WO2008017713A1 - Brake system for motor vehicles - Google Patents

Brake system for motor vehicles Download PDF

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Publication number
WO2008017713A1
WO2008017713A1 PCT/EP2007/058300 EP2007058300W WO2008017713A1 WO 2008017713 A1 WO2008017713 A1 WO 2008017713A1 EP 2007058300 W EP2007058300 W EP 2007058300W WO 2008017713 A1 WO2008017713 A1 WO 2008017713A1
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WO
WIPO (PCT)
Prior art keywords
pressure
brake
hydraulic
wheel brakes
brake system
Prior art date
Application number
PCT/EP2007/058300
Other languages
German (de)
French (fr)
Inventor
Frank Sikorski
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
Publication of WO2008017713A1 publication Critical patent/WO2008017713A1/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
    • B60T8/32—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
    • 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
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • 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
    • B60T8/36—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 including a pilot valve responding to an electromagnetic force
    • B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
    • B60T8/3655—Continuously controlled electromagnetic valves
    • 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
    • B60T8/404—Control of the pump unit
    • B60T8/405—Control of the pump unit involving the start-up phase

Definitions

  • the invention relates to a brake system for motor vehicles of the "brake-by-wire" type comprising: a hydraulic brake pressure generator actuatable by means of a brake pedal with at least one pressure chamber to which at least one separating valve wheel brakes of the motor vehicle can be connected, on the other hand with a hydraulic "foreign" Pressure source can be connected to means for detecting a driver deceleration request, a pedal force simulator, which cooperates with the brake pressure generator, in the mode "brake-by-wire” acting on the brake pedal restoring force is simulated, and by a hydraulic cylinder assembly with formed by a simulator spring biased simulator piston, and with a valve device which allows in the mode "brake-by-wire” acting on the simulator piston with the hydraulic pressure applied in the brake pressure generator, the wheel brakes hydraulic pressure build-up valves or Einla upstream ssventile and hydraulic pressure reduction valves or exhaust valves are connected downstream, which allow a connection of the wheel brakes with a non-pressurized fluid reservoir.
  • Such a brake system is known from European patent EP 1 371 535 B1.
  • the brake pressure transducer is formed in the known brake system by a dual-circuit master cylinder in the so-called. Tandem design, the pedal force simulator on the one hand with the interposition of a normally open (SO) first shut-off valve with a first vehicle axle associated wheel brakes and on the other hand with the interposition of a normally closed (SG) second Shut-off valve is connected to a pressure medium reservoir associated with the master cylinder.
  • SO normally open
  • SG normally closed
  • This object is achieved by a means is provided which allows for rapid actuation of the brake pedal pre-filling the wheel brakes with hydraulic pressure fluid or a limited pressure build-up in the wheel brakes.
  • the means by a to the brake pressure transducer closing check valve is formed, which is connected in parallel to the at least one isolation valve.
  • Another embodiment of the subject invention provides that the exhaust valves are designed as electromagnetically operable 2/2-way switching valves and that in a line which connects the exhaust valves to the pressure fluid reservoir, an analog controllable 2/2-way valve with pressure limiting function is inserted.
  • an analog controllable 2/2-way valve with pressure limiting function is inserted.
  • noises arising in the "brake-by-wire" operating mode are reduced in that the "external" pressure source is formed by a motor-pump unit, on whose pressure side a damping chamber is provided. It is particularly advantageous if the damping chamber is followed by a diaphragm.
  • a second analog controllable 2/2-way valve with pressure limiting function is provided, on the one hand to an inlet valves with the pressure transducer and the "foreign" Pressure source connecting line and on the other hand to a between the analog controllable 2/2-way valve with Pressure limiting function and the pressure medium reservoir lying line section is connected.
  • An economically producible embodiment provides that the pressure transducer is designed as a single-circuit master cylinder, at the pressure chamber, the wheel brakes and the pedal force simulator are connected.
  • the pressure transducer is designed as a single-circuit master cylinder, with the pressure chamber, the wheel brakes are connected, while the pedal force simulator is connected to a separate pressure chamber from the other pressure chamber.
  • a redundant detection of the driver deceleration request is finally achieved in that the means for detecting the deceleration request by a pedal angle sensor and a displacement sensor are formed, which senses the path of a movable wall of the master cylinder upstream vacuum brake booster.
  • FIGS. 1 and 2 each show a hydraulic circuit diagram of a first (FIG. 1) and a second (FIG. 2) embodiment of the brake system according to the invention.
  • the illustrated in the drawing electro-hydraulic brake system consists essentially of an actuatable by means of a brake pedal 1 hydraulic brake pressure generator 2, one connected to the brake pressure generator 2 hydraulic brake circuit, an amplifier circuit, a pressure modulation circuit, an electronic control unit, not shown, and to the
  • the brake pressure transducer 2 is executed in both versions as a single-circuit master cylinder, which is provided with a pressureless pressure medium reservoir 20 and a pneumatic brake booster, preferably a vacuum brake booster 37 is connected upstream.
  • a redundant detection of the driver deceleration request serve a brake pedal angle sensor 10 and a displacement sensor 11, which senses the path of a movable wall of the vacuum brake booster 37, not shown.
  • the standing with a merely schematically indicated pressure chamber 3 of the master cylinder 2 in connection Brake circuit has a hydraulic line 38 to which the interposition of a valve assembly 19, a pedal force simulator 12, a pressure sensor 39 and the interposition of a separating valve 4 and the aforementioned pressure modulation circuit, the wheel brakes 5, 6, 7, 8 are connected.
