DE4340921A1 - Brake pressure control system for car - Google Patents

Brake pressure control system for car

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Publication number
DE4340921A1
DE4340921A1 DE19934340921 DE4340921A DE4340921A1 DE 4340921 A1 DE4340921 A1 DE 4340921A1 DE 19934340921 DE19934340921 DE 19934340921 DE 4340921 A DE4340921 A DE 4340921A DE 4340921 A1 DE4340921 A1 DE 4340921A1
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Germany
Prior art keywords
brake
pressure
pressures
brake circuit
wheel
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Granted
Application number
DE19934340921
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German (de)
Other versions
DE4340921B4 (en
Inventor
Friedrich Dipl Ing Kost
Karl-Josef Dipl Ing Weiss
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Robert Bosch GmbH
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Robert Bosch GmbH
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Priority to DE19934340921 priority Critical patent/DE4340921B4/en
Publication of DE4340921A1 publication Critical patent/DE4340921A1/en
Application granted granted Critical
Publication of DE4340921B4 publication Critical patent/DE4340921B4/en
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
    • B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
    • B60T8/4881—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems having priming 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/30—ESP control system
    • B60T2270/308—ESP control system hydraulic model

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

Abstract

A brake pressure control system is described where the theoretical brake pressures are evaluated. From these, the valve control times are calculated and thereby, the actual brake pressure in the wheel cylinders is controlled. The wheel cylinder pressures are evaluated from the valve control times and the brake circuit pressure. These are utilised in the theoretical brake pressure evaluation. Additionally, there is a pump which makes it possible to generate higher pressures in the wheel cylinders than instigated by the driver. The brake pressures necessary for the theoretical brake pressure evaluation described above are evaluated using a computer model and measured pressures.

Description

Stand der TechnikState of the art

Aus der DE-A1 40 30 724 ist ein Fahrdynamikregelsystem einschließ­ lich eines ABS bekannt, das die Merkmale des Oberbegriffs des An­ spruchs 1 aufweist.DE-A1 40 30 724 includes a driving dynamics control system Lich an ABS known that the features of the preamble of the An has claim 1.

Dort wird aus dem gemessenen Vordruck (= Bremskreisdruck) und den Ventilansteuerzeiten der Bremsdruck im Radbremszylinder abgeschätzt. (Vordruck = Bremskreisdruck)There the measured pre-pressure (= brake circuit pressure) and the Valve actuation times the brake pressure in the wheel brake cylinder estimated. (Form = brake circuit pressure)

Vorteile der ErfindungAdvantages of the invention

Die Verwendung einer Pumpe ermöglicht es, höhere als vom Fahrer vorgegebene Bremsdrücke einzusteuern bzw. ohne Bremsbetätigung Druck einzusteuern. Bei der Erfindung muß trotzdem nur der Vordruck als Meßgröße vorliegen. Weitere Sensoren für die Druckmessung werden eingespart. Außerdem wird durch die erfindungsgemäße Schätzung der Bremskreisdrücke eine größere Schätzgenauigkeit als beim Stand der Technik erzielt, da die Rückwirkung der Druckänderungen in den Radbremszylindern auf den Bremskreisdruck durch das verwendete Modell erfaßt wird.The use of a pump allows it to be higher than that of the driver control the specified brake pressures or pressure without brake actuation tax. In the invention, however, only the form as Measured variable are available. Additional sensors for pressure measurement will be saved. In addition, the estimate of the invention Brake circuit pressures have a greater estimation accuracy than at the state of the Technology achieved because the reaction of pressure changes in the Wheel brake cylinders used on the brake circuit pressure Model is detected.

FigurenbeschreibungFigure description

Anhand der Zeichnung wird ein Ausführungsbeispiel der Erfindung erläutert. Es zeigenAn embodiment of the invention is shown in the drawing explained. Show it

Fig. 1 eine Hydraulik, wie sie bei der Erfindung genutzt werden kann, Fig. 2 ein Blockschaltbild des Reglers, Fig. 3 ein Diagramm. Fig. 1 is a hydraulic system, as it can be used in the invention, Fig. 2 is a block diagram of the controller, Fig. 3 is a graph.

