WO2015058973A1 - Procédé de commande d'un frein de stationnement pour un véhicule - Google Patents

Procédé de commande d'un frein de stationnement pour un véhicule Download PDF

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Publication number
WO2015058973A1
WO2015058973A1 PCT/EP2014/071732 EP2014071732W WO2015058973A1 WO 2015058973 A1 WO2015058973 A1 WO 2015058973A1 EP 2014071732 W EP2014071732 W EP 2014071732W WO 2015058973 A1 WO2015058973 A1 WO 2015058973A1
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WO
WIPO (PCT)
Prior art keywords
speed
wheel
vehicle
change
value
Prior art date
Application number
PCT/EP2014/071732
Other languages
German (de)
English (en)
Inventor
Christof Maron
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 WO2015058973A1 publication Critical patent/WO2015058973A1/fr

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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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/08—Brake-action initiating means for personal initiation hand actuated
    • B60T7/10—Disposition of hand control
    • B60T7/107—Disposition of hand control with electrical power assistance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed

Definitions

  • the invention relates to a method for driving a parking brake for a vehicle, a control device for carrying out the method and a parking brake with the control device.
  • parking brake may only be controlled when the vehicle is at a standstill, which is why the standstill of the vehicle is detected in the control of the parking brake ⁇ .
  • a wheel speed sensor can be used.
  • a method for driving a parking brake for a vehicle based on a reference speed of the vehicle comprises the steps of:
  • the reference speed of a vehicle is in a known manner to a speed of the driving ⁇ tool on which a wheel slip of a wheel of the vehicle refers.
  • To determine the reference speed could while the speeds of individual wheels of the vehicle are used on average.
  • the present invention is based on the consideration that such a, ba ⁇ sierend particular on the wheel speeds Referenzge ⁇ speed can only be valid as long as the wheel slip ⁇ of all wheels involved in the determination of the reference speed is sufficiently small. If, in extreme cases, all wheels are blocked, for example, by an excessive braking intervention in connection with a smooth road surface, the abovementioned determination of the reference speed would lead to detection of the stationary state of the vehicle, which still moves physically.
  • a parking brake may, as mentioned above, be tightened on a vehicle only when the vehicle is stationary. If the parking brake were to be applied during the drive of the vehicle based on a previously erroneously determined reference speed indicative of a standstill of the vehicle, the vehicle could skid and be thrown out of the driving trajectory prescribed by the driver. This is particularly dangerous to traffic because an electronic stability program for the vehicle can not unblock the blocked rear wheels, since the stability program usually can not control the parking brake.
  • the new value for the reference speed is extrapolated based on at least one front ⁇ handenen value for the reference speed and the deferrers ⁇ delay of the vehicle.
  • the extrapolation can be chosen arbitrarily, depending on the available computing resources.
  • the extrapolation purely linear, based on the change in speed or higher degree, for example, be carried out quadratically, if, for example, ⁇ for the vehicle, a jerk is available.
  • the specified method comprises the step of low-pass filtering the speed change at or after your determination.
  • the training is based on the consideration that the speed change could be detected incorrectly, which could also occur here an erroneous detection of the stoppage of the vehicle. Therefore, it is proposed in the course of the development of the specified method to prevent too rapid changes in the speed change. This is avoided by the low-pass filtering and thus a truncation of higher spectra from the speed change.
  • the low-pass filtering can be performed independently of the determination of the speed change. In a particularly favorable manner, however, the low-pass filtering is performed simultaneously with the determination of the speed change in order to so saving computational resources in performing the specified procedure.
  • an exponential smoothing to be particularly advantageous in the context of which could be the VELOCITY ⁇ keits selectedung determined based on the above-mentioned wheel speed and the same low-pass filtered.
  • the speed change could be limited in its value range, which could also be avoided too high a speed change and associated too fast standstill detection of the vehicle.
  • the specified method comprises the step of determining the value for the Radge ⁇ speed of the wheel based on an extrapolation of an existing value for the wheel speed of the wheel and a value for the speed change when the wheel is blocked.
  • at least one further, second extrapolation is used to calculate the wheel speed of a wheel when the wheel is locked.