  • the isolation valve 4 is connected to a master cylinder 2 toward closing check valve 21 in parallel.
  • the valve assembly 19, which allows separation of the pedal force simulator 12 from the pressure chamber 3, is designed as a normally closed (SG) 2/2-way valve.
  • the pedal force simulator 12 is formed by a hydraulic cylinder arrangement in which a simulator piston 14 pretensioned by means of a simulator spring 13 is displaceably guided.
  • a hydraulic "foreign” pressure source 9 On the output side of the separating valve 4 branches off from the aforementioned hydraulic line 38 from another line 32, to the one hand with the interposition of a damping chamber 29 and a throttle point or aperture 30, a hydraulic "foreign” pressure source 9 and on the other hand, the wheel brakes 5-8
  • the "foreign" pressure source 9 is formed in the example shown as a motor-pump unit 24.
  • a downstream of the aperture 30 to the line 32 connected pressure sensor 41 is used to detect the pressure provided by the "foreign" pressure source 9, wherein in the line section between the first vehicle axle, for example, the front axle, associated wheel brake pair 5, 6 and the one second vehicle axle, for example, the rear axle, associated wheel brake pair 7, 8 inserted a closing the second vehicle axle check valve 42 is.
  • the line 32 forms together with the motor-pump unit 24 which is downstream of it Damping chamber 29, the diaphragm 30 and the pressure sensor 41, the above-mentioned amplifier circuit.
  • the wheel brake 5 - 8 associated pressure modulation circuit includes the wheel brakes 5-8 upstream intake valves 15, 16, 17, 18, Radtiksensoren 45, 46, 47, 48, the wheel brakes 5-8 downstream exhaust valves 25, 26, 27, 28 and an analog adjustable 2/2-way valve 23 with pressure limiting function, which is inserted in a line 22 which connects the exhaust valves 25 - 28 with the aforementioned pressure medium reservoir 20. While the exhaust valves 25-28 are designed as electromagnetically operable 2/2-way switching valves, the intake valves 15-18 are designed as analogue controllable 2/2-way valves, wherein the intake valves 15, 16 assigned to the first wheel brake pair 5, 6 are connected to the Wheel brakes 5-8 closing check valves 55, 56 are connected in parallel.
  • FIG. 2 The structure of the second embodiment of the present invention shown in FIG. 2 largely corresponds to that of the first embodiment shown in FIG.
  • the master cylinder 33 'one of its pressure chamber 3' by means of a second piston 35 separate second pressure chamber 34, to the interposition of the in Connected with Fig. 1 mentioned valve assembly 19 of the pedal force simulator 12 is connected.
  • a second analog controllable 2/2-way valve 31 is provided with pressure limiting function, which is connected between the aforementioned line 32 and a line section 22a, the first analog controllable 2/2-way valve 23 with the Pressure medium reservoir 20 connects.
  • the check valve 21 connected in parallel to the isolation valve 4 remains closed because the wheel pressure value is always higher than the pressure applied in the master cylinder 2.
  • a pressure reduction which is initiated by releasing the brake pedal 3, via the outlet valves 25 - 28 and the first analog controllable 2/2-way valve 23 controlled instead. If the brake pedal 1 is actuated by the driver with high dynamics or very quickly, so that a sufficiently large pressure difference is produced at the separating valve 4, the wheel brakes 5, 6 can be pre-filled with pressure medium via the check valve 21 despite closed separating valve 4 already a brake pressure to be built up. Thus, the effects of a delayed pressure build-up due to the limited dynamics of the motor-pump assembly 24 can be compensated.
  • the valve arrangement 19 can be switched off when the high gradient of ingress is detected.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Regulating Braking Force (AREA)
  • Braking Systems And Boosters (AREA)

Abstract

In order to achieve a pressure buildup in the wheel brakes without delays with an electrohydraulic brake system of the brake-by-wire type, in particular with emergency braking, it is proposed for a means (21) to be provided that renders possible a priming of wheel brakes (5, 6) with a hydraulic pressure medium or a limited pressure buildup in the wheel brakes (5, 6) during a rapid actuation of a brake pedal (1).