In Fig. 1 ist mit 1 ein Hauptbremszylinder bezeichnet an den zwei Bremskreise angeschaltet sind. Ein Bremskreis umfaßt für jedes Rad 4 je ein Einlaßventil 2 und ein Auslaßventil 3, eine Vorladepumpe 6, eine Rückförderpumpe 7, ein Rücklaufventil 8 und ein Umschaltventil 9. Soll Bremsdruck an den Rädern 4 aufgebaut werden, ohne daß der Hauptbremszylinder 1 betätigt wird, dann erzeugen die dann wirksame Vorladepumpe 6 zusammen mit der Rückförderpumpe 7 einen Bremsdruck vor den Einlaßventilen 2. Das Rücklaufventil 8 und das Umschalt­ ventil 9 sind dann bestromt, also in ihrer zweiten Schaltstellung.In Fig. 1, 1 denotes a master brake cylinder to which two brake circuits are switched on. For each wheel 4 , a brake circuit comprises an inlet valve 2 and an outlet valve 3 , a precharge pump 6 , a return pump 7 , a return valve 8 and a changeover valve 9 . If brake pressure is to be built up on the wheels 4 without the master brake cylinder 1 being actuated, then the precharging pump 6 , which is then effective, together with the return pump 7 generate a brake pressure upstream of the inlet valves 2 . The return valve 8 and the switching valve 9 are then energized, that is, in their second switching position.

Mittels der Einlaß- und Auslaßventile 2 und 3 kann nun in den Rad­ bremsen der gewünschte Bremsdruck eingesteuert werden.By means of the inlet and outlet valves 2 and 3 , the desired brake pressure can now be applied in the wheel brakes.

Fig. 2 zeigt einen Block 20, der entsprechend der DE-A1 40 30 724 aus den Meß- bzw. Schätzwerten Giergeschwindigkeit ψ, Lenk­ winkel δ, Quergeschwindigkeit Vy, Seitenkräfte Fs, Schräglauf­ winkel α, Radzylinderdrücke PS und Radgeschwindigkeiten; Sollbremsdrücke hier nur für die Räder eines Bremskreises (PSoll1 und PSoll2 Bremskreisaufteilung beliebig) erzeugt. Aus diesen Solldrücken erzeugt ein Block 21 Ventilansteuersignale UK1 und UK2 entsprechender Länge. Diese werden einer die Ventile enthaltenden Hydraulik 22 zugeführt. Fig. 2 shows a block 20 , according to DE-A1 40 30 724 from the measured or estimated values yaw rate ψ, steering angle δ, transverse speed V y , side forces F s , slip angle α, wheel cylinder pressures PS and wheel speeds; Target brake pressures are only generated for the wheels of a brake circuit (P Soll1 and P Soll2 brake circuit division as desired). From these target pressures, a block 21 generates valve control signals UK1 and UK2 of corresponding length. These are fed to a hydraulic system 22 containing the valves.

Ein Block 23 schätzt aus den Ansteuerzeiten UK und dem Kreisdruck Pk nach einem Hydraulikmodell die Bremszylinderdrücke PS1 und PS2. Diese werden dem Block 20 zugeführt, in dem diese Drücke bei der Berechnung der Sollbremsdrücke berücksichtigt werden. Es ist hier also kein direkter Vergleich zwischen den Soll- und Istbremsdruck­ werten vorgesehen.A block 23 estimates the brake cylinder pressures PS1 and PS2 from the control times UK and the circular pressure Pk according to a hydraulic model. These are fed to block 20 , in which these pressures are taken into account when calculating the target braking pressures. There is therefore no direct comparison between the target and actual brake pressure values.

Ein weiterer Block 24, dem die Ventilansteuersignale UK1 und UK2, der vom Fahrer vorgegebene gemessene Vordruck, sowie die Bremszylin­ derdrücke PS1 und PS2 zugeführt werden und dem fahrzeugspezifische Konstante a1 bis a5 eingegeben werden, schätzt gemäß den im Anspruch 1 angegebenen Beziehungen den Bremskreisdruck Pk und liefert ein entsprechendes Signal PK an dem Block 23.A further block 24 , to which the valve control signals UK1 and UK2, the measured pre-pressure specified by the driver, and the brake cylinder pressures PS1 and PS2 are supplied and the vehicle-specific constant a1 to a5 are entered, estimates the brake circuit pressure Pk and in accordance with the relationships specified in claim 1 delivers a corresponding signal PK at block 23 .