  • each individual wheel on the Vehicle's own interpolation can be used.
  • the specified method comprises the step of determining the value for the speed change based on existing values for the wheel speed. For example, one of the wheel speeds, such as the highest or second highest wheel speed, may be selected as the basis for determining the speed change for a plurality of existing wheels.
  • the vehicle comprises at least two wheels, wherein an individual wheel speed of one of the two wheels is selected for the wheel speed. In this way, averaging is eliminated, which further accelerates the specified method.
  • the single wheel speed of the wheel is selected which has the higher wheel speed. In this way it is avoided that for determining the acceleration of the
  • Vehicle wheels are selected with a high wheel slip, which would lead to a faulty calculation of the acceleration of the vehicle.
  • the fastest wheel does not have to be selected; only the slowest wheel must not be selected in the present embodiment.
  • the specified The method includes the step of selecting a predetermined speed change as the speed change when the wheel speed of all wheels of the vehicle is less than or equal to a predetermined value.
  • the predetermined speed change can be chosen arbitrarily.
  • the predetermined speed change could be a fixed constant in a memory. If the speed change of the vehicle based on Radge- speeds of the vehicle that have been detected too high in a low range, for example, during slow rolling of the vehicle determined to be low, then it might be too when Ab ⁇ of the vehicle due to the too low specific speed change take a long time until the vehicle is stopped and the parking brake can be controlled.
  • the development attacks with the proposal to select a predetermined constant for the speed change the value of which, for example, when rolling out is assumed to be minimal for the speed change, so that the standstill after a minimum time can be detected as quickly as possible.
  • the predetermined speed change could also always be updated based on the current speed change. All wheels of the vehicle because of too small wheel speeds detected as blocked, then, the predetermined Geschwin ⁇ dtechniks capableung, so to speak represent the last valid VELOCITY ⁇ keits selectedung and used for the continuation of the overall in speed will.
  • the predetermined speed change can be selected when the wheel speed for a predetermined period of time is less than or equal to the predetermined value. In this way, a dead time is introduced, with the short-term fluctuations in the wheel speeds and thus the wheel speeds of the vehicle can be hidden.
  • a control device is designed to carry out one of the aforementioned methods.
  • the specified device has a memory and a processor.
  • the specified method is stored in the form of a computer program in the memory and the processor is provided for carrying out one of the aforementioned methods when the computer program is loaded from the memory into the processor.
  • a solid ⁇ parking brake for blocking a movement of a vehicle, a given control device.
  • a vehicle includes a specified parking brake.
  • the invention also relates to a computer program comprising program code means for carrying out all the steps of one of the stated methods when the computer program is executed on a computer or one of the specified control devices.
  • the invention also relates to a computer program product containing a program code stored on a computer-readable medium and which, when executed on a data processing device, performs one of the specified methods.
  • FIG. 2 shows a structogram of a program executed in the evaluation device of FIG. 1, FIG.
  • FIG. 3 is a structural diagram of a subroutine executed in the program of FIG. 2;
  • FIG. 4 is a structural diagram of a first subroutine executed in the subroutine of FIG. 3;
  • FIG. 5 is a structural diagram of a second subroutine executed in the subroutine of FIG. 3;
  • Fig. 6 shows a structogram of a further subroutine executed in the program of Fig. 2.
  • Fig. 1 shows a schematic diagram of a vehicle 2 with a parking brake 4.
  • the vehicle 2 has a chassis 6, which can roll driven on a non-illustrated road on four wheels 8 via a motor, not shown.
  • brake discs 10 are rotatably mounted in the present embodiment, can engage the non-rotatably attached to the chassis 6 Radioly rated road, not shown.
  • This service brake effectors may belong to a service brake, not shown, which can brake the vehicle 2 while driving.
  • the vehicle comprises in the present embodiment, the parking brake 4.
  • This has parking brake effectors 12 which are in rougerich- tion 14 of the vehicle 2 seen only on the rear wheels 8 of the vehicle 2 are arranged.
