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
  • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
  • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
• • 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
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/17—Using electrical or electronic regulation means to control braking
  • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
  • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
  • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
  • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
  • B60T8/92—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action
  • B60T8/96—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means automatically taking corrective action on speed responsive control means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
  • B60T2201/03—Brake assistants
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
  • B60T2201/10—Automatic or semi-automatic parking aid 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
  • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
  • B60T2210/10—Detection or estimation of road 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
  • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
  • B60T2210/30—Environment conditions or position therewithin
• • 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
  • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
  • B60T2210/30—Environment conditions or position therewithin
  • B60T2210/36—Global Positioning System [GPS]
• • 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
  • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
  • B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
• • 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
  • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
  • B60T2220/06—Adjustment of accelerator pedal reaction forces
• • 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
  • B60T2240/00—Monitoring, detecting wheel/tyre behaviour; counteracting thereof
• • 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
• • 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
  • B60T2270/88—Pressure measurement in brake systems

Definitions

• the present invention relates to a braking system of a vehicle, in particular to a method for controlling a braking system of a vehicle and a related system.
• Cars and road vehicles with more than two wheels intended to transport passengers in general are equipped with a handbrake, the function of which is to lock the wheels of the vehicle thus preventing its movement when it is parked.
• the EPB electric park brake is to all effects a sub-system of a BBW electronic braking system which is used to for service braking.
• the driver can activate the wheel locking mechanism by means of a button which, once pressed, sends a braking park activation request to an electronic control unit of the vehicle which electrically actuates the brake pads to lock the brake discs and thus the movement of the vehicle.
• the EPB sub-system is configured to provide automatic supporting functions to the driver, such as the so-called“AUTO- FIOLD” function, i.e. for locking the wheels automatically and without the driver’s request when the vehicle is stationary, e.g. uphill, and releasing them as soon as the driver presses the accelerator pedal of the vehicle.
• automatic supporting functions such as the so-called“AUTO- FIOLD” function, i.e. for locking the wheels automatically and without the driver’s request when the vehicle is stationary, e.g. uphill, and releasing them as soon as the driver presses the accelerator pedal of the vehicle.
• the EPB sub-system can perform a park braking but also greater safety, ease and assistance to the driver in the use of the vehicle when the vehicle is stationary or stops during a journey.
• the vehicle control unit processes information representative of the rotation speed of all wheels of the vehicle provided by respective speed sensors of the encoder type associated with the individual wheels.
• the present invention also relates to an electronic control system of a braking system of a vehicle.
• FIG. 1 shows, by means of a block chart, an electronic control system of a braking system of a vehicle, according to an embodiment
• FIG. 2 shows, by means of a block chart, an electronic control system of a braking system of a vehicle, according to a further embodiment
• FIG. 3 shows, by means of a block chart, an electronic control system of a braking system of a vehicle, according to a further embodiment
• FIG. 4 shows, by means of a block chart, an electronic control system of a braking system of a vehicle, according to a further embodiment
• FIG. 5 shows, by means of a block chart, a method for controlling a braking system of a vehicle, according to an embodiment of the invention.
• reference numeral 100 indicates as a whole an electronic control system of a braking system of a vehicle, hereinafter also electronic system or simply system, according to the present invention.
• vehicle means any vehicle or motorcycle, also of commercial type, having two, three, four or more wheels.
• braking system means a set of all components (mechanical and/or electric or electronic, also the brake fluid) which contribute to generating the braking of a vehicle, whether it be a service braking or a parking braking.
• the system 100 in an embodiment comprises a first plurality 101 of detection devices distributed on the braking system of the vehicle configured to detect first information 11 representative of a condition of motion of the vehicle.
• the first plurality 101 of detection devices comprises both one or more rotation speed sensors of the vehicle wheels (e.g. encoders connected to each vehicle wheel), position sensors of a brake pedal of the vehicle, directly connected to the brake pedal, or sensors for detecting the position of an accelerator pedal of the vehicle, directly connected to the accelerator pedal of the vehicle and force or pressure sensors connected to the brake pedal and/or the accelerator pedal or connected to the brake calipers or to respective actuators of brake calipers of the braking system or other components of the braking system.
• rotation speed sensors of the vehicle wheels e.g. encoders connected to each vehicle wheel
• position sensors of a brake pedal of the vehicle directly connected to the brake pedal
• sensors for detecting the position of an accelerator pedal of the vehicle directly connected to the accelerator pedal of the vehicle and force or pressure sensors connected to the brake pedal and/or the accelerator pedal or connected to the brake calipers or to respective actuators of brake calipers of the braking system or other components of the braking system.