Description

BremsSystem für KraftfahrzeugeBrake system for motor vehicles
Die Erfindung betrifft ein Bremssystem für Kraftfahrzeuge vom Typ „Brake-by-wire" mit: einem mittels eines Bremspedals betätigbaren hydraulischen Bremsdruckgeber mit mindestens einem Druckraum, an den über mindestens ein Trennventil Radbremsen des Kraftfahrzeuges anschließbar sind, die andererseits mit einer hydraulischen „Fremd"-Druckquelle verbindbar sind, mit Mitteln zum Erfassen eines Fahrerverzögerungswunsches, einem Pedalkraftsimulator, der mit dem Bremsdruckgeber zusammen wirkt, durch den in der Betriebsart „Brake-by-wire" eine auf das Bremspedal wirkende Rückstellkraft simulierbar ist, und der durch eine hydraulische Zylinderanordnung mit einem durch eine Simulatorfeder vorgespannten Simulatorkolben gebildet ist, sowie mit einer Ventileinrichtung, die in der Betriebsart „Brake-by-wire" ein Beaufschlagen des Simulatorkolbens mit dem in dem Bremsdruckgeber eingesteuerten hydraulischen Druck ermöglicht, wobei den Radbremsen hydraulische Druckaufbauventile bzw. Einlassventile vorgeschaltet und hydraulische Druckabbauventile bzw. Auslassventile nachgeschaltet sind, die ein Verbinden der Radbremsen mit einem drucklosen Druckmittelvorratsbehälter ermöglichen . Ein derartiges Bremssystem ist aus der europäischen Patentschrift EP 1 371 535 Bl bekannt. Der Bremsdruckgeber wird bei dem vorbekannten Bremssystem durch einen zweikreisigen Hauptbremszylinder in der sog. Tandemausführung gebildet, wobei der Pedalkraftsimulator einerseits unter Zwischenschaltung eines stromlos offenen (SO-) ersten Absperrventils mit den einer ersten Fahrzeugachse zugeordneten Radbremsen und andererseits unter Zwischenschaltung eines stromlos geschlossenen (SG-) zweiten Absperrventils mit einem dem Hauptbremszylinder zugeordneten Druckmittelvorratsbehälter verbunden ist. Als weniger vorteilhaft anzusehen ist bei dem vorbekannten Bremssystem sein Verhalten bei Panikbremsungen, bei denen ein Druckaufbau in den Radbremsen durch die Fremddruckquelle erst nach dem Schließen der Trennventile erfolgt, so dass zwischen der schnellen Betätigung des Bremspedals und dem Druckaufbau in den Radbremsen eine unerwünschte Verzögerung in Kauf genommen werden muss.The invention relates to a brake system for motor vehicles of the "brake-by-wire" type comprising: a hydraulic brake pressure generator actuatable by means of a brake pedal with at least one pressure chamber to which at least one separating valve wheel brakes of the motor vehicle can be connected, on the other hand with a hydraulic "foreign" Pressure source can be connected to means for detecting a driver deceleration request, a pedal force simulator, which cooperates with the brake pressure generator, in the mode "brake-by-wire" acting on the brake pedal restoring force is simulated, and by a hydraulic cylinder assembly with formed by a simulator spring biased simulator piston, and with a valve device which allows in the mode "brake-by-wire" acting on the simulator piston with the hydraulic pressure applied in the brake pressure generator, the wheel brakes hydraulic pressure build-up valves or Einla upstream ssventile and hydraulic pressure reduction valves or exhaust valves are connected downstream, which allow a connection of the wheel brakes with a non-pressurized fluid reservoir. Such a brake system is known from European patent EP 1 371 535 B1. The brake pressure transducer is formed in the known brake system by a dual-circuit master cylinder in the so-called. Tandem design, the pedal force simulator on the one hand with the interposition of a normally open (SO) first shut-off valve with a first vehicle axle associated wheel brakes and on the other hand with the interposition of a normally closed (SG) second Shut-off valve is connected to a pressure medium reservoir associated with the master cylinder. To be considered less advantageous in the known brake system is its behavior in panic braking, in which a pressure build-up in the wheel brakes by the external pressure source takes place only after closing the isolation valves, so that between the rapid actuation of the brake pedal and the pressure build-up in the wheel brakes an undesirable delay in Purchase must be taken.
Es ist daher Aufgabe der vorliegenden Erfindung, die Dynamik eines Bremssystems der eingangs genannten Gattung zu verbessern, so dass insbesondere bei Panikbremsungen ein Druckaufbau in den Radbremsen ohne Verzögerungen erfolgt.It is therefore an object of the present invention to improve the dynamics of a brake system of the type mentioned, so that in particular during panic braking a pressure build-up in the wheel brakes without delays.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, ein Mittel vorgesehen ist, das bei einer schnellen Betätigung des Bremspedals ein Vorfüllen der Radbremsen mit hydraulischem Druckmittel bzw. einen begrenzten Druckaufbau in den Radbremsen ermöglicht.This object is achieved by a means is provided which allows for rapid actuation of the brake pedal pre-filling the wheel brakes with hydraulic pressure fluid or a limited pressure build-up in the wheel brakes.
Zur Konkretisierung des Erfindungsgedankens sieht eine vorteilhafte Weiterbildung vor, dass das Mittel durch ein zum Bremsdruckgeber hin schließendes Rückschlagventil gebildet ist, das dem mindestens einen Trennventil parallel geschaltet ist.To concretize the inventive concept provides an advantageous development that the means by a to the brake pressure transducer closing check valve is formed, which is connected in parallel to the at least one isolation valve.
Eine andere Ausgestaltung des Erfindungsgegenstandes sieht vor, dass die Auslassventile als elektromagnetisch betätigbare 2/2-Wege-Schaltventile ausgebildet sind und dass in einer Leitung, die die Auslassventile mit dem Druckmittelvorratsbehälter verbindet, ein analog regelbares 2/2-Wegeventil mit Druckbegrenzungsfunktion eingefügt ist. Durch diese Maßnahme wird unter Verwendung von kostengünstigen Mitteln ein geregelter Druckabbau realisiert .Another embodiment of the subject invention provides that the exhaust valves are designed as electromagnetically operable 2/2-way switching valves and that in a line which connects the exhaust valves to the pressure fluid reservoir, an analog controllable 2/2-way valve with pressure limiting function is inserted. By this measure, a controlled pressure reduction is realized using cost-effective means.
Bei einer anderen vorteilhaften Ausführungsvariante der Erfindung werden in der Betriebsart „Brake-by-wire" entstehende Geräusche dadurch reduziert, dass die „Fremd"- Druckquelle durch ein Motor-Pumpen-Aggregat gebildet ist, an dessen Druckseite eine Dämpfungskammer vorgesehen ist. Dabei ist es besonders vorteilhaft, wenn der Dämpfungskammer eine Blende nachgeschaltet ist.In another advantageous embodiment of the invention, noises arising in the "brake-by-wire" operating mode are reduced in that the "external" pressure source is formed by a motor-pump unit, on whose pressure side a damping chamber is provided. It is particularly advantageous if the damping chamber is followed by a diaphragm.