  • the parking brake 4 further has a control device 16 with a driving unit 17 which drives by means of control signals 18, the Feststellbrems binoren 12 based on one of a parking brake lever 20 out ⁇ added parking brake request 22nd Actuates a driver of the vehicle 2 via the parking brake lever 20, the parking brake 4, the drive unit 17 of the fixed ⁇ parking brake 4, the parking brake effectors 12 and thus clamps the brake discs 10 of the rear wheels 8 with the parking brake effect 12 a. In this way, the vehicle 2 is kept at a standstill.
  • the structure of the parking brake 4 has previously been described in the form of a disc brake.
  • the structure of the parking brake 4 is arbitrary.
  • the parking brake 4 could also be designed as a drum brake, which should not be discussed in greater detail for the sake of brevity.
  • the drive unit 17 of the control device 16 is to engage the parking brake effects 12 for safety reasons only when the vehicle 2 is at a standstill.
  • the drive unit 17 of the control ⁇ device 16 in addition to the parking brake request 22 further receives a reference speed 24, which in the present
  • Execution describes a speed at the vehicle 2.
  • the reference speed 24 could describe an overground speed of the chassis 6 in the direction of travel 14.
  • the reference speed 24 describes an average value between at least two speeds of two different wheels 8 of the
  • the reference speed 24 is selected based on a single wheel 8 of the vehicle 2. This will be discussed later. Based on the reference speed 24, the drive unit 17 of the control device 16 can determine whether the vehicle 2 is stationary. This can be done in the simplest way based on a comparison with a Standstill speed 26 done, for example, the value zero can be selected.
  • wheel speed sensors 28 are used in the present embodiment. These are usually present on each individual wheel 8 of the vehicle 2.
  • the wheel speed sensors 28 detect a wheel speed of the respective wheel and determine, for example, based on the tire radius of the respective wheel 8 in a manner known per se, a wheel speed 30 of the respective
  • the wheel speeds 30 of each wheel 8 are then via a data bus 32, such as a known CAN bus, to a control device 16 of the
  • Parking brake 4 belonging evaluation device 34 issued ben, which then determines the reference speed 24 in the following manner based on the wheel speeds 30.
  • FIG. 2 shows a structogram of a program 36 executed in the evaluation device 34 of the control device 16 of FIG. 1.
  • Program 36 in the present embodiment, includes a first subroutine 38 that calculates a virtual wheel speed 40 for each wheel 8 from the measured wheel speeds in a manner to be described.
  • the program 36 further includes a second subroutine 42 that selects a wheel speed as the single wheel speed 44 from the virtual wheel speeds 40.
  • the program 36 has a third subroutine 46 and a fourth subroutine 48 in which, based on the Einzelradge ⁇ speed 44, the reference speed 24 is determined.
  • some inputs and outputs of the sub ⁇ programs such as the subroutines 38, 42, 46, 48 in Fig. 2 provided below the number "4".
  • the intended to indicate that at these inputs and outputs is not an input variable or output variable but four input variables or output variables are present.
  • four wheel speeds 30 - for each wheel 8 of the vehicle 2 a wheel speed 30 are applied to the first subroutine 38.
  • the reference speed 24 is to be calculated in a manner hereinafter be ⁇ written via a change in 50 of the 24 reference speed for the vehicle 2, which is hereinafter also referred to as reference speed change 50th
  • reference velocity change 50th To determine this reference velocity change 50, the reference velocity 24 must exceed a certain
  • Period Period are considered. This can be realized by considering the reference velocity 24 only at certain fixed times. These calculation times can be predefined, for example, whereby a predetermined time calculation interval of, for example, 10 ms can be selected between the individual calculation times. In other words, the reference velocity is calculated within 10 ms of mutually spaced program cycles. Furthermore, validity signals 52 can be output from the individual wheel speed sensors 28, which indicate whether the wheel speed 30 output by a respective wheel speed sensor 28 is valid, ie error-free, or faulty and thus invalid.
  • the first subroutine 38 outputs in addition to the virtual wheel speeds 40 nor wheel speed changes 54 and Radblockadeflags 56 for each wheel 8, from each Radblockadeflag 56 shows whether a Radblockadeflag 56 associated wheel 8 is blocked for example by the service brake, not shown.
  • the values of these variables are additionally calculated in the first subroutine 38 in addition to the wheel speeds 30 on the basis of the validity signals 52 of the reference speed 24 delayed in one delay element 58 and the reference speed change 50 delayed in another delay element 58.
