WO2022268542A1 - Bremssystem und verfahren zum betreiben eines bremssystems - Google Patents
Bremssystem und verfahren zum betreiben eines bremssystems Download PDFInfo
- Publication number
- WO2022268542A1 WO2022268542A1 PCT/EP2022/065928 EP2022065928W WO2022268542A1 WO 2022268542 A1 WO2022268542 A1 WO 2022268542A1 EP 2022065928 W EP2022065928 W EP 2022065928W WO 2022268542 A1 WO2022268542 A1 WO 2022268542A1
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- WO
- WIPO (PCT)
- Prior art keywords
- braking
- motor vehicle
- brake
- designed
- event
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 description 10
- 238000012937 correction Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 4
- 230000003213 activating effect Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011867 re-evaluation Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
Classifications
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- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/161—Systems with master cylinder
- B60T13/165—Master cylinder integrated or hydraulically coupled with booster
-
- 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
- B60T8/17558—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 collision avoidance or collision mitigation
-
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based 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
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- 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
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/81—Braking systems
Definitions
- the present invention relates to a braking system for a motor vehicle and a method for operating a braking system for a motor vehicle.
- Typical brake boosters work as a vacuum booster (vacuum booster) or hydraulically. In newer vehicles with efficient combustion engines, hybrid drives or in purely electric vehicles, vacuum-independent solutions are typically used for the braking system. This includes brake boosters that do not work as vacuum boosters.
- a vacuum-independent, electromechanical brake booster is the iBooster from Bosch.
- iBooster With electromagnetic brake boosters, brake pressure can be built up quickly and adjusted very precisely via the electronic control. This is particularly advantageous for automatic emergency braking systems, since there are shorter braking distances, particularly in the case of automatic emergency braking.
- An electromechanical brake booster is known from DE 102009001 401 A1.
- a brake system and method for operating a brake system are proposed here, the brake system being designed to output a boost pressure signal, taking into account a control signal provided by an on-board sensor and/or control device, and to forward a boost pressure signal to the wheel brake cylinder via a hydraulic unit.
- the automatic brake intervention typically occurs exclusively via a driver assistance system for driving dynamics, such as an ESP (electronic stability program) system.
- the anti-lock braking system (ABS) is another component of most braking systems.
- the anti-lock braking system automatically regulates the wheel slip on at least one of the wheels of the motor vehicle.
- the ABS control unit typically detects a jump in wheel speed and then reduces the brake pressure on the wheel via the ABS hydraulics, ie via two solenoid valves attached to the pressure line. At the beginning, the first solenoid valve closes the line to the master brake cylinder. If the wheel speed drops further, the second solenoid valve is used to drain brake fluid and the brake pressure drops slightly. An electric pump in the hydraulic unit pumps this brake fluid back into the system.
- the invention provides a braking system for a motor vehicle and a method for operating a braking system of a motor vehicle with the features of the independent patent claims.
- the invention therefore relates to a braking system for a motor vehicle, with an actuating device which is designed to generate a hydraulic force, a transmission device which is designed to apply the hydraulic force generated by the actuating device to at least one wheel brake of the motor vehicle transmitted, an anti-lock braking system, with a hydraulic unit (solenoid valve unit), wherein the hydraulic unit is designed to reduce a hydraulic force applied to at least one wheel brake of the motor vehicle, and an automatic emergency braking device, which is designed to determine an object list using sensor data and to continuously update the object list based on newly added sensor data, to determine a braking event based on the object list at a first point in time, and to control the actuating device for generating a hydraulic force, if e a braking event is determined, using the updated object list at a second point in time after the first point in time to identify whether the braking event is still present, and to control the hydraulic unit directly to reduce the hydraulic force applied to at least one wheel brake of the motor vehicle, if this
- the invention accordingly relates to a method for operating a brake system of a motor vehicle.
- An object list is determined using sensor data, with the object list being continuously updated using newly added sensor data.
- a braking event is determined based on the object list at a first point in time.
- a hydraulic force is generated by an actuating device of the braking system, with a transmission device of the braking system transmitting the hydraulic force generated by the actuating device to at least one wheel brake of the motor vehicle. It is determined on the basis of the updated object list at a second point in time after the first point in time whether the braking event is still present.
- the hydraulic force applied to at least one wheel brake of the motor vehicle is reduced by a hydraulic unit of an anti-lock braking system of the brake system if it is determined that the braking event is no longer present.
