geradeaus fährtVehicle speed control unit, by means of which a specific vehicle deceleration (a) can be set by means of an automatic intervention in the brake control, characterized in that a driving situation in which the vehicle is traveling essentially straight ahead
(Geradeausfahrt) , ermittelt wird, dass ein Schiefziehen des Fahrzeugs während der(Straight ahead), it is determined that the vehicle is skewed during the
Geradeausfahrt ermittelt wird, dass bei einem erkannten Schiefziehen während einerIt is determined that the vehicle is driving straight ahead when a skew is detected during a
Geradeausfahrt die Bremsenregelung so modifiziert wird, dass das erkannte Schiefziehen des Fahrzeug im wesentlichen kompensiert wird.Straight ahead, the brake control is modified so that the detected misalignment of the vehicle is essentially compensated.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass ein für die bestimmte Fahrzeugverzögerung (a) notwendiger Bremsdruck (Soll- Druck) verändert wird, damit an den Rädern der rechten Fahrzeugseite und an den Rädern der linken Fahrzeugseite im wesentlichen eine gleiche Bremskraft wirksam wird, so dass das Fahrzeug bei einer Bremsung während der Geradeausfahrt nicht nach einer Seite zieht.2. The method according to claim 1, characterized in that a brake pressure (target pressure) necessary for the specific vehicle deceleration (a) is changed so that essentially the same braking force is effective on the wheels of the right vehicle side and on the wheels of the left vehicle side , so that the vehicle does not pull to one side when braking while driving straight ahead.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass ein Schiefziehen und eine Geradeausfahrt auf der Grundlage von der Bremsregelung zugeordneten, vorhandenen Sensoren, insbesondere einer Fahrdynamikregelung (ESP) zugeordneten Sensoren, ermittelt wird.3. The method according to claim 1 or 2, characterized in that an inclined pull and a straight ahead on the basis of the brake control associated existing sensors, in particular one Sensors assigned to vehicle dynamics control (ESP) is determined.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass ein Schiefziehen und eine Geradeausfahrt ermittelt wird nach Maßgabe vorhandener Größen, die einer Fahrdynamikregelung (ESP) zugeführt werden oder darin ermittelt werden.4. The method according to any one of claims 1 to 3, characterized in that a skew and a straight line is determined in accordance with existing quantities that are supplied to a vehicle dynamics control (ESP) or are determined therein.
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass ein Schiefziehen des Fahrzeugs während der Geradeausfahrt nach Maßgabe zumindest einer ermittelten Raddrehzahl oder einer davon abgeleiteten Größe, wie Radbeschleunigung, einer ermittelten Gierrate oder einer davon abgeleiteten Größe, wie Gierratengeschwindigkeit, und einem Lenkradwinkel der einer davon abgeleiteten Größe, wie Lenkradwinkelgeschwindigkeit, ermittelt wird.5. The method according to any one of claims 1 to 4, characterized in that a skewing of the vehicle while driving straight ahead in accordance with at least one determined wheel speed or a quantity derived therefrom, such as wheel acceleration, a determined yaw rate or a quantity derived therefrom, such as yaw rate speed, and a steering wheel angle of a quantity derived therefrom, such as steering wheel angular velocity, is determined.
6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass zwecks Kompensation eines erkannten Schiefziehens ein zusätzlicher Druckaufbau oder Druckabbau so erfolgt, dass bei einer automatischen Ansteuerung der Fahrzeugbremsen an den Räder der rechten Fahrzeugseite und an den Räder der linken Fahrzeugseite im wesentlichen eine gleiche Bremskraft wirksam wird.6. The method according to any one of claims 1 to 5, characterized in that, in order to compensate for a recognized skewing, an additional pressure build-up or pressure reduction takes place in such a way that when the vehicle brakes are automatically actuated, the wheels on the right-hand side of the vehicle and the wheels on the left-hand side of the vehicle essentially the same braking force takes effect.