  • the second subroutine 42 selects the single wheel speed 44 from the virtual wheel speed. 40. As a criterion, the second subroutine 42 can select the highest or the second highest of the virtual wheel speeds 40. However, should the second subroutine 42 not be able to select a single wheel speed 44 because all the wheels 8 are locked, the second subroutine 42 outputs a blockade time 60 indicating the elapsed time since the start time from which all wheels 8 of the vehicle 2 are blocked. This blockage time 60 can be measured at ⁇ play, in the predetermined time Beticiansab- stalls. To determine the blockade time 60, the second subroutine additionally receives the
  • the third sub-program 46 is arranged to limit the increase of the Re ference ⁇ speed 24 to a certain maximum value, for example 1.4 g in the case of an increase of the reference speed 24th
  • the Einzelradge ⁇ speed 44 is treated as a new reference speed 24 and compared with in the delayed in a delay element 58, the current reference speed 24 in a comparison ⁇ member 62. If the new reference speed 24 and therefore the individual wheel speed 44 are greater than the current reference speed 24, the third subroutine 46 is activated and the single wheel speed 44 treated as the new reference speed 24 is limited to a value corresponding to an increase of 1.4 g with respect to the current reference speed 24 if necessary.
  • the fourth sub-program 48 is activated via an inverter 64th
  • the fourth subroutine 48 additionally receives actuator states 66, such as, for example, a hydraulic pressure of the service brake, not shown, in addition to the variables already introduced.
  • the fourth subroutine 48 will be discussed in more detail later in FIG.
  • the output from either the third subroutine 46 or from the fourth subroutine 48 new reference speeds 24 are then combined in a mixing element 67 in a common variable and output as Referenzgeschwindig ⁇ ness 24th
  • FIG. 3 shows a structural diagram of a first subroutine 68 executed in the first subroutine 38 of FIG.
  • the blockade flags 56 in a blockade recognition program 70 and the virtual wheel speeds 40 in a velocity calculation program 72 are calculated.
  • These programs 70, 72 are shown in FIGS. 4 and 5, respectively.
  • FIG. 4 a structural diagram of the blockade detection program 70 is shown.
  • the wheel speeds 30 are first delayed by a delay element 58, so that at the output of the delay element 58 there are 8 delayed wheel speeds 74 for each wheel.
  • the wheel speed changes 54 in a subtracter 76 are then calculated.
  • the timer signal 84 is compared in a time detection 86 a maximum time of, for example, 3 program cycles. Only when the timer 82 is activated via the blocking signal 80 longer than these Ma ⁇ ximalzeit and thus the timing signal is longer than this maximum time active 84, for the respective wheel 8 as output from the time of detection of the corresponding 86
  • a wheel lock flag 56 is also determined based on a difference between the wheel speeds 30 and the reference speed 24.
  • the reference speed 24 in a splitter 88 is split into four identical reference speeds 24-a separate reference speed 24 for each wheel 8.
  • a difference 90 between the respective split reference velocities 24 and the wheel speeds 30 is formed in a subtracter 76 for each wheel 8.
  • amount differences 92 are formed in accordance with from the Dif ferences ⁇ 90th
  • corresponding blockade signals 80 are outputted based on these magnitude differences 92 for the individual wheels 8 if their associated
  • the blocking signals 80 of the individual wheels 8 are then compared with their blocking loads 56 in an AND gate 94. If the corresponding blocking signal 80 and the blocking flag 56 are positive for a wheel 8, then the blocking flag 56 is set again. This newly set blocking flag 56 is however in one own delay element 58 delayed.
  • either the first-described blockage flag 56 or the second-mentioned, delayed blockage flag 56 can be output for a wheel 8.
  • the function of the blockade detection program 70 can be summarized as follows. If a wheel 8 is slowed down so much that it can only be assumed to be blocked, its blocking flag 56 is set. The blockage is determined in the first described manner based on the wheel speed change 54 of the corresponding wheel 8, which is determined by the comparison of delayed wheel speeds 30 of the wheel 8. When set Blockadeflag 56 of a wheel 8, that is, in an existing blockage of the wheel 8, it is then examined whether the blockade of the wheel 8 is still present. For this purpose, in the blockade recognition program 70, based on the difference 90, it is examined whether the wheel speed 30 of the already blocked wheel 8 deviates significantly from the reference speed 24 of the vehicle 2.