Zur besseren Regelung des von der „Fremd"-Druckquelle bereit gestellten Druckes ist bei einer anderen Ausgestaltung des Erfindungsgegenstandes ein zweites analog regelbares 2/2-Wegeventil mit Druckbegrenzungsfunktion vorgesehen, das einerseits an eine die Einlassventile mit dem Druckgeber sowie mit der „Fremd"-Druckquelle verbindende Leitung und andererseits an einen zwischen dem analog regelbaren 2/2-Wegeventil mit Druckbegrenzungsfunktion und dem Druckmittelvorratsbehälter liegenden Leitungsabschnitt angeschlossen ist.In order to better control the pressure provided by the "foreign" pressure source, in another embodiment of the subject invention, a second analog controllable 2/2-way valve with pressure limiting function is provided, on the one hand to an inlet valves with the pressure transducer and the "foreign" Pressure source connecting line and on the other hand to a between the analog controllable 2/2-way valve with Pressure limiting function and the pressure medium reservoir lying line section is connected.
Eine kostengünstig herstellbare Ausführungsvariante sieht vor, dass der Druckgeber als ein einkreisiger Hauptbremszylinder ausgeführt ist, an dessen Druckraum die Radbremsen sowie der Pedalkraftsimulator angeschlossen sind.An economically producible embodiment provides that the pressure transducer is designed as a single-circuit master cylinder, at the pressure chamber, the wheel brakes and the pedal force simulator are connected.
Eine andere vorteilhafte Weiterbildung der Erfindung sieht vor, dass der Druckgeber als ein einkreisiger Hauptbremszylinder ausgeführt ist, mit dessen Druckraum die Radbremsen verbindbar sind, während der Pedalkraftsimulator mit einem vom Druckraum getrennten weiteren Druckraum verbindbar ist.Another advantageous development of the invention provides that the pressure transducer is designed as a single-circuit master cylinder, with the pressure chamber, the wheel brakes are connected, while the pedal force simulator is connected to a separate pressure chamber from the other pressure chamber.
Eine redundante Erfassung des Fahrerverzögerungswunsches wird schließlich dadurch erreicht, dass die Mittel zum Erfassen des Verzögerungswunsches durch einen Pedalwinkel- Sensor sowie einen Wegsensor gebildet sind, der den Weg einer beweglichen Wand eines dem Hauptbremszylinder vorgeschalteten Unterdruckbremskraftverstärkers sensiert.A redundant detection of the driver deceleration request is finally achieved in that the means for detecting the deceleration request by a pedal angle sensor and a displacement sensor are formed, which senses the path of a movable wall of the master cylinder upstream vacuum brake booster.
Schließlich sieht eine weitere Ausgestaltung des Erfindungsgegenstandes ein zu einer Fahrzeugachse hin schließendes Rückschlagventil vorgesehen ist, das einenFinally, a further embodiment of the subject invention provides for a vehicle axle towards closing check valve is provided, the one
Druckaufbau in den dieser Fahrzeugachse zugeordneten Radbremsen durch den hydraulischen Bremsdruckgeber verhindert .Pressure build-up in the wheel brakes associated with this vehicle axle by the hydraulic brake pressure generator prevented.
Weitere Merkmale und Vorteile der Erfindung werden in der nachfolgenden Beschreibung an zwei Ausführungsbeispielen unter Bezugnahme auf die beiliegenden Zeichnungen näher erläutert. In den Zeichnungen zeigen Fig. 1 und Fig. 2 je ein hydraulisches Schaltbild einer ersten (Fig. 1) sowie einer zweiten (Fig. 2) Ausführung des erfindungsgemäßen Bremssystems .Further features and advantages of the invention will be explained in more detail in the following description of two embodiments with reference to the accompanying drawings. In the drawings, FIGS. 1 and 2 each show a hydraulic circuit diagram of a first (FIG. 1) and a second (FIG. 2) embodiment of the brake system according to the invention.