• each device of said first plurality 101 of detection devices belongs to the group consisting of: rotation speed sensor of a vehicle wheel; position sensor of a brake pedal of the vehicle; position sensor of an accelerator pedal of the vehicle; force or pressure sensors connected to the brake pedal and/or accelerator pedal or connected to brake calipers or respective actuators of the brake calipers of the braking system or other components of the braking system.
• first information 11 representative of a condition of motion of the vehicle means the information or a combination of the information detected by each of the detection devices of said first plurality 101 of detection devices distributed in the braking system of the vehicle.
• each piece of information 11 depends on the type of detection device.
• the first information 11 will be the vehicle speed estimated from the rotation speed (wheel revolutions) of the vehicle wheel.
• Such an estimate can be obtained, for example, by averaging the speed of one wheel of the vehicle with respect to the other wheels or by taking the median rotation speed of all the wheels of the vehicle or other combination.
• the detection device is a position sensor of a brake pedal or accelerator pedal of the vehicle
• the first information 11 may be a braking request of the vehicle or an acceleration request of the vehicle.
• the vehicle braking request or the vehicle acceleration request may be determined, respectively, on the basis of the position of the brake pedal of the vehicle or of the accelerator pedal of the vehicle, and a respective characteristic curve (e.g. the position of the brake pedal of the vehicle/braking request or the position of the accelerator pedal of the vehicle/acceleration request).
• condition of motion is related to whether the vehicle is traveling (e.g. vehicle speed not zero, no braking request and acceleration request not zero) or not (e.g. zero vehicle speed, non-zero braking request and any acceleration request). It should be noted that the examples shown define typical cases and are those which increase the reliability of the information representative of the condition of motion of the vehicle, but may not always be true.
• the system 100 in an embodiment, comprises a first driver assistance sub-system 102 associated with the vehicle, hereinafter also simply first sub-system 102.
• the first sub-system 102 is the set of mechanical and/or electrical and/or electronic components which contribute to providing advanced service to the driver while driving.
• One type of such a first sub-system 102 is also known by the acronym ADAS, (Advanced Driver Assistance System).
• the first sub-system 102 comprises a second plurality 103 of detection devices configured to detect second information I2 representative of a condition of motion of the vehicle
• the second plurality 103 of detection devices comprises any device installed aboard the vehicle and belonging to the first sub-system 102, i.e. a sub-system of ADAS type, adapted and configured to provide information on the position of the vehicle by means of which it is possible to estimate the condition of motion of the vehicle, i.e. whether the vehicle is moving or not.
• Such detection devices of the aforesaid type may be either passive or active.
• a passive detection device is such as to receive information passively.
• Examples of passive type detection devices present in the first sub- system 102 of ADAS type are: a digital camera, an infrared digital camera, a satellite navigation system, e.g. of GPS (Global Positioning System) type or equivalent.
• GPS Global Positioning System
• An active detection device is configured to emit radiation and measure the response of the irradiated signals reflected by objects. This type of detection device advantageously allows measurements to be taken regardless of lighting conditions in the environment surrounding the vehicle, i.e. of the season or hour of the day. [0048].
• Examples of active type detection devices present in the first sub system 102, of the ADAS type, are: long range type radar module, a short/medium range type radar module, LIDAR type remote sensing module or ultrasound detection module.
• each device of said second plurality is a device of said second plurality
• 103 of detection devices belongs to the group consisting of: digital camera; infrared digital camera; satellite navigation system, GPS or the like; long range radar module; short/medium range radar module; remote sensing module of LIDAR type; ultrasound detection module.
• second information 12 representative of a condition of motion of the vehicle means the information or a combination of the information detected by each of the detection devices of the aforesaid second plurality 103 belonging to the first driver assistance sub-system 102 associated with the vehicle.
• each piece of information I2 depends on the type of detection device.
• the second information I2 may be a digital image from which to estimate the speed and/or“stopped” position of the vehicle. For example, this may be estimated by detecting the same digital image without any change for a respective set interval of time.
• the second information I2 may be an estimate of the vehicle speed and/or an estimate of the“stopped” position of the vehicle. For example, this can be estimated by detecting the same position without any variation or the same zero speed for a respective set interval of time.
• the second information I2 may be an estimate of the vehicle speed according to the speed of another vehicle.
• the second information I2 may be an estimate of the vehicle speed starting from the interpolation of a plurality of points in space. For example, this may be estimated by measuring the same information for a respective predetermined interval of time.
• condition of motion is related to whether the vehicle is traveling (vehicle speed not zero) or not (vehicle speed zero).
• the system 100 further comprises a vehicle braking module 104.
• the braking module 104 is part of the braking system of the vehicle
• the braking module 104 is configured to apply a braking action on one or more motion components of the vehicle (e.g. the vehicle wheels, not shown in the figures) operatively connected to the vehicle braking system.
• the braking module 104 is configured to receive a first control signal SC1 , described below.
