WO2015090701A1 - Verfahren zum betreiben eines bremssystems sowie bremssystem für ein kraftfahrzeug - Google Patents
Verfahren zum betreiben eines bremssystems sowie bremssystem für ein kraftfahrzeug Download PDFInfo
- Publication number
- WO2015090701A1 WO2015090701A1 PCT/EP2014/073218 EP2014073218W WO2015090701A1 WO 2015090701 A1 WO2015090701 A1 WO 2015090701A1 EP 2014073218 W EP2014073218 W EP 2014073218W WO 2015090701 A1 WO2015090701 A1 WO 2015090701A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wheel
- brake
- driver
- braking
- behavior
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 6
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- 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
- B60T8/58—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 responsive to speed and another condition or to plural speed conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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
-
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
- B60T2270/304—ESP control system during driver brake actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/413—Plausibility monitoring, cross check, redundancy
-
- 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
- B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
- B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
- B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
- B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
Definitions
- the invention relates to a method for operating a brake system, in particular of a motor vehicle, having at least one hydraulic circuit having a hydraulic pump and at least two wheel brakes, wherein each wheel brake is associated with at least one actuatable inlet valve, wherein for an automatic braking intervention by the hydraulic pump, a pressure in the Hydraulic circuit generates and opens the inlet valve of a first of the wheel brakes and the inlet valve of a second wheel brake thereof
- Hydraulic circuit is closed, and wherein the brake system is monitored for a driver's brake request.
- the invention relates to a corresponding brake system for a
- Motor vehicle with at least one hydraulic circuit having a hydraulic pump and at least two wheel brakes, wherein each wheel brake is associated with at least one actuatable inlet valve, and with means for monitoring the brake system to a driver's brake request.
- Equipped braking systems that perform an automatic braking intervention to increase the driving stability.
- ESP Electronic Stability Program
- brake systems which selectively apply one or more wheels of a motor vehicle by means of appropriate wheel brakes with a brake pressure, for example, the breaking out of the motor vehicle prevent.
- braking interventions are carried out for stabilization on both the front and the rear axle.
- two wheel brakes are assigned to one hydraulic circuit, for example one
- Wheel brake of a front axle and a wheel brake of a rear wheel axle are provided.
- hydraulic pressure sensor provided which detects the pressure generated in the brake system by a driver. If the form sensor be omitted, it is no longer possible to determine whether the driver has a braking request regardless of the automatic braking intervention, which should superimpose the automatic braking intervention.
- the method according to the invention and the braking system according to the invention have the advantage that a driver's braking request is also detected without the presence of a hydraulic pressure sensor and thereby a superposition of the automatic braking intervention by the driver's braking request is possible.
- the method provides that a first wheel behavior of at least one of the wheel brakes associated wheel is detected for detecting a driver's braking, interrupted upon detection of an unexpected wheel behavior of the wheel of the braking intervention and detects a second wheel behavior of at least this wheel and compared with the first wheel behavior is, is detected depending on the comparison to the driver's brake request.
- all intake valves are opened again and connected to, for example, a master cylinder so that acts on the wheel brakes of the driver predetermined brake pressure. If the wheel behavior of the wheels changes accordingly while the brake intervention is interrupted or if the previously detected first wheel behavior is confirmed by the second wheel behavior, it is recognized according to the invention that a driver brake request is present.
- a wheel behavior is in particular an acceleration and a speed of the each wheel detected and evaluated.
- a negative acceleration of a wheel in particular below or above a predefinable limit value, it is recognized that a driver's braking request is present.
- Acceleration of the wheel is particularly preferably determined as a function of the detected speed.