Beispielhaft wird im folgenden für die Hinterachse das Modell zur Berechnung des Kreisdrucks beschrieben. Für die Vorderachse wird das gleiche Modell jedoch mit anderen Parametern verwendet.The model for the rear axle is shown below as an example Calculation of the circular pressure described. For the front axle that is same model but used with different parameters.

Es werden folgende Größen vereinbart:The following sizes are agreed:

ASV2=1 Einschalten der hinteren Vorladepumpe und der selbstan­ saugenden Rückförderpumpe und das Rücklaufventil und das Umschaltventil sind bestromt
ASV2=0 Abschalten der hinteren Vorladepumpe und der selbstansaugen­ den Rückförderpumpe und die beiden Ventile sind stromlos
PK2k Hinterer Kreisdruck zum Zeitpunkt k
Vp Volumenstrom, der von den Pumpen gefördert wird, eine rechnerische Zwischengröße
V_Hl Volumenstrom in den Radbremszylinder hinten links, eine rechnerische Zwischengröße
V_Hr Volumenstrom in den Radbremszylinder hinten rechts, eine rechnerische Zwischengröße
PO2 Öffnungsdruck des Druckbegrenzungsventils des Umschalt­ ventils 9
Pvor der vom Fahrer vorgegebene, gemessene Hauptbremszylinder­ druck (Vordruck).ASV2 = 1 Switching on the rear precharge pump and the self-priming return pump and the return valve and the changeover valve are energized
ASV2 = 0 Switch off the rear precharge pump and the self-priming return pump and the two valves are de-energized
PK2 k Back circle pressure at time k
V p volume flow, which is pumped, an arithmetic intermediate variable
V_Hl volume flow in the wheel brake cylinder at the rear left, a mathematical intermediate variable
V_Hr volume flow in the wheel brake cylinder at the rear right, a mathematical intermediate variable
PO2 Opening pressure of the pressure relief valve of the changeover valve 9
P in front of the master brake cylinder pressure specified by the driver (pre-pressure).

Die Druckänderung im hinteren Bremskreis wird durch die folgende Gleichung beschrieben:The pressure change in the rear brake circuit is determined by the following Equation described:

PK2k+1 - PK2k = k₁ * Vp - k₂ * V_Hl - k₃ * V-Hr (1).PK2 k + 1 - PK2 k = k₁ * V p - k₂ * V_Hl - k₃ * V-Hr (1).

Die Volumenströme in die Radbremszylinder können wie folgt abge­ schätzt werden:The volume flows in the wheel brake cylinder can be abge as follows be estimated:

V-Hl = k₄ * UK_Hl * (PK2k-PM_Hlk)
V_Hr = k₅* UK_Hr * (PK2k-PM_Hrk)V-Hl = k₄ * UK_Hl * (PK2 k -PM_Hl k )
V_Hr = k₅ * UK_Hr * (PK2 k -PM_Hr k )

ki: Konstanten, sie sind rechnerische Zwischengrößen
UK_Hx: Ansteuerzeit der EV-Ventile
PM_Hx: gemessene Drücke in den Radbremszylindernk i : constants, they are arithmetic intermediate values
UK_Hx: activation time of the EV valves
PM_Hx: measured pressures in the wheel brake cylinders

Da keine gemessenen Radbremszylinderdrücke vorliegen, werden die Schätzdrücke PS_x verwendet (aus dem Block 23).Since there are no measured wheel brake cylinder pressures, the estimated pressures PS_x are used (from block 23 ).