• the first control signal SC1 in an embodiment, comprises an inhibition signal of the activation of the braking module 104 of the vehicle.
• the first control signal SC1 comprises an activation signal of the braking module 104 of the vehicle.
• the braking module 104 comprises an electric park brake, e.g. of the EPB type.
• the vehicle braking module 104 comprises an electric service brake, e.g. the BBW type.
• the system 100 further comprises a first data processing block 105, e.g. a microprocessor or a microcontroller, operatively connected to said first plurality 101 of detection devices, to said driver assistance sub-system 102 and to said vehicle braking module 104.
• a first data processing block 105 e.g. a microprocessor or a microcontroller, operatively connected to said first plurality 101 of detection devices, to said driver assistance sub-system 102 and to said vehicle braking module 104.
• “data processing block” means either a single block installed on an electronic control unit or a plurality of blocks, operatively connected to one another, distributed on two or more electronic control units present on the vehicle.
• system 100 further comprises a respective first memory block 105’, operatively connected to the first data processing block 105, configured to store one or more program codes which can be run by the first data processing block 105 and to store data processed by the first data processing block 105 when running said one or more program codes.
• first memory block 105 may be inside the first data processing block 105, as shown in figures 1 and 2 or, in an alternative embodiment (not shown in the figures), outside the first data processing block 105.
• the first data processing block 105 is configured to determine the first control signal SC1 on the basis of said first information 11 and said second information I2.
• 105 corresponds to the so-called brake controller.
• the first driver assistance sub-system 102 and thus the second plurality 103 of detection devices, is directly connected to the first data processing block 105.
• the system 100 further comprises a second data processing block 106, e.g. a microprocessor or a microcontroller.
• a second data processing block 106 e.g. a microprocessor or a microcontroller.
• the first sub-system 102 is connected to the first data processing block 105 by means of the second, directly connected to the first driver assistance sub-system 102, and thus to the second plurality 103 of detection devices.
• system 100 further comprises a respective second memory block 106’, operatively connected to the second data processing block 1016, configured to store one or more program codes which can be run by the second data processing block 106 and to store the data processed by the second data processing block 106’ when running said one or more program codes.
• the second memory block 106’ may be inside the second data processing block 106, as shown in figures 3 and 4 or, in an alternative embodiment (not shown in the figures), outside the second data processing block 106.
• the second data processing block 106 is configured to determine additional second information I2’ on the basis of said second information I2.
• the first data processing block 105 is configured to determine the first control signal SC1 on the basis of said first information 11 and of said further second information I2’.
• the second data processing block 106 corresponds to the so-called vehicle control system, i.e. the so-called Electronic Control Unit (ECU) of the vehicle.
• ECU Electronic Control Unit
• the system 100 further comprises a second vehicle data connection sub-system 107.
• the second vehicle data connection sub-system 107 comprises a third plurality 108 of detection devices configured to detect third information I3 representative of a condition of motion of the vehicle.
• the third plurality 108 detection devices comprises any device, belonging to the second data connection sub-system 107, adapted and configured to connect to one or more data communication networks to transmit and/or receive information on the state of the vehicle, on the states of other vehicles or infrastructures (e.g. buildings, bridges, highways, extra-urban roads, urban streets or other structures according to the type of road infrastructure and so forth) located near the vehicle.
• vehicles or infrastructures e.g. buildings, bridges, highways, extra-urban roads, urban streets or other structures according to the type of road infrastructure and so forth
• Such detection devices of the aforesaid type can be: a satellite navigation system, e.g. of GPS (Global Positioning System) type or equivalent, configured to retrieve information, such as geolocation of the vehicle, static or dynamic information representative of the route of the vehicle, information representative of the instantaneous speed of the vehicle and so on; a communication module of V2V (Vehicle to vehicle) type to retrieve information, such as information representative of the basic state of the vehicle and of the proximity of another vehicle, information representative of the state of the traffic along the route of the vehicle and so forth; a communication module of V2I (Vehicle To Infrastructure) type to retrieve information, such as information representative of the weather (e.g., humidity, wind, temperature), information representative of the state of traffic controllers along the road of the route of the vehicle and so forth.
• GPS Global Positioning System
• each device of said third plurality 108 detection devices belongs to the group consisting of: satellite navigator GPS or equivalent, communication module of V2V type, communication module of V2I type.
• third information I3 representative of a condition of motion of the vehicle means the information or a combination of the information detected by each of the detection devices of the aforesaid third plurality 108 belonging to the second vehicle data connection sub-system 107.
• each piece of information I3 depends on the type of detection device.
• the third information I3 may be an estimate of the vehicle speed and/or an estimate of the“stopped” position of the vehicle.