Das in der Zeichnung dargestellte elektrohydraulische Bremssystem nach der Erfindung besteht im Wesentlichen aus einem mittels eines Bremspedals 1 betätigbaren hydraulischen Bremsdruckgeber 2, einem an den Bremsdruckgeber 2 angeschlossenen hydraulischen Bremskreis, einem Verstärkerkreis, einem Druckmodulationskreis, einer nicht dargestellten elektronischen Steuer- und Regeleinheit sowie an den Druckmodulationskreis angeschlossenen, zwei Fahrzeugachsen zugeordneten Radbremsen 5, 6, 7 und 8. Der Bremsdruckgeber 2 ist bei beiden Ausführungen als ein einkreisiger Hauptbremszylinder ausgeführt, der mit einem drucklosen Druckmittelvorratsbehälter 20 versehen ist und dem ein pneumatischer Bremskraftverstärker, vorzugsweise ein Unterdruckbremskraftverstärker 37 vorgeschaltet ist. Einer redundanten Erfassung des Fahrerverzögerungswunsches dienen ein Bremspedalwinkelsensor 10 sowie ein Wegsensor 11, der den Weg einer nicht dargestellten beweglichen Wand des Unterdruckbremskraftverstärkers 37 sensiert. Der mit einem lediglich schematisch angedeuteten Druckraum 3 des Hauptbremszylinders 2 in Verbindung stehende Bremskreis weist eine hydraulische Leitung 38 auf, an die unter Zwischenschaltung einer Ventilanordnung 19 ein Pedalkraftsimulator 12, ein Drucksensor 39 sowie unter Zwischenschaltung eines Trennventils 4 sowie des vorhin erwähnten Druckmodulationskreises die Radbremsen 5, 6, 7, 8 angeschlossen sind. Dem Trennventil 4 ist ein zum Hauptbremszylinder 2 hin schließendes Rückschlagventil 21 parallel geschaltet. Die Ventilanordnung 19, die eine Trennung des Pedalkraftsimulators 12 vom Druckraum 3 ermöglicht, ist als ein stromlos geschlossenes (SG-) 2/2- Wegeventil ausgebildet. Der Pedalkraftsimulator 12 wird durch eine hydraulische Zylinderanordnung gebildet, in der ein mittels einer Simulatorfeder 13 vorgespannter Simulatorkolben 14 verschiebbar geführt ist. Auf der Ausgangsseite des Trennventils 4 zweigt von der vorhin erwähnten hydraulischen Leitung 38 eine weitere Leitung 32 ab, an die einerseits unter Zwischenschaltung einer Dämpfungskammer 29 sowie einer Drosselstelle bzw. Blende 30 eine hydraulische „Fremd"-Druckquelle 9 und andererseits die Radbremsen 5 - 8 angeschlossen sind. Die „Fremd"- Druckquelle 9 ist im gezeigten Beispiel als ein Motor- Pumpen-Aggregat 24 ausgebildet. Ein stromabwärts der Blende 30 an die Leitung 32 angeschlossener Drucksensor 41 dient der Erfassung des von der „Fremd"-Druckquelle 9 bereit gestellten Druckes, wobei in dem Leitungsabschnitt zwischen dem einer ersten Fahrzeugachse, beispielsweise der Vorderachse, zugeordneten Radbremsenpaar 5, 6 und dem einer zweiten Fahrzeugachse, beispielsweise der Hinterachse, zugeordneten Radbremsenpaar 7, 8 ein zur zweiten Fahrzeugachse schließendes Rückschlagventil 42 eingefügt ist. Dadurch wird bei einem Ausfall der „Fremd"-Druckquelle 9 sichergestellt, dass auch bei einem klein dimensionierten Hauptzylinder 3 ein ausreichend hoher Druck an der Vorderachse erreicht werden kann. Die Leitung 32 bildet zusammen mit dem Motor-Pumpen-Aggregat 24, der ihm nachgeschalteten Dämpfungskammer 29, der Blende 30 sowie dem Drucksensor 41 den vorhin erwähnten Verstärkerkreis.The illustrated in the drawing electro-hydraulic brake system according to the invention consists essentially of an actuatable by means of a brake pedal 1 hydraulic brake pressure generator 2, one connected to the brake pressure generator 2 hydraulic brake circuit, an amplifier circuit, a pressure modulation circuit, an electronic control unit, not shown, and to the The brake pressure transducer 2 is executed in both versions as a single-circuit master cylinder, which is provided with a pressureless pressure medium reservoir 20 and a pneumatic brake booster, preferably a vacuum brake booster 37 is connected upstream. A redundant detection of the driver deceleration request serve a brake pedal angle sensor 10 and a displacement sensor 11, which senses the path of a movable wall of the vacuum brake booster 37, not shown. The standing with a merely schematically indicated pressure chamber 3 of the master cylinder 2 in connection Brake circuit has a hydraulic line 38 to which the interposition of a valve assembly 19, a pedal force simulator 12, a pressure sensor 39 and the interposition of a separating valve 4 and the aforementioned pressure modulation circuit, the wheel brakes 5, 6, 7, 8 are connected. The isolation valve 4 is connected to a master cylinder 2 toward closing check valve 21 in parallel. The valve assembly 19, which allows separation of the pedal force simulator 12 from the pressure chamber 3, is designed as a normally closed (SG) 2/2-way valve. The pedal force simulator 12 is formed by a hydraulic cylinder arrangement in which a simulator piston 14 pretensioned by means of a simulator spring 13 is displaceably guided. On the output side of the separating valve 4 branches off from the aforementioned hydraulic line 38 from another line 32, to the one hand with the interposition of a damping chamber 29 and a throttle point or aperture 30, a hydraulic "foreign" pressure source 9 and on the other hand, the wheel brakes 5-8 The "foreign" pressure source 9 is formed in the example shown as a motor-pump unit 24. A downstream of the aperture 30 to the line 32 connected pressure sensor 41 is used to detect the pressure provided by the "foreign" pressure source 9, wherein in the line section between the first vehicle axle, for example, the front axle, associated wheel brake pair 5, 6 and the one second vehicle axle, for example, the rear axle, associated wheel brake pair 7, 8 inserted a closing the second vehicle axle check valve 42 is. In the event of a failure of the "foreign" pressure source 9, this ensures that a sufficiently high pressure at the front axle can be achieved even with a small-sized master cylinder 3. The line 32 forms together with the motor-pump unit 24 which is downstream of it Damping chamber 29, the diaphragm 30 and the pressure sensor 41, the above-mentioned amplifier circuit.