- the present invention makes it possible to react very quickly to false positive detections. This includes detections in which a braking event is initially detected, i. H. a potentially dangerous situation in which automatic braking is required. In the event of a false-positive detection, automatic emergency braking is thus triggered, although the situation is not critical in terms of the risk of an accident. Subsequently, based on a more precise evaluation of the sensor data or with the aid of further sensor data, it is recognized that automatic braking is not necessary. In this case, the braking force on at least one wheel brake is reduced using the anti-lock braking system.
- the invention thus provides for a coupling of the hydraulic unit of the anti-lock braking system with the automatic emergency braking device (English: autonomous emergency braking system; AEB system).
- the automatic emergency braking device is an important part of active safety. In particular, a balance must be made with regard to false positive and false negative detections that occur. False negative detections must be avoided as far as possible, since dangerous situations are not recognized in this case. A significant number of false positive detections conventionally leads to frequent and excessive braking, which can also lead to hazards, such as possible rear-end collisions.
- the build-up of brake pressure by the actuating device takes at least 150 milliseconds. Due to the pressure release by means of the anti-lock braking system, when a false-positive detection is detected (that is, if there is no longer a braking event), the increasing brake pressure can be reduced in less than 30 milliseconds, for example. Thus, after the correction, only a minimal braking effect and, in particular, no significant change in speed remain.
- the automatic emergency braking device can thus reduce the brake pressure at least one cycle earlier than in the case of brake systems in which the brake pressure is reduced via an ESP system. This represents a significant reduction when considering the chain of latencies in emergency braking devices.
- the actuating device has an electromechanical brake booster, which is designed to build up the brake pressure.
- the electromechanical brake booster is vacuum independent.
- the automatic emergency braking device is also designed to actuate the actuating device to reduce the hydraulic force if the automatic emergency braking device determines that the braking event is no longer present. With that brake pressure is further reduced.
- the automatic emergency braking device is designed to merge sensor data and, using the sensor data merged after the first point in time, to determine whether the braking event is still present. For example, sensor data from multiple sensors of the same type (or multiple cameras or radar sensors) or sensor data from different sensors can be merged. This further improves the detection of whether a braking event is actually present. If, for example, a braking event was detected on the basis of the sensor data from an individual sensor and automatic braking was initiated, the correction can be made by activating the anti-lock braking system if there is a re-evaluation based on the sensor fusion.
- the automatic emergency braking device is designed to determine trajectories of the motor vehicle and/or objects in the vicinity of the motor vehicle and, using the determined trajectories, to determine whether the braking event is still present.
- objects can be tracked. If the tracking shows that no collision is to be expected, the correction can be made by activating the anti-lock braking system. As a result, the detection of whether a braking event is actually present can be carried out precisely.
- the automatic emergency braking device is designed to, after determining that the braking event is no longer present, to control the anti-lock braking system to reduce the hydraulic force applied to at least one wheel brake of the motor vehicle before the actuating device completely generates the hydraulic force to be generated Has.
- the braking system can react very quickly to false-positive detections.
- the braking system has a bypass connection for transmitting a signal, which connects the emergency braking device directly to the hydraulic unit, the emergency braking device being designed to actuate the hydraulic unit directly via the bypass connection to reduce the hydraulic force applied to at least one wheel brake of the motor vehicle , if it is determined that the braking event is no longer present.
- the hydraulic unit is controlled quickly and directly.
- the automatic emergency braking device is designed to determine the braking event on the basis of a small number of sensor data.
- the automatic emergency braking device can only evaluate one or two video frames, lidar frames and/or radar frames.
- a more robust AEB system can be achieved, while on the other hand, higher efficiency in real cases that are not covered by current consumer tests etc. is achieved.
- the braking system thus makes it possible to select the intervention strategy more progressively and thus earlier, since there is the possibility of very rapid correction. This time can be directly converted into the effectiveness of the emergency braking systems.
- the improved reaction time can lead to significant improvements, especially in pedestrian protection.
- the robustness becomes particularly important when scenarios are run through in which there is increased situational fuzziness or the situation can suddenly escalate (e.g. under the influence of obstructed views).
- An exemplary situation can occur if people or children step onto the road between two vehicles, possibly also under adverse environmental conditions, such as rain or poor lighting conditions.
- a more progressive setting of the parameters for the automatic braking device can be selected, thus starting emergency braking up to 100 ms earlier and executing it up to 100 ms earlier in an emergency.
- the collision with the pedestrian can be completely prevented or at least the impact speed on the pedestrian can be significantly reduced.
- the pedestrian has a significantly lower risk of injury and contact between the pedestrian's head and, for example, the windshield can be prevented.