• the second data connection sub-system 107 may send data, such as the speed of the vehicle or the position of the vehicle, which may be either relative to an infrastructure or absolute.
• the third information 13 may be an estimate of the vehicle speed according to the speed of another vehicle.
• third information I3 may be an estimate of the vehicle speed and/or an estimate of the“stopped” position of the vehicle with the addition of information, such as positioning of antennas or repeaters in 3G or 4G type communication, from which to estimate the vehicle speed.
• a V2I communication module can communicate the position of information sources (antennas or repeaters) from which it is possible to determine the position of the vehicle or the relative speed of the vehicle.
• the second data connection sub-system 107 is directly connected to the first data processing block 105.
• the first data processing block 105 is configured to determine the control signal SC1 on the basis of said first information 11 , of said second information I2 and of said third information I3.
• the system 100 comprises a second data connection sub-system 107 of the vehicle.
• the second vehicle data connection sub-system 107 comprises a third plurality 108 of detection devices configured to detect third information I3 representative of a condition of motion of the vehicle.
• the first data processing block 105 is connected to the second data connection sub-system 107 by means of the second data processing block 106.
• the second data processing block 106 is configured to determine fourth information I4 representative of a vehicle motion condition on the basis of said second information I2 and of said third information I3.
• the first data processing block 105 is configured to determine the first control signal SC1 on the basis of said first information 11 and of said fourth information I4.
• the first data processing block 105 is further configured to identify a safe or non-safe condition of the vehicle on the basis of said first information 11 and said second information I2.
• safety condition of a vehicle means a combination of vehicle conditions representative of the fact that the vehicle be safe with respect to possible obstacles or that it is not necessary to press the brake pedal in a rapid and timely manner due to an emergency (thus, also in case of absence of obstacles, e.g. a clear road).
• the safe condition is that far from a possible braking or emergency braking (due to obstructions, pedestrians, distance between vehicles and infrastructure).
• a possible combination of vehicle conditions adapted to identify a safe condition of the vehicle e.g. also as a function of the infrastructure type (highways, extra-urban roads, urban roads and so forth), may be the following:
• vehicle speed ⁇ set maximum speed value which can be defined as“high speed”, e.g. 130 km/h, if the type of infrastructure is, for example, a highway; brake pedal position: released;
• the first data processing block 105 is configured to identify a safe or non-safe condition of the vehicle on the basis of said first information 11 and said second information I2.
• the first data processing block 105 is configured to identify the safe or non-safe condition of the vehicle on the basis of said first information 11 , of said second information I2 and of said third information I3.
• the first data processing block 105 is configured to identify the safe or non-safe condition of the vehicle on the basis of said first information 11 and of said further second information I2
• the first data processing block 105 is configured to identify a safe or non-safe condition of the vehicle on the basis of said first information 11 and of said fourth information I4 (in turn determined by the second data processing block 106 on the basis of said second information I2 and of said third information I3).
• system 100 comprises a service braking module 109 operatively connected to the first data processing block 105.
• the service braking module 109 is part of the vehicle braking system.
• the service braking module 109 comprises a plurality of actuators (not shown in the figures) of the vehicle braking system.
• Each actuator is configured to apply a service braking action on a respective brake disc installed on a respective motion component (wheel) of the vehicle.
• the first data processing block 105 is configured to provide a second control signal SC2 to the service braking module 109, when the safe condition of the vehicle is identified.
• the second control signal SC2 is such as to reduce and/or cancel the residual torque generated by the braking system on each disc brake installed on a respective motion component (wheel) of the vehicle. [00116]. Such a reduction or cancellation may be obtained, for example, by moving away the brake pads from the brake disc (increasing the gap or distance), by appropriately acting on the actuator (electromechanical or electro- hydraulic) of single electronic brake (e.g. to obtain the mechanical distancing of the pads from the brake disc and/or to obtain the reduction of the hydraulic pressure of the braking system).
• the first data processing block 105 is configured to provide a third control signal SC3 to the service braking module 109, when an unsafe condition of the vehicle is identified and thus the safe condition of the vehicle is not identified, in order to reduce the distance between the pads and the respective brake disc installed on the respective motion component (wheel) of the vehicle.
• the third control signal SC3 is such as to reduce the gap (thus the distance) between the pads and the disc brake in unsafe condition of the vehicle, by acting, for example, on the actuator (electromechanical or electro-hydraulic) of single electronic brake in an appropriate manner (e.g. to obtain the mechanical approach of the brake disc pads).
• the first data processing block 105 is configured to provide one or more control signals SCN to the service braking 109 module, when a vehicle stationary condition is either identified or not or a safe condition is either identified or not, or a further condition of the vehicle and/or of the environment and/or of the road surface and/or of an infrastructure is identified, to perform additional operations on the braking system or in general on the vehicle, e.g. cleaning the brake discs to remove rust or water, improving the load distribution on the motion components (wheels) and so forth.