Unter der Annahme, daß der Volumenstrom der Pumpen konstant ist, erhält man für die Schätzung des Kreisdrucks das in den Parametern lineare Modell:Assuming that the volume flow of the pumps is constant, you get this for the estimation of the circular pressure in the parameters linear model:

PK2k+1 = PK2k + a₁ - a₂ * UK_Hl * (PK2k-PS_lk) - a3 * UK_Hr * (PK2k-PS_2k) + Pvor (2)PK2 k + 1 = PK2 k + a₁ - a₂ * UK_Hl * (PK2 k -PS_l k ) - a3 * UK_Hr * (PK2 k -PS_2 k ) + P before (2)

Der geschätzte Anteil ist dem Vordruck Pvor überlagert, falls ein solcher Vordruck vorhanden ist (gebremst wird):The estimated rate is superimposed on the upstream pressure P before, if such form is present (is braked):

mit Pvor PK2k+1 Pvor + PO2
mit a₁=k₁*Vp a₁ < 0 z. B. 30.0
a₂=k₂ * k₄ a₂ < 0 z. B. 0.0125
a₃=k₃ *k₅ a₃ < 0 z. B. 0.0125with P before PK2 k + 1 P before + PO2
with a₁ = k₁ * V p a₁ <0 z. B. 30.0
a₂ = k₂ * k₄ a₂ <0 z. B. 0.0125
a₃ = k₃ * k₅ a₃ <0 z. B. 0.0125

Die Gleichung (2) wird nur verwendet wenn ASV2 den Wert 1 hat, d. h. wenn der Kreisdruck aktiv erhöht wird.Equation (2) is only used if ASV2 has the value 1 , ie if the circuit pressure is actively increased.

Wenn die Pumpen abgeschaltet werden (ASV2 = 0), berechnet sich der Kreisdruck über die folgende Beziehung:If the pumps are switched off (ASV2 = 0), the Circular pressure over the following relationship:

PK2k+1 = a₄ * PK2k + a₅ + Pvor (3)PK2 k + 1 = a₄ * PK2 k + a₅ + P before (3)

mit 0 < a₄ < 1 z. B. 0.3
a₅ < 0 z. B. -0.1
mit Pk2k < Pvor.with 0 <a₄ <1 z. B. 0.3
a₅ <0 z. B. -0.1
with Pk2 k <P before .

Die Parameter ai können aus Messungen vorab mittels geeigneter Identifikationsverfahren bestimmt werden. In diesen Parametern werden alle Größen wie Abtastzeit, Pumpenleistung, Drossel- bzw. Leitungsquerschnitte usw. zusammengefaßt.The parameters a i can be determined from measurements beforehand using suitable identification methods. All parameters such as sampling time, pump output, throttle or line cross sections, etc. are summarized in these parameters.

Die Gleichungen (2) bzw. (3) können in ihrer Ordnung erhöht werden, um Nichtlinearitäten im unteren Druckbereich besser beschreiben zu können. (z. B. Erweiterung von Gleichung (2)The order of equations (2) and (3) can be increased, to better describe non-linearities in the lower pressure range can. (e.g. extension of equation (2)

Pk2k+1 = Pk2k + a₁ - a₂ UK_H2 (Pk2k - PS_1k) - a₃ × UK_Hr (Pk2k - PS_2k) + a₆ PKZk) + Pvor.Pk2 k + 1 = Pk2 k + a₁ - a₂ UK_H2 (Pk2 k - PS_1 k ) - a₃ × UK_Hr (Pk2 k - PS_2 k ) + a₆ PKZ k ) + P before .

Fig. 3 zeigt sowohl die beiden Radbremszylinderdrücke PS1 und PS2 als auch den gemessenen und geschätzten Hinterachskreisdruck PKgem und PK während eines ASR-Eingriffs innerhalb der Fahrdynamikregelung. Fig. 3 shows both the two wheel brake cylinder pressures PS1 and PS2 and the measured and estimated rear axle pressure PK gem and PK during an ASR intervention within the driving dynamics control.

Beim Einschalten der Pumpen (ASV2=1) folgt der geschätzte Kreisdruck dem gemessenen. Sobald die Einlaßventile sperren (UK = 0), wird die Kreisdruckänderung nur noch durch das geförderte Volumen der Pumpen bestimmt, was sich im steileren Druckgradienten während des Kreis­ druckaufbaus zeigt.When the pumps are switched on (ASV2 = 1), the estimated circuit pressure follows the measured. As soon as the inlet valves block (UK = 0), the Circular pressure change only through the pumped volume determines what is in the steeper pressure gradient during the circle pressure build-up shows.

Der Druck steigt solange bis das Druckbegrenzungsventil bei einem vorgegebenen Druck öffnet, und dieser somit nicht überschritten wer­ den kann.The pressure rises until the pressure relief valve at one opens the specified pressure, and thus does not exceed who that can.