- the brake modulation is adjusted and continued depending on the detected second wheel behavior. If, therefore, it has been detected in the step described above that the second wheel behavior likewise indicates a driver's braking request, and thereby the plausibility of the first detected wheel behavior, it is provided that the
- Brake pressure modulation is superimposed in particular the automatic braking intervention by the driver brake request, so on the one hand carried out the braking intervention and on the other hand, the driver's braking request is taken into account. Furthermore, it is preferably provided that, if the comparison shows that the second wheel behavior differs from the first wheel behavior, the braking intervention is continued unchanged. If, during the interrupted brake intervention, it is thus recognized that the first and second wheel behavior differ sufficiently far from one another, then it is recognized that no driver brake request is present. Accordingly, the braking intervention is continued unchanged and in particular the temporarily opened inlet valve closed again. The interruption of the braking intervention is expediently such a short time that the driving safety is not endangered. Furthermore, it is preferably provided that the interruption of the braking intervention takes place only if the current driving situation without increasing a
- the brake system according to the invention with the features of claim 5 is characterized in that it is hydraulic pressure sensorless, that is without a pressure sensor in the hydraulic circuit, is formed and as a means a specially prepared control device for carrying out the invention
- the control unit is thus connected in particular with corresponding speed sensors, which are assigned to the wheels, to the
- control unit is expediently connected to the intake valves and the hydraulic pump for their corresponding control.
- Figure a braking system in a schematic representation.
- the single FIGURE shows a simplified representation of a brake system 1 of a motor vehicle not shown here.
- the brake system 1 has a brake operating device 2, which is hydraulically connected to a plurality of wheel brakes 3, 4, 5, 6.
- the brake actuator 2 has for this purpose a brake pedal 7, which is connected to a master cylinder 8.
- the master cylinder 8 is connected to two hydraulic circuits 9 and 10 which are respectively connected to two of the wheel brakes 3 to 6.
- Hydraulic circuits 9 and 10 are constructed identically, wherein the structure of both hydraulic circuits 9 and 10 will be explained in more detail below with reference to the hydraulic circuit 9.
- a first line 11 of the hydraulic circuit 9 leads to a switching valve 12, which is designed as an electrically operable 2/2-way valve.
- the changeover valve 12 has a first connection 13, which is connected to the line 11, and a second connection 14 a bypass 16, which leads from the terminal 13 to the terminal 14, a check valve 17 is arranged, which blocks in the direction of the master cylinder 8.
- Wheel 2 upstream intake valve 21 The two intake valves 20 and 21 are each formed as a 2/2-way valve, which are electrically actuated. In the unactuated or de-energized state are the
- Inlet valves 20, 21 in a switching position in which the line 18 is directly connected to the wheel brakes 3, 4.
- a first connection 20 'or 21' of the respective inlet valve is connected to the line 18 and a second connection 20 "or 21" with a line 22 and 23, respectively, which leads to the respective wheel brake 3 and 4 respectively.
- the inlet valves 20, 21 also each have a bypass 24, 25 associated, in each of which a check valve 26 and 27 is connected, which closes in the direction of the wheel brakes 3, 4.
- the exhaust valves 30, 31 are also designed as 2/2-way valves, which are electrically actuated.
- the outlet valves 30, 31 are designed as normally closed valves, ie in the de-energized state
- Hydraulic pump 19 is connected. In the line 32 while a check valve 33 is provided, which closes in the direction of the exhaust valves 30, 31, and a hydraulic pressure accumulator 34, if necessary
- the line 32 also branches off between the check valve 33 and the hydraulic pump 19 from another line 35, which leads to a High pressure switching valve 15 leads.
- the high-pressure switching valve 15 is connected on the one hand to the line 35 and on the other hand to the line 11 to the master cylinder 8.
- the high-pressure switching valve 15 is designed as a normally closed 2/2-way valve.
- the hydraulic circuit 10 is formed corresponding to the hydraulic circuit 9, wherein the two hydraulic pumps 19 of the hydraulic circuits 9 and 10 in the present embodiment by a common
- Electric motor 36 are driven.
- the hydraulic pumps 19 each have their own
- Switching valve 12 is designed such that it is in the de-energized state in a first switching position, in which the line 11 and the line 18 and the terminal 13 is connected to the terminal 14.