  • a structural diagram of the speed calculation program 72 is shown.
  • the speed calculation program 72 calculates the virtual wheel speeds 40 for the wheels 8 from the wheel speeds 30 of the wheels 8.
  • the calculation for a wheel 8 takes place under the control of its blocking flag 56, in detail, if for a particular wheel 8 its blocking flag 56 occurs is not active.
  • the copy program 96 is activated via the blockade flag 56, which was previously applied to a non-element 64.
  • Extrapolierprogramm 98 calculated.
  • the extrapolation program 98 is activated directly by the blocking flag 56.
  • the extrapolating program 98 receives the currently valid virtual wheel speed 40 for the corresponding wheel 8 and updates this virtual wheel speed 40 based on an extrapolation.
  • the currently valid virtual wheel 40 of the wheel 8 as the supporting point and extrapolates the updated virtual wheel 40 based on a Extrapolationsvor ⁇ writing and the change 50 of the reference speed 24 as a coefficient.
  • Any extrapolation can be used as the extrapolation rule, but linear polynomial extrapolation has proven to be most practicable.
  • FIG. 6 shows a structural diagram of the fourth subroutine 48 in the program 36 of FIG.
  • the first case must occur in the present embodiment for a certain minimum time of, for example, 15 predetermined time calculation intervals. This is determined in a further time detection 86, which, when the blocking time 60 reaches the minimum time that a Aktiv istssig ⁇ nal 100 outputs.
  • a memory output 102 is then activated, which then outputs a fixed predetermined rate of change 104 for the reference speed 24 of, for example, -0.2 g.
  • This rate of change is 104 24th ideally equal to the change of the 50 Referenzgeschwindig ⁇ ness But these are two different signals.
  • the rate of change 104 output from the memory output 102 is then mixed with an alternatively calculated rate of change 104 to be described in a mixer 96 and superimposed in an adder 106 at the current reference rate 24 to the updated reference rate 24.
  • Alternatively calculated rate of change 104 is calculated when at least one wheel 8 is free running, and therefore no Blo ⁇ ckadezeit is issued 60th Then, the Referenzge ⁇ speed 24 and the output from the second sub-program 42 single wheel 44, which is in the vorlie ⁇ constricting embodiment, the virtual wheel 40 of the fastest or the second fastest wheel 8, in a low-pass filter 108, which in the present embodiment as an exponential smoothing filter 108 is executed, mixed.
  • the exponential smoothing filter 108 is a mean value filter with the following transfer function in a manner known per se:
  • V ref [k] A - V ref [k-1] + (1-A) - Vi [k].
  • V re f describe the to be calculated Referenzgeschwin ⁇ speed 24, Vi the single wheel 44, which is the vir ⁇ Tuelle wheel 40 of the fastest or second ⁇ fastest wheel 8, k the discrete run-time variable and ⁇ known per se forgetting factor that indicates the single wheel 44 or the current reference ⁇ speed to be 24 taken into account in updating the Referenzge ⁇ speed 24 as strong.
  • the forget factor of the exponential smoothing filter 108 may be set to 0.25, giving the value 0.25 as the weighting factor for the single wheel speed 44 and the value 0.75 as the weighting factor for the current reference speed 24 for the filter coefficients 110 of the exponential smoothing filter 108 that the current reference speed 24 is considered more in the recalculation.
  • the forget factor of the exponential smoothing filter 108 may be set to 0.25, giving the value 0.25 as the weighting factor for the single wheel speed 44 and the value 0.75 as the weighting factor for the current reference speed 24 for the filter coefficients 110 of the exponential smoothing filter 108 that the current reference speed 24 is considered more in the recalculation.
  • a provisional updated reference speed 24 ⁇ is output.