Wird nun aufgrund der Radregelung ein größerer Druckaufbau in den Radbremszylindern verlangt, fließt entsprechendes Volumen in diese ab, und der Kreisdruck fällt deutlich ab.Is now due to the wheel control a larger pressure build-up in the Requires wheel brake cylinders, corresponding volume flows into them decreases, and the circular pressure drops significantly.

Auch dieses Verhalten wird vom Modell gut beschrieben.This behavior is also well described by the model.

Claims (2)

1. Bremsdruckregelsystem, bei dem aufgrund von Meß- und Schätzwer­ ten, wozu die Bremszylinderdrücke PS gehören, Sollbremsdrücke PS für die Radbremszylinder ermittelt werden, und bei dem aus den Soll­ drücken PS mittels eines inversen Hydraulikmodells Ansteuerzeiten UK für eine Einlaßventile aufweisende Hydraulik ermittelt werden, wobei weiterhin der Istdruck aus dem Bremskreisdruck und den An­ steuerzeiten der den einzelnen Bremsen zugeordneten Einlaß- und Auslaßventile mittels eines Hydraulikmodells abgeschätzt wird, dadurch gekennzeichnet, daß zur Erzeugung des Bremskreisdrucks eine Pumpe vorgesehen ist, die bei gefordertem Druckaufbau wirksam gemacht wird und dann einen konstanten Volumenstrom liefert und daß der Bremskreisdruck PK für jeden Bremskreis nach Maßgabe der fol­ genden Beziehungen geschätzt wird: PKk+1 = PKk + a₁ - a₂ × UK1 (PKk - PS1k) - a₃ × UK2 (PKk - PS2k) + Pvorwobei diese Beziehung bei gefordertem Druckaufbau an wenigstens einer der beiden Radbremsen gültig ist undPKk+1 = a₄ × PKk + a₅ + Pvorwobei diese Beziehung sonst gültig ist und wobei UK1 und UK2 die gemessenen Ventilansteuerzeiten der zu einem Bremskreis gehörenden Einlaßventile sind, PS1 und PS2 die geschätzten Istdrücke in den zugehörigen Radbremszylindern, Pvor der vom Fahrer gegebenenfalls vorgegeben gemessene Bremszylinderdruck und a1 bis a5 fahrzeug­ spezifische Konstante sind.1. Brake pressure control system in which, based on measured values and estimates, which include the brake cylinder pressures PS, target brake pressures PS for the wheel brake cylinders are determined, and in which, from the target pressures PS, actuation times UK for an intake valve hydraulic system are determined by means of an inverse hydraulic model, wherein the actual pressure from the brake circuit pressure and the timing of the intake and exhaust valves assigned to the individual brakes is estimated by means of a hydraulic model, characterized in that a pump is provided for generating the brake circuit pressure, which is activated when the pressure build-up is required and then a constant Volume flow delivers and that the brake circuit pressure PK is estimated for each brake circuit according to the following relationships: PK k + 1 = PK k + a₁ - a₂ × UK1 (PK k - PS1 k ) - a₃ × UK2 (PK k - PS2 k ) + P before where this relationship applies to at least one of the required pressure build-up is valid for both wheel brakes and PK k + 1 = a₄ × PK k + a₅ + P before where this relationship is otherwise valid and where UK1 and UK2 are the measured valve actuation times of the intake valves belonging to a brake circuit, PS1 and PS2 the estimated actual pressures in the associated wheel brake cylinders , P before the brake cylinder pressure measured by the driver and a1 to a5 are vehicle-specific constant. 2. Bremsdruckregelsystem nach Anspruch 1, dadurch gekennzeichnet, daß die bei gefordertem Druckaufbau (ASV = 2) gültige Beziehung um den Ausdruck + a₆ PKK erweitert ist.2. Brake pressure control system according to claim 1, characterized in that the relationship valid when the pressure build-up (ASV = 2) is extended by the expression + a₆ PK K.
DE19934340921 1993-12-01 1993-12-01 Brake pressure control system Expired - Fee Related DE4340921B4 (en)

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Cited By (26)