- the wheel brakes 3, 4 and 5, 6 can each have a same axis of the
- Motor vehicle a front axle or a rear axle, assigned, or they can be assigned to different axes, so that for example the
- Rear axle of the motor vehicle are assigned.
- an ESP stabilization braking intervention by activating the hydraulic pumps 19 by means of
- Electric motor 36 generates a pressure in the respective hydraulic circuit 9, 10, wherein a braking operation on only one of the wheels for stabilizing the
- At least one of the intake valves 20 or 21 of the corresponding brake circuit 9 and / or 10 is energized and thus closed, so that the braking intervention only by one of the wheel brakes of a
- the switching valve 12 is designed as a proportional valve, which has a corresponding pressure difference across the
- Changeover valve 12 can adjust. In particular, this pressure difference is adjusted continuously, whereby a continuous Radbremstik is set to the operated wheel brake. This will be an accurate
- Wheel brake pressure control or brake pressure modulation for metered stabilization interventions achieved. Since in one brake circuit 9 or 10 one of the wheel brakes 3 or 4 or 5 or 6 can not be actuated by the closed inlet valve 20 or 21, these are decoupled by the driver. This always applies, regardless of the brake circuit distribution on the front and rear axles.
- the brake system 1 is equipped without a hydraulic pressure sensor, which could detect the pressure in the master cylinder 8 and thus a driver's brake request. If the driver thus actuates the brake pedal 7, the wheel brake, which is not actuated by the automatic braking intervention, can not act on the brake pedal
- a sensor 37, 38, 39 and 40 is assigned, which monitors a wheel behavior of the respective wheel.
- the sensors 37 to 40 are designed as rotational speed sensors which determine the wheel behavior of the wheel associated with the respective wheel brake 3 to 6 on the basis of the rotational speed curve or an acceleration detected on the basis of the rotational speed curve.
- the sensors 37 to 40 are connected to a here only indicated control unit 41 of the brake system 1, which contains the data
- Sensors 37 to 40 together with the control unit 41 are so-called observers for detecting the wheel behavior. If one of the observers or the control unit 41 detects an unexpected wheel behavior, it is suspected that the driver is braking or one
- Brake circuit 9 or 10 are no longer energized and thus the possible driver brake pressure of the master cylinder 8 unhindered on the wheel brakes 3, 4 or 5, 6 of the corresponding brake circuit 9 or 10 act. At this moment, the wheel behavior of at least the wheel whose first wheel behavior has indicated a braking action by the driver is further detected and compared with the first wheel behavior. Is not
- a specific second wheel behavior adjusts to at least one wheel and the previously determined suspicion is confirmed, for example because the second wheel behavior coincides with the first wheel behavior, for example if the first wheel behavior and the second wheel behavior both reduce have the rotational speed or a negative acceleration.
- Brake pressure modulation is superimposed by the driver's brake request.
- the height of the driver's brake request so the requested
- the brake pressure modulation or the braking intervention is adjusted by the driver's braking request torque by corresponding actuation of the respective valve arrangement, so that well-dosed stabilization interventions despite an applied driver brake request and without a pressure sensor are possible or guaranteed.