- the braking system includes an ESP system and an interface between the automatic emergency braking device and the ESP system, with the ESP system being designed to control the anti-lock braking system.
- the automatic emergency braking device can issue a command to dismantle the Pressure transferred to the ESP system by means of the anti-lock braking system, even if the independent process of pressure build-up by means of the actuating device has not yet been completed.
- the procedure according to the invention differs from the procedure in recuperative braking devices.
- the braking torque is blended, i.e. the braking torques of the wheel brake cylinders are adapted in different ways to the current braking torque of the recuperative braking device in different situations.
- the braking system it is also determined whether the driver is braking manually. If this is the case, the anti-lock braking system is not activated to reduce the hydraulic force applied to at least one wheel brake of the motor vehicle. The driver should therefore be able to retain ultimate control over braking behavior.
- emergency braking can initially take place due to cross traffic at intersections. After the situation has been reassessed using additional sensor data, the correction can be made by activating the anti-lock braking system. Intervention in the case of crossing traffic can be started, for example, if the collision is foreseeable, but the exact trajectory of the vehicles involved is still subject to a high degree of uncertainty. Then a large reduction in velocity and a large shift in the point of impact could be initiated. Since the latter increases quadratically over time, early intervention is particularly important here. A reassessment of the situation could then correct the intervention or stop it altogether, thus reducing the effect to such an extent that there is hardly any difference to non-intervention.
- the automatic braking maneuver can be triggered due to an intersecting vehicle on a collision course.
- the automatic emergency braking device controls the optimal point of impact through the braking manoeuvre. If, after further measurements, it turns out that the point of impact is in an unfavorable position, for example in the passenger compartment, releasing the brakes can prevent the situation from deteriorating.
- sensor data are merged, it being determined using the sensor data merged after the first point in time whether the braking event is still present.
- trajectories of the motor vehicle and/or of objects in the vicinity of the motor vehicle are determined, it being determined using the determined trajectories whether the braking event is still present.
- FIG. 1 is a block diagram of a braking system according to an embodiment of the invention
- FIG. 2 shows an exemplary course of accelerations as a function of time
- FIG. 3 shows an exemplary progression of speeds as a function of time
- FIG. 4 shows an exemplary course of distances traveled as a function of time
- FIG. 5 shows examples of different driving situations over time
- FIG. 6 shows exemplary time curves for determining braking events with a high triggering threshold
- FIG. 7 shows exemplary time curves for determining braking events with a low triggering threshold
- FIG. 8 shows a flowchart of a method for operating a braking system according to an embodiment of the invention. Elements and devices that are the same or have the same function are provided with the same reference symbols in all figures. The numbering of method steps is for the sake of clarity and should not generally imply a specific chronological order. In particular, several method steps can also be carried out simultaneously.
- FIG. 1 shows a block diagram of a brake system 1 for a motor vehicle.
- the braking system 1 includes an actuating device 2, by means of which a hydraulic force can be generated.
- the actuating device 2 includes a brake pedal 21 and an electromechanical brake booster 22. When the brake pedal 21 is pressed, the electromechanical brake booster 22 becomes active and the hydraulic force is generated.
- the brake system 1 also includes a transmission device 6, 7, which transmits the hydraulic force generated by the actuating device 2 to at least one wheel brake of the motor vehicle.
- the brake system 1 also includes an anti-lock braking system 3, which is arranged between a first section 6 of the transmission device, which leads to the electromechanical brake booster 22, and a second section 7 of the transmission device, which leads to the wheel brakes.
- the braking system 1 includes an automatic emergency braking device 4.
- the emergency braking device 4 determines an object list using sensor data.
- the emergency braking device 4 can evaluate sensor data from radar sensors, lidar sensors, vehicle cameras or the like for this purpose.
- the emergency braking device 4 carries out object tracking, ie continuously updates the object list using newly added sensor data. Several sub-processes can be carried out here.
- an association step it can first be determined which data from the current measurement belongs to an object that has already been recorded, i.e. is associated with it.
- an update step it is determined how the current measurement influences the object status of the objects in the object list. For example, an object initially classified as a road user or obstacle can be reclassified using new sensor data. For example, an object that cannot be driven under or driven over can be classified as an object that can be driven under or driven over based on new measurements. In particular, this makes it possible to determine whether the objects in the object list are still relevant.
- a prediction step can be performed, in which it is predicted how the object will move, i. H. Trajectories of the objects are determined.
- the trajectory of one's own motor vehicle can also be calculated and updated.