• a condition can be the detection of water and/or humidity in the environment, detectable by means of respective rain sensors or one or more digital cameras which can be fitted on the vehicle. [00122]. Following the identification of the presence of this condition, the further operation which can be run on the braking system may be that of cleaning each brake disc before starting or restart the vehicle.
• a condition may be that of detecting of an additional of a load on or more suspensions of the vehicle before starting, which can be detected by means of respective travel or pressure sensors with which the vehicle can be fitted.
• the further operation which can be run on the braking system may be the calibration of the braking system with a specific balancing for the next braking.
• a condition can be:
• detecting the state of the road e.g. the indication of uneven road surface or off-road surface which can be detected from the information provided by an infrastructure to the vehicle;
• - detecting the state of the road surface e.g. which can be detected by a digital camera with which the vehicle is equipped adapted to detect a digital image to be compared to a reference image or texture;
• detecting a state of a vehicle component e.g. the status of a wheel which can be detected by means of a respective wheel status sensor with which the vehicle may be fitted.
• the further operation which can be run on the braking system may be the adjustment (raising/lowering) of the initial ABS intervention thresholds, the request for deceleration and so forth.
• the service braking module 109 is different and in addition to the braking module 104.
• the service braking module 104 comprises a service brake
• the service braking module 104 is comprised with the braking module 104.
• the first data processing block 105 and the second data processing block 106 are distinct from one another.
• the first data processing block 105 and the second data processing block 106 coincide.
• a method 500 for controlling a braking system of a vehicle according to the present invention will now be described with reference to the aforesaid figures and to the block chart in figure 5.
• the method 500 comprises a symbolic step of starting ST.
• a method 500 comprises a step of detecting 501 , by a first plurality 101 of detection devices distributed on the braking system of the vehicle, first information 11 representative of a condition of motion of the vehicle.
• the first plurality 101 of detection devices and the first information 11 representative of a motion condition of the vehicle have already been previously defined and described.
• the method 500 further comprises a step of detecting 502, by a second plurality 103 of detection devices belonging to a first driver assistance sub-system 102 associated with the vehicle, second information I2 representative of a condition of motion of the vehicle.
• the second plurality 103 of detection devices and the second information I2 representative of a condition of motion of the vehicle have already been previously defined and described.
• the method 500 comprises a step of determining 503, by a first data processing block 105, a first control signal SC1 of a braking module 104 of the vehicle based on said first information 11 and said second information I2.
• the first data processing block 105 and the braking module 104 have been previously defined and described.
• the method 500 further comprises a step of controlling 504, by the first data processing block 105, the braking module 104 of the vehicle based on the determined first control signal SC1 .
• the method 500 comprises a symbolic step of ending ED.
• the method 500 further comprises a step of providing 505, by the first plurality 101 of detection devices, said second information I2 directly to the first data processing block 105.
• the step of determining 503 is performed by the first data processing block 105, directly on the basis of the first information 11 and of the second information 12.
• the step of determining 503 comprises a respective first step of checking 506, by the first data processing block 105, if said first information 11 is representative of a first stopped vehicle condition.
• the first information 11 is checked as representative of a first stopped vehicle condition when the first stopped vehicle condition is maintained for a set first interval of time.
• the first data processing block 105 estimates a vehicle speed equal to a value which is substantially zero or very close to 0 and if the vehicle speed assumes this substantially zero value (in a further embodiment, also for a first set interval of time equal to one or more seconds), the first data processing block 105 had checked the presence of a first stopped vehicle condition.
• a detection device of said first plurality 101 e.g. a rotation speed sensor of a vehicle wheel
• the first data processing block 105 estimates a vehicle speed equal to a value which is substantially zero or very close to 0 and if the vehicle speed assumes this substantially zero value (in a further embodiment, also for a first set interval of time equal to one or more seconds), the first data processing block 105 had checked the presence of a first stopped vehicle condition.
• the aforesaid estimate consists, for example, in comparing the speed of the vehicle with a respective threshold value (e.g. number of signals/time) and if the vehicle speed is lower than the respective threshold value then the vehicle speed is estimated to be equal to 0.
• a respective threshold value e.g. number of signals/time
• the step of determining 503 comprises a respective second step of checking 507, by the first data processing block 105, if said second information 12 is representative of a second stopped vehicle condition.
• the second information I2 is checked as representative of a second stopped vehicle condition when the second stopped vehicle condition is maintained for a set second interval of time.
• a detection device of said second plurality 103 e.g. a digital camera
• the first data processing block 105 estimates a vehicle speed equal to a value which is substantially zero or very close to 0 and if the vehicle speed assumes this substantially zero value (in a further embodiment, also for a second set interval of time equal to one or more seconds), the second data processing block 105 had checked the presence of a second stopped vehicle condition.