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DE19537258A1 (en) * 1994-10-27 1996-05-02 Ford Werke Ag Method and device for estimating the pressure in a hydraulically operated control device
DE19515048A1 (en) * 1994-11-25 1996-05-30 Teves Gmbh Alfred Regulator for motor vehicle ABS, ASR, braking force distribution (EBV) and yaw control (GMR)
DE19511694A1 (en) * 1995-03-30 1996-10-02 Teves Gmbh Alfred Brake system for motor vehicles
DE19521086A1 (en) * 1995-06-09 1996-12-12 Teves Gmbh Alfred Method for adjusting a predetermined, variable brake pressure in the wheel brakes of a brake system
DE19525985A1 (en) * 1995-07-17 1997-01-23 Bayerische Motoren Werke Ag Brake system for motor vehicles with a brake booster
DE19651760A1 (en) * 1995-12-13 1997-06-19 Fuji Heavy Ind Ltd Brake force control system and method
US5671143A (en) * 1994-11-25 1997-09-23 Itt Automotive Europe Gmbh Driving stability controller with coefficient of friction dependent limitation of the reference yaw rate
US5694321A (en) 1994-11-25 1997-12-02 Itt Automotive Europe Gmbh System for integrated driving stability control
US5735584A (en) * 1994-11-25 1998-04-07 Itt Automotive Europe Gmbh Process for driving stability control with control via pressure gradients
DE19640107A1 (en) * 1996-09-28 1998-04-09 Teves Gmbh Alfred Monitoring device for vehicle brake systems with a brake booster
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
WO1998029279A2 (en) * 1996-12-30 1998-07-09 Continental Teves Ag & Co. Ohg Method and device for steering or controlling a vehicle
WO1998043860A1 (en) 1997-03-27 1998-10-08 Robert Bosch Gmbh Method and device for determining a value representing the system pressure in a brake circuit
DE19737779A1 (en) * 1997-08-29 1999-03-04 Itt Mfg Enterprises Inc Brake cylinder pressure determination in braking system
WO1999064279A1 (en) 1998-06-05 1999-12-16 Robert Bosch Gmbh Method and device for modeling a hydraulic system and brake force regulating system
EP0947407A3 (en) * 1998-03-31 1999-12-22 Robert Bosch Gmbh Device and procedure for controlling at least one vehicle travel dynamic value
WO2000038966A1 (en) * 1998-12-28 2000-07-06 Robert Bosch Gmbh Method and device for determining the pressure in brake systems
WO2001051327A1 (en) * 2000-01-13 2001-07-19 Continental Teves Ag & Co. Ohg Method for increasing the manoeuvrability and driving stability of a vehicle during cornering
DE102004011517A1 (en) * 2003-03-12 2004-10-14 Continental Teves Ag & Co. Ohg Method of regulating vehicle brake control systems with anti-lock braking system and electronic stability program, where during anti-lock braking the hydraulic volume includes that in the low pressure reservoir
DE102004011518A1 (en) * 2003-03-12 2004-10-14 Continental Teves Ag & Co. Ohg Method of regulating vehicle brake control systems with anti-lock braking system and electronic stability program, where during anti-lock braking the hydraulic volume includes that in the low pressure reservoir
US6974195B2 (en) 2000-01-13 2005-12-13 Continental Teves Ag & Co. Ohg Method for increasing the maneuverability or driving stability of a vehicle during cornering
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DE102012004894A1 (en) * 2012-03-09 2013-09-12 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Braking force generator for brake system of rail vehicle, provides surface contact pressure to brake lining, such that surface contact pressure is modified by auxiliary power source connected to braking force generator or brake lining
DE19825113B4 (en) * 1998-06-05 2014-08-07 Robert Bosch Gmbh A method and a microprocessor controller for determining a pressure change in a hydraulic system