- the automatic emergency braking device 4 determines a braking event at a first point in time and initiates a braking process.
- the actuating device 2 is controlled by the emergency braking device 4 to generate a hydraulic force if it determines the braking event.
- the emergency braking device 4 continuously checks whether the braking event is still present. If a reassessment of the objects, for example due to a different classification or a changed course of movement to be expected, shows that there is no longer a braking event at a later, second point in time, the emergency braking device 4 controls the hydraulic unit 31 directly. The hydraulic unit 31 then reduces the hydraulic force applied to at least one wheel brake of the motor vehicle.
- the hydraulic force can be reduced by the usual functioning of the hydraulic unit 31 of the anti-lock braking system 3 .
- the hydraulic unit 31 thus reduces the brake pressure applied to the wheel brakes by opening and closing valves of the hydraulic unit 31 and by pumping back brake fluid.
- the emergency braking device 4 can also control the actuating device 2 to reduce the hydraulic force.
- the emergency braking device 4 thus transmits to the electronic brake booster 22 and the anti-lock braking system 3 both a control signal 8 relating to a target deceleration if a braking event is detected, and a control signal 9 for aborting the braking process if it is detected that the braking event is no longer present.
- a bypass connection can be used to control the hydraulic unit 31 , via which the hydraulic unit 31 can be accessed directly.
- a signal 5 can be transmitted from the electronic brake booster 22 to the anti-lock braking system 3 as to whether the driver is braking himself. The brake pressure is only reduced if the driver does not brake himself.
- the automatic emergency braking device 4 can be designed to trigger relatively early, i. H. to determine a braking event.
- the data taken into account for this purpose can include sensor data or fused sensor data, as well as other information, such as the latency times of the sensors and the fusion.
- FIG. 2 shows an exemplary course of accelerations as a function of time.
- the acceleration a is illustrated in m/s 2 as a function of time.
- FIG. 3 shows the speed in m/s as a function of time.
- FIG. 4 shows the reduction in the distance covered s in meters caused by braking as a function of time. If a collision is detected, the braking force is increased as quickly as possible in order to have the greatest possible effect on reducing speed and shifting the point of impact. If this effect is not desired and the correction is made quickly, the effect remains comparable to non-intervention.
- Acceleration curve 21, speed curve 23 and distance curve 25 correspond to the acceleration, speed or distance for the originally initiated intervention and the acceleration curve 22, the speed profile 24 and the profile of the distance 26 correspond to the corrected intervention.
- FIG. 5 shows examples of different driving situations 51, 52, 53 over time, with the risk of a collision being plotted for different measurement cycles n to n+5 (ie as a function of time t).
- n to n+5 ie as a function of time t.
- the risk a distinction is made between a very high risk 54 and a very low risk 57, ie four levels are distinguished by way of example.
- the invention is not limited to a specific number of stages.
- first profile 51 the risk determined initially increases from the lowest level to the second lowest level and to the second highest level and then falls back to the lowest level.
- second curve 52 the risk determined initially increases from the lowest level to the second lowest level, remains at the second lowest level and then falls back to the lowest level.
- third course 53 the risk increases in each cycle, from the lowest level to the highest level.
- FIG. 6 shows exemplary time curves for determining braking events with a high triggering threshold. This scenario only triggers when the highest level is reached. The braking event is thus only recognized and the braking process initiated in the third profile 53 in cycle n+3. After three cycles, i. H. in cycle n+5 the brake pressure is fully built up.
- FIG. 7 shows exemplary time curves for determining braking events with a low triggering threshold.
- the hydraulic unit 31 is activated to reduce the hydraulic force.
- the braking event can already be recognized in cycle n+2 and the braking process can be initiated. Due to the ability to quickly counteract the triggered braking process, the invention makes it possible to detect a braking event earlier, ie preferably according to the method shown in FIG. As a result, for example, a cycle can be reacted to earlier. Due to the more progressive release, you can brake earlier.
- FIG. 8 shows a flowchart of a method for operating a brake system, in particular a brake system 1 described above.
- a first method step S1 an object list is determined using sensor data, the object list being continuously updated using newly added sensor data.
- a braking event is determined using the object list at a first point in time.
- a hydraulic force is generated by an actuating device 2 of the brake system 1, with a transmission device 6, 7 of the brake system 1 transmitting the hydraulic force generated by the actuating device 2 to at least one wheel brake of the motor vehicle.
- a method step S4 it is determined on the basis of the updated object list at a second point in time after the first point in time whether the braking event is still present.