  • a subtraction element 76 between the current reference speed 24 and the provisionally updated Refe ⁇ reference speed 24 ⁇ a preliminary rate of change calculated 104 ⁇ for the reference speed 24, which is in the terminal based on the Aktuatorzu proceedingsn 66 in a Cooksfil- ter 112 again filtered .
  • the provisional rate of change 104 ⁇ could be weighted based on certain actuator states.
  • the state filter 112 outputs the filtered provisional rate of change 104 ⁇ as the rate of change 104. However, this output occurs only when no activation signal 100 is output from the time detection 86.
  • the state filter 112 at a not present activation signal 100 is activated.
  • the premise rate of change 104 ⁇ in the state filter 112 can also be limited to a specific value.
  • the reference velocity 24 is updated by extrapolation in the manner already described, but now based on the rate of change 104 output from the state filter 112.
  • the change in the reference speed 24 based on the wheel speed changes 54 is additionally calculated in the fourth subroutine 48.
  • the wheel block abutments 56 of the individual wheels 8 are evaluated and the wheel speed changes 54 of the wheels 8 are selected, which are not blocked.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé de commande d'un frein de stationnement (4) destiné à un véhicule (2) sur la base d'une vitesse de référence (24) du véhicule (2), le procédé comprenant les étapes consistant à : déterminer (102, 112) une variation de vitesse (104) du véhicule (2), extrapoler (106) une nouvelle valeur pour la vitesse de référence (24) sur la base de la variation de vitesse déterminée (104) et d'une valeur réelle de la vitesse de référence (24) et commander (18) le frein de stationnement (4) lorsque la vitesse de référence (24) satisfait à une condition prédéterminée (26).
PCT/EP2014/071732 2013-10-23 2014-10-10 Procédé de commande d'un frein de stationnement pour un véhicule WO2015058973A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013221500.2 2013-10-23
DE201310221500 DE102013221500A1 (de) 2013-10-23 2013-10-23 Verfahren zum Ansteuern einer Feststellbremse für ein Fahrzeug

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Publication Number Publication Date
WO2015058973A1 true WO2015058973A1 (fr) 2015-04-30

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WO (1) WO2015058973A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016203138B4 (de) 2016-02-26 2023-05-25 Continental Automotive Technologies GmbH Verfahren zum Betreiben einer elektronischen Parkbremse mit ABS-Funktion eines Fahrzeugs
FR3110884A1 (fr) * 2020-05-29 2021-12-03 Foundation Brakes France Procédé de freinage d’une roue

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002046007A1 (fr) * 2000-12-08 2002-06-13 Conti Temic Microelectronic Gmbh Procede pour faire fonctionner un vehicule a moteur
DE102008007714A1 (de) 2007-03-13 2008-09-18 Continental Teves Ag & Co. Ohg Verfahren zur Regelung des Druckes in einem elektronisch gesteuerten Bremssystem und elektronisches Bremssystem
FR2935807A1 (fr) * 2008-09-10 2010-03-12 Renault Sas Procede de detection de l'arret d'un vehicule automobile
EP2374680A1 (fr) * 2009-01-08 2011-10-12 Komatsu Ltd. Estimateur de vitesse de véhicule et dispositif de régulation d'adhérence

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005045998A1 (de) * 2004-09-28 2006-05-11 Continental Teves Ag & Co. Ohg Verfahren zum Durchführen eines Bremsvorgangs
DE102007037346C5 (de) * 2007-08-08 2017-11-23 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Steuergerät für eine Bremsanlage eines Nutzfahrzeugs und Verfahren zum Steuern einer Bremsanlage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002046007A1 (fr) * 2000-12-08 2002-06-13 Conti Temic Microelectronic Gmbh Procede pour faire fonctionner un vehicule a moteur
DE102008007714A1 (de) 2007-03-13 2008-09-18 Continental Teves Ag & Co. Ohg Verfahren zur Regelung des Druckes in einem elektronisch gesteuerten Bremssystem und elektronisches Bremssystem
FR2935807A1 (fr) * 2008-09-10 2010-03-12 Renault Sas Procede de detection de l'arret d'un vehicule automobile
EP2374680A1 (fr) * 2009-01-08 2011-10-12 Komatsu Ltd. Estimateur de vitesse de véhicule et dispositif de régulation d'adhérence

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