Der den Radbremsen 5 - 8 zugeordnete Druckmodulationskreis enthält den Radbremsen 5 - 8 vorgeschaltete Einlassventile 15, 16, 17, 18, Raddrucksensoren 45, 46, 47, 48, den Radbremsen 5 - 8 nachgeschaltete Auslassventile 25, 26, 27, 28 sowie ein analog regelbares 2/2-Wegeventil 23 mit Druckbegrenzungsfunktion, das in einer Leitung 22 eingefügt ist, die die Auslassventile 25 - 28 mit dem vorhin erwähnten Druckmittelvorratsbehälter 20 verbindet. Während die Auslassventile 25 - 28 als elektromagnetisch betätigbare 2/2-Wege-Schaltventile ausgebildet sind, sind die Einlassventile 15 - 18 als analog regelbare 2/2- Wegeventile ausgeführt, wobei den dem ersten Radbremsenpaar 5, 6 zugeordneten Einlassventilen 15, 16 zu den Radbremsen 5 - 8 hin schließende Rückschlagventile 55, 56 parallel geschaltet sind.The wheel brake 5 - 8 associated pressure modulation circuit includes the wheel brakes 5-8 upstream intake valves 15, 16, 17, 18, Raddrucksensoren 45, 46, 47, 48, the wheel brakes 5-8 downstream exhaust valves 25, 26, 27, 28 and an analog adjustable 2/2-way valve 23 with pressure limiting function, which is inserted in a line 22 which connects the exhaust valves 25 - 28 with the aforementioned pressure medium reservoir 20. While the exhaust valves 25-28 are designed as electromagnetically operable 2/2-way switching valves, the intake valves 15-18 are designed as analogue controllable 2/2-way valves, wherein the intake valves 15, 16 assigned to the first wheel brake pair 5, 6 are connected to the Wheel brakes 5-8 closing check valves 55, 56 are connected in parallel.
Der Aufbau der in Fig. 2 dargestellten zweiten Ausführung der vorliegenden Erfindung entspricht weitgehend dem der in Fig. 1 gezeigten ersten Ausführung. Dabei weist der Hauptbremszylinder 33' einen von seinem Druckraum 3' mittels eines zweiten Kolbens 35 getrennten zweiten Druckraum 34 auf, an den unter Zwischenschaltung der im Zusammenhang mit Fig. 1 erwähnten Ventilanordnung 19 der Pedalkraftsimulator 12 angeschlossen ist. Um die Güte der Druckregelung weiter zu verbessern ist ein zweites analog regelbares 2/2-Wegeventil 31 mit Druckbegrenzungsfunktion vorgesehen, das zwischen der vorhin genannten Leitung 32 und einem Leitungsabschnitt 22a geschaltet ist, der das erste analog regelbare 2/2-Wegeventil 23 mit dem Druckmittelvorratsbehälter 20 verbindet.The structure of the second embodiment of the present invention shown in FIG. 2 largely corresponds to that of the first embodiment shown in FIG. In this case, the master cylinder 33 'one of its pressure chamber 3' by means of a second piston 35 separate second pressure chamber 34, to the interposition of the in Connected with Fig. 1 mentioned valve assembly 19 of the pedal force simulator 12 is connected. To further improve the quality of the pressure control, a second analog controllable 2/2-way valve 31 is provided with pressure limiting function, which is connected between the aforementioned line 32 and a line section 22a, the first analog controllable 2/2-way valve 23 with the Pressure medium reservoir 20 connects.
Die Funktionsweise von Bremssystemen vom Typ „Brake-by- wire" ist im Wesentlichen dem Fachmann bekannt. Bei einem Druckaufbau in der Betriebsart „Brake-by-wire" wird das Bremspedal 1 vom Fahrer betätigt, wobei der Fahrerverzögerungswunsch von den Sensoren 10, 11 erfasst wird. Gleichzeitig werden das Trennventil 4 sowie die Ventilanordnung 19 umgeschaltet, wobei das vom Fahrer verdrängte Druckmittel vom Pedalkraftsimulator 12 aufgenommen wird, der eine am Bremspedal 1 spürbare Gegenkraft entsprechend der gewünschten Kennlinie erzeugt. Entsprechend dem Fahrerverzögerungswunsch wird durch einen drehzahlgeregelten Betrieb des Motor-Pumpen-Aggregats 24 in den Radbremsen 5 - 8 ein Druck aufgebaut. Das dem Trennventil 4 parallel geschaltete Rückschlagventil 21 bleibt geschlossen, da der Raddruckwert immer höher ist als der im Hauptbremszylinder 2 eingesteuerte Druck. Ein Druckabbau, der durch Lösen des Bremspedals 3 eingeleitet wird, findet über die Auslassventile 25 - 28 sowie das erste analog regelbare 2/2-Wegeventil 23 geregelt statt. Wird das Bremspedal 1 vom Fahrer mit hoher Dynamik bzw. sehr schnell betätigt, so dass dadurch am Trennventil 4 eine ausreichend große Druckdifferenz entsteht, so können die Radbremsen 5, 6 trotz geschlossenem Trennventil 4 über das Rückschlagventil 21 mit Druckmittel vorbefüllt werden bzw. es kann bereits ein Bremsdruck aufgebaut werden. So können die Auswirkungen eines verzögerten Druckaufbaus infolge der beschränkten Dynamik des Motor-Pumpen-Aggregats 24 kompensiert werden. Um dabei den Fahrer zu unterstützen kann bei erkanntem hohem Antrittsgradienten die Ventilanordnung 19 abgeschaltet werden. The mode of operation of brake systems of the "brake-by-wire" type is essentially known to the person skilled in the art In the case of a pressure build-up in the "brake-by-wire" mode, the brake pedal 1 is actuated by the driver, whereby the driver deceleration request from the sensors 10, 11 is detected. At the same time the separating valve 4 and the valve assembly 19 are switched, wherein the displaced by the driver pressure medium is absorbed by the pedal force simulator 12, which generates a noticeable brake pedal 1 counterforce corresponding to the desired characteristic. According to the driver deceleration request, a pressure is built up by a speed-controlled operation of the motor-pump unit 24 in the wheel brakes 5-8. The check valve 21 connected in parallel to the isolation valve 4 remains closed because the wheel pressure value is always higher than the pressure applied in the master cylinder 2. A pressure reduction, which is initiated by releasing the brake pedal 3, via the outlet valves 25 - 28 and the first analog controllable 2/2-way valve 23 controlled instead. If the brake pedal 1 is actuated by the driver with high dynamics or very quickly, so that a sufficiently large pressure difference is produced at the separating valve 4, the wheel brakes 5, 6 can be pre-filled with pressure medium via the check valve 21 despite closed separating valve 4 already a brake pressure to be built up. Thus, the effects of a delayed pressure build-up due to the limited dynamics of the motor-pump assembly 24 can be compensated. In order to assist the driver, the valve arrangement 19 can be switched off when the high gradient of ingress is detected.