• the aforesaid estimate consists, for example, in comparing the speed of the vehicle with a respective threshold value (e.g. number of signals/time) and if the vehicle speed is lower than the respective threshold value then the vehicle speed is estimated to be equal to 0.
• a respective threshold value e.g. number of signals/time
• the checking, by the first data processing block 105, of both the first stopped vehicle condition and of the second stopped vehicle condition implies the definitive determination, by the first data processing block 105, of the first control signal SC1 of the vehicle braking module 104.
• the first control signal SC1 on the basis of which to check, by means of the first processing block 105, the braking module 104 of the vehicle comprises an inhibiting signal for the activation of the braking module 104 of the vehicle which will not be able to apply any braking action (electric park or service brake, according to the typology of the vehicle braking module 104) on the vehicle.
• the first control signal SC1 comprises an activation signal of the vehicle braking module 104 which can apply a braking action (electric park or service brake, according to the type of vehicle braking module 104) on the vehicle.
• the method 500 further comprises a step of providing 508, by the second plurality 103 of detection devices, said second information I2 directly to a second data processing block 106.
• the second data processing block 106 was previously defined and described.
• the method 500 further comprises a step of determining 509, by the second data processing block 106, further second information I2’ representative of a condition of motion of the vehicle based on said second information I2.
• the second data processing block 106 determines the further second information 12’ by decoding and aggregating the second information 12 to make them more reliable (e.g. the same information received from multiple sensors) and then the brake controller decides what to do according to its own information plus that provided by the VCS.
• the method 500 comprises a step of providing 510, by the second data processing block 106, said further second information
• the step of determining 503 the first control signal SC1 of the braking module 104 of the vehicle is performed by the first data processing block 105 based on said first information 11 and said further second information I2 ⁇
• the step of determining 503 comprises a respective first step of checking 51 1 , by the first data processing block 105, if said first information 11 is representative of a first stopped vehicle condition.
• the first information 11 is checked as representative of a first stopped vehicle condition when the first stopped vehicle condition is maintained for a set first interval of time. [00162].
• An example of implementation of this first step of checking 51 1 is entirely similar to the example of the implementation of the first step of checking 506, previously described.
• the step of determining 503 comprises a respective second step of checking 512, by the first data processing block 105, whether said further second information I2’ is representative of a second stopped vehicle condition.
• the further second information I2’ is checked as representative of a second stopped vehicle condition when the second stopped vehicle condition is maintained for a set second interval of time.
• the first data processing block 105 estimates a vehicle speed equal to a value which is substantially zero or very close to 0 and if the vehicle speed assumes this substantially zero value (in a further embodiment, also for a second set interval of time equal to one or more seconds), the second data processing block 105 had checked the presence of the second stopped vehicle condition.
• the aforesaid estimate consists, for example, in comparing the speed of the vehicle with a respective threshold value (e.g. number of signals/time) and if the vehicle speed is lower than the respective threshold value then the vehicle speed is estimated to be equal to 0.
• a respective threshold value e.g. number of signals/time
• the checking by the first data processing block 105, both in the first stopped vehicle condition and in the second stopped vehicle condition implies the definitive determination, by the first data processing block 105, of the first control signal SC1 of the vehicle braking module 104, i.e. an inhibition signal of the activation of the vehicle braking module 104 which will not be able to apply any braking action (electric park or service braking, according to the type of the vehicle braking module 104) on the vehicle.
• the first control signal SC1 comprises an activation signal of the vehicle braking module 104 which can apply a braking action (electric park or service brake, according to the type of vehicle braking module 104) on the vehicle.
• the method 500 further comprises a step of detecting 513, by a third plurality 108 of detection devices belonging to a second vehicle data connection sub-system 107, third information I3 representative of a condition of motion of the vehicle.
• the third plurality 108 of detection devices, the second vehicle data connection sub-system 107 and the third information I3 were previously defined and described.
• the step of determining 503 the first control signal SC1 of the braking module 104 of the vehicle is performed by the first data processing block 105 based on said first information 11 , said further second information I2’ and said third information I3.
• the step of determining 503 comprises a respective first step of checking 514, by the first data processing block 105, if said first information 11 is representative of a first stopped vehicle condition.
• the first information 11 is checked as representative of a first stopped vehicle condition when the first stopped vehicle condition is maintained for a set first interval of time.
• the step of determining 503 comprises a respective second step of checking 515, by the first data processing block 105, if said second information 12 is representative of a second stopped vehicle condition.
• the second information I2 is checked as representative of a second stopped vehicle condition when the second stopped vehicle condition is maintained for a set second interval of time.