- the brief termination of the braking intervention in the respective brake circuit 9 or 10 is expediently always carried out at a time in which the dynamic driving advantages of the intervention have already been utilized. Therefore, the short-term termination of the braking intervention by the driver is not perceived, even if the suspicion regarding the first wheel behavior is not confirmed.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480069252.8A CN105813910B (zh) | 2013-12-20 | 2014-10-29 | 用于使得制动系统工作的方法以及用于汽车的制动系统 |
US15/104,874 US9937909B2 (en) | 2013-12-20 | 2014-10-29 | Method for operating a brake system and brake system for a motor vehicle |
RU2016129515A RU2664808C1 (ru) | 2013-12-20 | 2014-10-29 | Способ управления работой тормозной системы, а также тормозная система для автомобиля |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013226841.6A DE102013226841A1 (de) | 2013-12-20 | 2013-12-20 | Verfahren zum Betreiben eines Bremssystems, Bremssystem |
DE102013226841.6 | 2013-12-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015090701A1 true WO2015090701A1 (de) | 2015-06-25 |
Family
ID=51844708
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2014/073218 WO2015090701A1 (de) | 2013-12-20 | 2014-10-29 | Verfahren zum betreiben eines bremssystems sowie bremssystem für ein kraftfahrzeug |
Country Status (5)
Country | Link |
---|---|
US (1) | US9937909B2 (de) |
CN (1) | CN105813910B (de) |
DE (1) | DE102013226841A1 (de) |
RU (1) | RU2664808C1 (de) |
WO (1) | WO2015090701A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106218616B (zh) * | 2016-08-02 | 2019-02-05 | 天津英创汇智汽车技术有限公司 | 一种无压力传感器的esc系统及其控制方法 |
DE102017209104A1 (de) | 2017-05-31 | 2018-12-06 | Robert Bosch Gmbh | Verfahren zum Verwalten einer Steuerungssoftware eines Bremssystems eines Fahrzeugs, Hydrauliksystem für ein Bremssystem eines Fahrzeugs und Verfahren zum Herstellen desselben |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0482379A1 (de) * | 1990-10-26 | 1992-04-29 | Robert Bosch Gmbh | Hydraulische Mehrkreis-Bremsanlage, insbesondere für Kraftfahrzeuge |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SU1301739A1 (ru) * | 1984-06-29 | 1987-04-07 | Л. С. Шишкин | Устройство дл автоматического управлени антиблокировочным торможением автомобил |
DE3502051A1 (de) * | 1985-01-23 | 1986-07-24 | Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover | Bremsdruckregeleinrichtung |
EP0850816A3 (de) * | 1996-12-25 | 1999-04-14 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Diagnoseapparat für ein dynamisches System, Vorrichtung zur Schätzung des Bremsdruckes, Antiblockierbremsregler, und Bremsdruckregler |
JP3900671B2 (ja) * | 1998-04-22 | 2007-04-04 | アイシン精機株式会社 | 車両用液圧ブレーキ装置 |
JP2000038123A (ja) * | 1998-07-22 | 2000-02-08 | Toyota Motor Corp | 車輌の制動力制御装置 |
DE102004058875A1 (de) | 2003-12-09 | 2005-08-25 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Regelung eines Kraftfahrzeuges mit einer elektrohydraulischen Bremsanlage mit Fahrdynamikregelung |
US20060043790A1 (en) * | 2004-08-27 | 2006-03-02 | Spieker Arnold H | Method for detecting brake circuit failure |
-
2013
- 2013-12-20 DE DE102013226841.6A patent/DE102013226841A1/de active Pending
-
2014
- 2014-10-29 CN CN201480069252.8A patent/CN105813910B/zh active Active
- 2014-10-29 US US15/104,874 patent/US9937909B2/en not_active Expired - Fee Related
- 2014-10-29 WO PCT/EP2014/073218 patent/WO2015090701A1/de active Application Filing
- 2014-10-29 RU RU2016129515A patent/RU2664808C1/ru active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0482379A1 (de) * | 1990-10-26 | 1992-04-29 | Robert Bosch Gmbh | Hydraulische Mehrkreis-Bremsanlage, insbesondere für Kraftfahrzeuge |
Also Published As
Publication number | Publication date |
---|---|
RU2016129515A (ru) | 2018-01-25 |
CN105813910A (zh) | 2016-07-27 |
RU2664808C1 (ru) | 2018-08-22 |
CN105813910B (zh) | 2018-11-27 |
US9937909B2 (en) | 2018-04-10 |
DE102013226841A1 (de) | 2015-06-25 |
US20160332609A1 (en) | 2016-11-17 |
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