Claims

Patentansprüche claims
1. Elektrohydraulische Bremsanlage für Kraftfahrzeuge vom Typ „Brake-by-wire" mit: einem mittels eines Bremspedals (1) betätigbaren hydraulischen Bremsdruckgeber (2) mit mindestens einem Druckraum (3) , an den über mindestens ein Trennventil (4) Radbremsen (5,6,7,8) des Kraftfahrzeuges anschließbar sind, die andererseits mit einer hydraulischen „Fremd"-Druckquelle (9) verbindbar sind, mit Mitteln (10, 11) zum Erfassen eines Fahrerverzögerungswunsches, einem Pedalkraftsimulator (12), der mit dem Bremsdruckgeber (2) zusammen wirkt, durch den in der Betriebsart „Brake-by-wire" eine auf das Bremspedal (1) wirkende Rückstellkraft simulierbar ist, und der durch eine hydraulische Zylinderanordnung mit einem durch eine Simulatorfeder (13) vorgespannten Simulatorkolben (14) gebildet ist, sowie mit einer Ventileinrichtung (19), die in der Betriebsart „Brake-by-wire" ein Beaufschlagen des Simulatorkolbens (14) mit dem in dem Bremsdruckgeber (2) eingesteuerten hydraulischen Druck ermöglicht, wobei den Radbremsen (5,6,7,8) hydraulische Druckaufbauventile bzw. Einlassventile (15, 16, 17, 18) vorgeschaltet und hydraulische Druckabbauventile bzw. Auslassventile (25, 26, 27, 28) nachgeschaltet sind, die ein Verbinden der Radbremsen (5, 6, 7, 8) mit einem drucklosen Druckmittelvorratsbehälter (20) ermöglichen, dadurch gekennzeichnet, dass ein Mittel (21) vorgesehen ist, das bei einer schnellen Betätigung des Bremspedals (1) ein Vorfüllen der Radbremsen (5, 6, 7, 8) mit hydraulischem Druckmittel bzw. einen begrenzten Druckaufbau in den Radbremsen (5, 6, 7, 8) ermöglicht.1. Electrohydraulic brake system for motor vehicles of the type "brake-by-wire" comprising: a by means of a brake pedal (1) actuated hydraulic brake pressure generator (2) with at least one pressure chamber (3) to which at least one separating valve (4) wheel brakes (5 , 6,7,8) of the motor vehicle can be connected, on the other hand, with a hydraulic "foreign" pressure source (9) are connectable, with means (10, 11) for detecting a driver deceleration request, a pedal force simulator (12) connected to the brake pressure generator (2) cooperates, by which in the operating mode "brake-by-wire" on the brake pedal (1) acting restoring force is simulated, and by a hydraulic cylinder assembly with a simulator spring (13) biased simulator piston (14) is, as well as with a valve device (19), in the operating mode "brake-by-wire" a loading of the simulator piston (14) with the in the brake pressure generator (2) controlled hydraulic pressure erm allows, wherein the wheel brakes (5,6,7,8) hydraulic pressure build-up valves or inlet valves (15, 16, 17, 18) upstream and hydraulic pressure reduction valves or exhaust valves (25, 26, 27, 28) are connected downstream, the connecting the wheel brakes (5, 6, 7, 8) with a pressureless pressure fluid reservoir (20), characterized in that a means (21) is provided, which in a fast Actuation of the brake pedal (1) allows pre-filling of the wheel brakes (5, 6, 7, 8) with hydraulic pressure medium or a limited pressure build-up in the wheel brakes (5, 6, 7, 8).
2. Elektrohydraulische Bremsanlage nach Anspruch 1 dadurch gekennzeichnet, dass das Mittel durch ein zum Bremsdruckgeber (2) hin schließendes Rückschlagventil2. Electrohydraulic brake system according to claim 1, characterized in that the means by a brake pressure generator (2) towards closing check valve
(21) gebildet ist, das dem mindestens einen Trennventil (4) parallel geschaltet ist.(21) is formed, which is connected in parallel to the at least one isolation valve (4).
3. Elektrohydraulische Bremsanlage nach Anspruch 1 oder 2 dadurch gekennzeichnet, dass die Auslassventile (25, 26, 27, 28) als elektromagnetisch betätigbare 2/2- Wege-Schaltventile ausgebildet sind und dass in einer Leitung (22), die die Auslassventile (25, 26, 27, 28) mit dem Druckmittelvorratsbehälter (20) verbindet, ein analog regelbares 2/2-Wegeventil (23) mit Druckbegrenzungsfunktion eingefügt ist.3. Electro-hydraulic brake system according to claim 1 or 2, characterized in that the outlet valves (25, 26, 27, 28) are designed as electromagnetically operable 2/2-way switching valves and that in a line (22), the exhaust valves (25 , 26, 27, 28) with the pressure fluid reservoir (20) connects, an analog controllable 2/2-way valve (23) is inserted with pressure limiting function.