7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass ein für eine bestimmte Fahrzeugverzögerung (a) notwendiger Bremsdruck (Soll- Druck) zwecks Schiefziehkompensation verändert wird, in dem an zumindest einem Rad der Fahrzeugseite, an dem eine vergleichsweise geringere Bremskraft wirksam wird, der Soll-Druck erhöht wird (modifizierter Soll-Druck) .7. The method according to any one of claims 1 to 6, characterized in that a required for a certain vehicle deceleration (a) brake pressure (target pressure) for the purpose of misalignment compensation is changed in the at least one wheel of the vehicle side, on which a comparatively lower braking force takes effect the target pressure is increased (modified target pressure).
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass der Soll-Druck im wesentlichen um einen Betrag erhöht wird, der im wesentlichen einer Differenz zwischen der an den Rädern der rechten Fahrzeugseite übertragenen Bremskraft und der an den Räder der linken Fahrzeugseite wirksamen Bremskraft entspricht.8. The method according to claim 7, characterized in that the target pressure is increased substantially by an amount which corresponds essentially to a difference between the braking force transmitted to the wheels on the right side of the vehicle and the braking force effective on the wheels of the left side of the vehicle.
9. Verfahren nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die9. The method according to any one of claims 1 to 8, characterized in that the
Fahrzeuggeschwindigkeitsregeleinheit funktionell oder als eine Baueinheit einer Folge- oder Abstandsregelung, wie ACC-System, ICC-System oder AICC-System, zugeordnet ist.Vehicle speed control unit is functionally or as a unit of a sequence or distance control, such as ACC system, ICC system or AICC system assigned.
10. Vorrichtung zur Regelung einer Bremsanlage für Kraftfahrzeuge mit einer10. Device for controlling a brake system for motor vehicles with a
Fahrzeuggeschwindigkeitsregeleinheit, durch die eine bestimmte Fahrzeugverzögerung (a) mittels eines automatischen Eingriffs in die Bremsregelung einstellbar ist, dadurch gekennzeichnet, dass die Bremsanlage eine elektronische Bremsenregelungseinheit aufweist, mit Mittel zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 9.Vehicle speed control unit by means of which a specific vehicle deceleration (a) can be set by means of an automatic intervention in the brake control, characterized in that the brake system has an electronic brake control unit with means for carrying out the method according to one of claims 1 to 9.
11. Fremdkraftbetätigbare, elektronisch regelbare Fahrzeugbremse mit einer hydraulischen Pumpe und mit mindestens einem analogisierten Trennventil, dadurch gekennzeichnet, dass die Fahrzeugbremse eine Vorrichtung zur Regelung nach Anspruch 10 aufweist, und dass mittels der elektronischen Bremsenregelungseinheit eine bestimmte Fahrzeugverzögerung (a) durch Erzeugung eines Bremsdrucks bzw. einer Bremskraft durch Ansteuerung der hydraulischen Pumpe und Ansteuerung des analogisierten Trennventils einstellbar ist.11. Power-operated, electronically controllable vehicle brake with a hydraulic pump and with at least one analogized isolation valve, characterized in that the vehicle brake has a control device according to claim 10, and that by means of the electronic brake control unit a specific vehicle deceleration (a) can be set by generating a brake pressure or a braking force by actuating the hydraulic pump and actuating the analogized isolating valve.
12. Fremdkraftbetätigbare Fahrzeugbremse nach Anspruch 11, dadurch gekennzeichnet, dass die Vorrichtung zur Regelung der Fahrzeugbremsanlage funktioneil oder als eine Baueinheit einer Folge- oder Abstandsregelung, wie ACC-System, ICC-System oder AICC-System, zugeordnet ist. 12. Power-operated vehicle brake according to claim 11, characterized in that the device for controlling the vehicle brake system is functionally or as a structural unit of a sequence or distance control, such as ACC system, ICC system or AICC system, assigned.
PCT/EP2003/050830 2002-11-16 2003-11-13 Method and device for controlling a braking system for motor vehicles WO2004045897A1 (en)

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