• the step of determining 503 further comprises a respective third step of checking 516, by the first data processing block 105, whether said second information I3 is representative of a third stopped vehicle condition.
• the third information I3 is checked as representative of a third stopped vehicle condition when the third stopped vehicle condition is maintained for a set third interval of time.
• the first data processing block 105 on the base of the further third information I3 estimates a vehicle speed equal to a value which is substantially zero or very close to 0 and if the vehicle speed assumes this substantially zero value (in a further embodiment, also for a second set interval of time, e.g. equal to one or more seconds), the first data processing block 105 had checked the presence of the third stopped vehicle condition.
• a detection device of said third plurality 108 e.g. a V2V type communication module, indicates that the vehicle has stopped (e.g. a constant distance from a preceding vehicle is detected)
• the first data processing block 105 on the base of the further third information I3 estimates a vehicle speed equal to a value which is substantially zero or very close to 0 and if the vehicle speed assumes this substantially zero value (in a further embodiment, also for a second set interval of time, e.g. equal to one or more seconds), the first data processing block 105 had checked the presence of the third stopped vehicle condition.
• the aforesaid estimate consists, for example, in comparing the speed of the vehicle with the speed of the vehicle ahead and if the speed of the vehicle and the speed of the vehicle ahead are equal to 0 then the speed of the vehicle is estimated to be equal to 0.
• the checking, by the first data processing block 105, of the first stopped vehicle condition, the second stopped vehicle condition and the third stopped vehicle condition implies the definitive determination, by the first data processing block 105, of the first control signal SC1 of the module 104 of the vehicle, i.e. an inhibition signal of the activation of the vehicle braking module 104 which will not be able to apply any braking action (electric park or service braking, according to the typology of the vehicle braking module 104) on the vehicle.
• the first control signal SC1 comprises an activation signal of the vehicle braking module 104 which can apply a braking action (electric park or service brake, according to the type of vehicle braking module 104) on the vehicle.
• the method 500 comprises a step of detecting 517, by a third plurality 108 of detection devices belonging to a second vehicle data connection sub-system 107, third information I3 representative of a condition of motion of the vehicle.
• the third plurality 108 of detection devices, the second vehicle data connection sub-system 107 and the third information I3 were previously defined and described with reference to other embodiments.
• the method 500 further comprises a step of providing 518, by the third plurality 108 of detection devices, said third information I3 directly to a second data processing block 106.
• the second data processing block 106 were previously described with reference to other embodiments.
• the method 500 further comprises a step of determining 519, by the second data processing block 106, fourth information I4 representative of a condition of motion of the vehicle based on said second information I2 and said third information I3.
• Such a processing is obtained, for example, by checking that the second information I2 is within a respective threshold and that the third information I3 is within a respective threshold. [00190]. Furthermore, the method 500 comprises a step of providing 520, by the second data processing block 106, said fourth information I4 to the first data processing block 105.
• the step of determining 503 the first control signal SC1 of the braking module 104 of the vehicle is performed by the first data processing block 105 on the basis of said first information 11 and said fourth information I4 (which depends on said second information I2).
• the step of determining 503 comprises a respective first step of checking 521 , by the first data processing block 105, if said first information 11 is representative of a first stopped vehicle condition.
• the first information 11 is checked as representative of a first stopped vehicle condition when the first stopped vehicle condition is maintained for a set first interval of time.
• the step of determining 503 comprises a respective second step of checking 522, by the first data processing block 105, whether said fourth information I4 is representative of a second stopped vehicle condition.
• the fourth information I4 is checked as representative of a second stopped vehicle condition when the second stopped vehicle condition is maintained for a set second interval of time.
• a detection device of said second plurality 103 e.g. a digital camera
• a detection device of said third plurality 108 e.g.
• a V2V type communication module indicates in turn that the vehicle has stopped (in the manner show above, for example), the first data processing block 105, on the base of the further fourth information I4 provided by the second data processing block 106, estimates (in the manner described above, for example) a vehicle speed equal to a value which is substantially zero or very close to 0 and if the vehicle speed assumes this substantially zero value (in a further embodiment, also for a second set interval of time equal to one or more seconds), the second data processing block 105 had checked the presence of the second stopped vehicle condition.
• the checking by the first data processing block 105 of the first stopped vehicle condition and the second stopped vehicle condition implies the definitive determination, by the first data processing block 105, of the first control signal SC1 of the vehicle braking module 104 or an inhibition signal of the activation of the vehicle braking module 104 which will not be able to apply any braking action (electric park or service braking, according to the type of vehicle braking module 104) on the vehicle
• the first control signal SC1 comprises an activation signal of the vehicle braking module 104 which can apply a braking action (electric park or service brake, according to the type of vehicle braking module 104) on the vehicle.