4. Elektrohydraulische Bremsanlage nach einem der Ansprüche 1 bis 3 dadurch gekennzeichnet, dass die4. Electro-hydraulic brake system according to one of claims 1 to 3, characterized in that the
„Fremd"-Druckquelle durch ein Motor-Pumpen-Aggregat (24) gebildet ist, an dessen Druckseite eine Dämpfungskammer (29) vorgesehen ist."Foreign" pressure source by a motor-pump unit (24) is formed on the pressure side of a damping chamber (29) is provided.
5. Elektrohydraulische Bremsanlage nach Anspruch 4 dadurch gekennzeichnet, dass der Dämpfungskammer (29) eine Blende (30) nachgeschaltet ist. 5. Electrohydraulic brake system according to claim 4, characterized in that the damping chamber (29) is followed by a diaphragm (30).
6. Elektrohydraulische Bremsanlage nach einem der Ansprüche 1 bis 3 dadurch gekennzeichnet, dass ein zweites analog regelbares 2/2-Wegeventil (31) mit Druckbegrenzungsfunktion vorgesehen ist, das einerseits an eine die Einlassventile (15, 16, 17, 18) mit dem Druckgeber (2) sowie mit der „Fremd"- Druckquelle (9 bzw. 24) verbindende Leitung (32) und andererseits an einen zwischen dem analog regelbaren 2/2-Wegeventil (23) mit Druckbegrenzungsfunktion und dem Druckmittelvorratsbehälter (20) liegenden Leitungsabschnitt (22a) angeschlossen ist.6. Electro-hydraulic brake system according to one of claims 1 to 3, characterized in that a second analog controllable 2/2-way valve (31) is provided with pressure limiting function, on the one hand to the inlet valves (15, 16, 17, 18) with the pressure transducer (2) and with the "foreign" - pressure source (9 or 24) connecting line (32) and on the other hand to a between the analog controllable 2/2-way valve (23) with pressure limiting function and the pressure medium reservoir (20) lying line section (22a ) connected.
7. Elektrohydraulische Bremsanlage nach einem der Ansprüche 1 bis 6 dadurch gekennzeichnet, dass der7. Electro-hydraulic brake system according to one of claims 1 to 6, characterized in that the
Druckgeber (2) als ein einkreisiger Hauptbremszylinder (33) ausgeführt ist, an dessen Druckraum (3) die Radbremsen (5, 6, 7, 8) sowie der Pedalkraftsimulator (12) angeschlossen sind.Pressure transducer (2) is designed as a single-circuit master cylinder (33), at the pressure chamber (3), the wheel brakes (5, 6, 7, 8) and the pedal force simulator (12) are connected.
8. Elektrohydraulische Bremsanlage nach einem der Ansprüche 1 bis 6 dadurch gekennzeichnet, dass der8. Electrohydraulic brake system according to one of claims 1 to 6, characterized in that the
Druckgeber als ein einkreisiger Hauptbremszylinder (33') ausgeführt ist, mit dessen Druckraum (3') die Radbremsen (5, 6, 7, 8) verbindbar sind, während der Pedalkraftsimulator (12) mit einem weiteren, vom Druckraum (3') getrennten Druckraum (34) verbindbar ist .Pressure transmitter is designed as a single-circuit master cylinder (33 '), with the pressure chamber (3'), the wheel brakes (5, 6, 7, 8) are connectable, while the pedal force simulator (12) with a further, from the pressure chamber (3 ') separated Pressure chamber (34) is connectable.
9. Elektrohydraulische Bremsanlage nach einem der Ansprüche 1 bis 8 dadurch gekennzeichnet, dass die Mittel zum Erfassen des Verzögerungswunsches durch einen Pedalwinkel-Sensor (10) sowie einen Wegsensor (11) gebildet sind, der den Weg einer beweglichen Wand eines dem Hauptbremszylinder (33, 33') vorgeschalteten Unterdruckbremskraftverstärkers (37) sensiert.9. Electro-hydraulic brake system according to one of claims 1 to 8, characterized in that the Means for detecting the delay desired by a pedal angle sensor (10) and a displacement sensor (11) are formed, which senses the path of a movable wall of the master brake cylinder (33, 33 ') upstream vacuum brake booster (37).
10. Elektrohydraulische Bremsanlage nach einem der10. Electrohydraulic brake system according to one of
Ansprüche 1 bis 9 dadurch gekennzeichnet, dass ein zu einer Fahrzeugachse hin schließendes Rückschlagventil (42) vorgesehen ist, das einen Druckaufbau in den dieser Fahrzeugachse zugeordneten Radbremsen (7, 8) durch den hydraulischen Bremsdruckgeber (2) verhindert . Claims 1 to 9, characterized in that a non-return valve (42) closing towards a vehicle axle is provided which prevents pressure build-up in the wheel brakes (7, 8) associated with this vehicle axle by the hydraulic brake pressure generator (2).
PCT/EP2007/058300 2006-08-11 2007-08-10 Brake system for motor vehicles WO2008017713A1 (en)

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FR2931768A1 (en) * 2008-05-28 2009-12-04 Peugeot Citroen Automobiles Sa BRAKING SYSTEM FOR CONTROLLING THE STABILITY AND TRACKING OF A MOTOR VEHICLE AND METHODS OF USING SUCH A SYSTEM
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