- merged sensor data can be used, which have been determined by sensors after the first point in time.
- a classification of the objects and/or a determined trajectory of the objects can be taken into account in order to identify whether the braking event is still present.
- the hydraulic force applied to at least one wheel brake of the motor vehicle is reduced by a hydraulic unit of an anti-lock braking system of brake system 1 if it is determined that the braking event is no longer present.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN202280044927.8A CN117545669A (zh) | 2021-06-24 | 2022-06-13 | 制动系统和用于运行制动系统的方法 |
US18/553,626 US20240051507A1 (en) | 2021-06-24 | 2022-06-13 | Brake system and method for operating a brake system |
KR1020247002169A KR20240024215A (ko) | 2021-06-24 | 2022-06-13 | 브레이크 시스템 및 브레이크 시스템을 작동하는 방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102021206563.5 | 2021-06-24 | ||
DE102021206563.5A DE102021206563A1 (de) | 2021-06-24 | 2021-06-24 | Bremssystem und Verfahren zum Betreiben eines Bremssystems |
Publications (1)
Publication Number | Publication Date |
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WO2022268542A1 true WO2022268542A1 (de) | 2022-12-29 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2022/065928 WO2022268542A1 (de) | 2021-06-24 | 2022-06-13 | Bremssystem und verfahren zum betreiben eines bremssystems |
Country Status (5)
Country | Link |
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US (1) | US20240051507A1 (de) |
KR (1) | KR20240024215A (de) |
CN (1) | CN117545669A (de) |
DE (1) | DE102021206563A1 (de) |
WO (1) | WO2022268542A1 (de) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19948365A1 (de) * | 1998-11-04 | 2000-05-18 | Honda Motor Co Ltd | Sicherheitsfahrsystem für ein Fahrzeug |
DE102004058814A1 (de) * | 2004-12-07 | 2006-06-08 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrzeugverzögerung nach einer Kollision |
DE102005025510A1 (de) * | 2005-06-03 | 2006-12-21 | Fendt, Günter | Vorrichtung und Verfahren zum Ansteuern einer Bremsanlage für Kraftfahrzeuge |
DE102009001401A1 (de) | 2009-03-09 | 2010-09-16 | Robert Bosch Gmbh | Bremssystem, Verfahren zum Betreiben eines Bremssystems und Herstellungsverfahren für ein Bremssystem |
EP3225472A1 (de) * | 2014-11-28 | 2017-10-04 | Advics Co., Ltd. | Kollisionsvermeidungsvorrichtung |
EP3407327A1 (de) * | 2016-01-22 | 2018-11-28 | Nissan Motor Co., Ltd. | Fahrzeugfahrassistenzsteuerungsverfahren und -steuerungsvorrichtung |
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2021
- 2021-06-24 DE DE102021206563.5A patent/DE102021206563A1/de active Pending
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2022
- 2022-06-13 KR KR1020247002169A patent/KR20240024215A/ko unknown
- 2022-06-13 CN CN202280044927.8A patent/CN117545669A/zh active Pending
- 2022-06-13 US US18/553,626 patent/US20240051507A1/en active Pending
- 2022-06-13 WO PCT/EP2022/065928 patent/WO2022268542A1/de active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19948365A1 (de) * | 1998-11-04 | 2000-05-18 | Honda Motor Co Ltd | Sicherheitsfahrsystem für ein Fahrzeug |
DE102004058814A1 (de) * | 2004-12-07 | 2006-06-08 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrzeugverzögerung nach einer Kollision |
DE102005025510A1 (de) * | 2005-06-03 | 2006-12-21 | Fendt, Günter | Vorrichtung und Verfahren zum Ansteuern einer Bremsanlage für Kraftfahrzeuge |
DE102009001401A1 (de) | 2009-03-09 | 2010-09-16 | Robert Bosch Gmbh | Bremssystem, Verfahren zum Betreiben eines Bremssystems und Herstellungsverfahren für ein Bremssystem |
EP3225472A1 (de) * | 2014-11-28 | 2017-10-04 | Advics Co., Ltd. | Kollisionsvermeidungsvorrichtung |
EP3407327A1 (de) * | 2016-01-22 | 2018-11-28 | Nissan Motor Co., Ltd. | Fahrzeugfahrassistenzsteuerungsverfahren und -steuerungsvorrichtung |
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KR20240024215A (ko) | 2024-02-23 |
DE102021206563A1 (de) | 2022-12-29 |
CN117545669A (zh) | 2024-02-09 |
US20240051507A1 (en) | 2024-02-15 |
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