• the method 500 further comprises the steps of:
• a safe condition of the vehicle is identified, providing 524, by the first data processing block 105, a second control signal SC2 to a service braking module 109 to reduce and/or cancel the residual torque generated by the braking system on each brake disc installed on a respective moving member of the vehicle;
• a third control signal SC3 to the service braking module 109 to reduce the distance between the brake pads and the respective brake disc installed on a respective moving member of the vehicle.
• the safe or unsafe condition of the vehicle is identified by the first data processing block 105 based on said first information 11 and further second information I2’ provided by a second data processing block 106 (previously described).
• the safe or unsafe condition of the vehicle is identified by the first data processing block 105 based on said first information 11 , of said second information I2 and of third information I3 representative of a condition of motion of the vehicle detected by a third plurality 108 of detection devices belonging to a second data connection sub-system 107 of the vehicle (previously described).
• the safe or unsafe condition of the vehicle is identified by the first data processing block 105 based on said first information 11 and fourth information I4 representative of a condition of motion of the vehicle (previously described) determined by a second data processing block 106 based on said second information I2 and said third information I3.
• condition of motion of the vehicle may be determined on the basis of said first information 11 and of said further second information I2’ (if the second data processing block 106 present) or on the basis of said first information 11 and said fourth information I4 (if the second data processing block 106 is present).
• the first data processing block 105 provides the second control signal SC2 to the service braking module 109.
• the method 500 further comprises a step of providing 525, by the first information block 105, one or more further control signals SCN to the service braking module 109 to perform further operations on the braking system or on the vehicle in general, e.g., cleaning the brake discs from rust or water, improving the load distribution on the motion components (wheels) and so forth.
• the method and the related system according to the present invention advantageously allows to duplicate the first information 11 detected by the detection devices distributed in the braking system with the second information 12 detected by the detection devices present aboard the vehicle in the first driver assistance sub-system 102 associated with the vehicle or ADAS (Advanced Driver-Assistance System) sub-system.
• ADAS Advanced Driver-Assistance System
• the aforesaid information may be made further duplicated by the third information I3 which can be detected by the detection devices belonging to a second vehicle data connection sub-system 107, thus advantageously increasing the safety level of the system, thus the vehicle.
• ADAS detection devices belonging to the first sub-system 102
• the use of the information available from the second vehicle data connection sub-system 107 advantageously allows to simplify the architecture and the configuration of the park brake module of EPB type, thus ensuring a greater safety in situations of faults of the sensors traditionally used.
• a vehicle equipped with a sub-system of the ADAS type can exploit the measurements performed by the detection devices of such a sub-system as braking module input information (e.g. EPB type, thus duplicating the information coming from the detection devices distributed in the braking system of the vehicle, e.g. speed sensors of the four wheels of the vehicle).
• braking module input information e.g. EPB type
• the detection devices which can be used by the braking module are multiple and external to the braking system of the vehicle so as to differentiate the signal sources further and advantageously increase safety in the event of failure of one or more of the detection devices.
• a vehicle provided with a data connection sub system can exploit the information relating to the vehicle condition as a further input information for the braking module (e.g. EPB), duplicating the information of the detection devices distributed in the braking system and those belonging to the ADAS sub-system.
• the braking module e.g. EPB
• the method and the related system according to the present invention also allow to combine the first information detected by the detection devices distributed in the braking system with the second information detected by the detection devices belonging to the first sub-system 102 (ADAS) and the third information I3 detected by the detection devices belonging to the second data connection sub-system 107 of the vehicle to control the total residual torque of the vehicle advantageously in an active manner and reduce it in appropriate conditions (e.g. in a safe condition of the vehicle), thus reducing the mechanical losses due to residual torque of the brakes and increasing the overall efficiency of the vehicle.
• ADAS first sub-system 102
• the method and system according to the present invention indeed allow such an active control (reduction) of the residual torque in a safe condition of the vehicle, i.e. the condition in which the vehicle is far from possible/probable braking events, identified by combining the first information 11 detected by the detection devices distributed in the vehicle braking system with the second information I2 detected by the detection devices belonging to the first sub system 102 (ADAS) and the third information I3 detected by the detection devices belonging to the second vehicle data connection sub-system 107 (e.g. GPS location and maps, programmed route, information from another vehicle - V2V - or by other infrastructure V2X).
• ADAS first sub system 102
• the third information I3 detected by the detection devices belonging to the second vehicle data connection sub-system 107 e.g. GPS location and maps, programmed route, information from another vehicle - V2V - or by other infrastructure V2X.
• the method and the related system of the present invention can also be used to reduce the residual torque even with traditional braking systems or electro-hydraulic braking systems equipped with ESP with adaptive functions or logic, i.e. with the possibility of controlling the gap between brake pad and brake disc.

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