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DE19515048A1 (en) * 1994-11-25 1996-05-30 Teves Gmbh Alfred Regulator for motor vehicle ABS, ASR, braking force distribution (EBV) and yaw control (GMR)
US5862503A (en) 1994-11-25 1999-01-19 Itt Automotive Europe Gmbh System for driving stability control
US5671143A (en) * 1994-11-25 1997-09-23 Itt Automotive Europe Gmbh Driving stability controller with coefficient of friction dependent limitation of the reference yaw rate
US5694321A (en) 1994-11-25 1997-12-02 Itt Automotive Europe Gmbh System for integrated driving stability control
US5735584A (en) * 1994-11-25 1998-04-07 Itt Automotive Europe Gmbh Process for driving stability control with control via pressure gradients
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
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DE19521086A1 (en) * 1995-06-09 1996-12-12 Teves Gmbh Alfred Method for adjusting a predetermined, variable brake pressure in the wheel brakes of a brake system
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US5842751A (en) * 1995-07-17 1998-12-01 Bayerische Motoren Werke Ag Brake system for motor vehicles having a brake power assist unit
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DE19651760B4 (en) * 1995-12-13 2005-10-27 Fuji Jukogyo K.K. System and method for braking force control
DE19651760A1 (en) * 1995-12-13 1997-06-19 Fuji Heavy Ind Ltd Brake force control system and method
DE19640107A1 (en) * 1996-09-28 1998-04-09 Teves Gmbh Alfred Monitoring device for vehicle brake systems with a brake booster
EP1285808A1 (en) * 1996-12-30 2003-02-26 Continental Teves AG & Co. oHG Method and means of controlling and regulating a vehicle
WO1998029279A2 (en) * 1996-12-30 1998-07-09 Continental Teves Ag & Co. Ohg Method and device for steering or controlling a vehicle
WO1998029279A3 (en) * 1996-12-30 1999-02-18 Itt Mfg Enterprises Inc Method and device for steering or controlling a vehicle
WO1998043860A1 (en) 1997-03-27 1998-10-08 Robert Bosch Gmbh Method and device for determining a value representing the system pressure in a brake circuit
US6273525B1 (en) 1997-03-27 2001-08-14 Robert Bosch Gmbh Method and device for determining a value representing the system pressure in a brake circuit
DE19729097B4 (en) * 1997-07-08 2006-07-20 Robert Bosch Gmbh Method and device for controlling a brake system
DE19737779B4 (en) * 1997-08-29 2013-03-07 Continental Teves Ag & Co. Ohg Method and device for determining the brake cylinder pressure
DE19737779A1 (en) * 1997-08-29 1999-03-04 Itt Mfg Enterprises Inc Brake cylinder pressure determination in braking system
US6749270B1 (en) 1998-03-31 2004-06-15 Robert Bosch Gmbh Device and method for controlling at least one operating-dynamics variable of a vehicle in a closed loop
EP0947407A3 (en) * 1998-03-31 1999-12-22 Robert Bosch Gmbh Device and procedure for controlling at least one vehicle travel dynamic value
US6682154B1 (en) 1998-06-05 2004-01-27 Robert Bosch Gmbh Method and device for modeling a hydraulic system and brake force regulating system
WO1999064279A1 (en) 1998-06-05 1999-12-16 Robert Bosch Gmbh Method and device for modeling a hydraulic system and brake force regulating system
DE19825113B4 (en) * 1998-06-05 2014-08-07 Robert Bosch Gmbh A method and a microprocessor controller for determining a pressure change in a hydraulic system
US6446490B1 (en) 1998-12-28 2002-09-10 Robert Bosch Gmbh Method and device for determining the pressure in brake systems
WO2000038966A1 (en) * 1998-12-28 2000-07-06 Robert Bosch Gmbh Method and device for determining the pressure in brake systems
WO2001051327A1 (en) * 2000-01-13 2001-07-19 Continental Teves Ag & Co. Ohg Method for increasing the manoeuvrability and driving stability of a vehicle during cornering
US6974195B2 (en) 2000-01-13 2005-12-13 Continental Teves Ag & Co. Ohg Method for increasing the maneuverability or driving stability of a vehicle during cornering
DE102004011517A1 (en) * 2003-03-12 2004-10-14 Continental Teves Ag & Co. Ohg Method of regulating vehicle brake control systems with anti-lock braking system and electronic stability program, where during anti-lock braking the hydraulic volume includes that in the low pressure reservoir
DE102004011518A1 (en) * 2003-03-12 2004-10-14 Continental Teves Ag & Co. Ohg Method of regulating vehicle brake control systems with anti-lock braking system and electronic stability program, where during anti-lock braking the hydraulic volume includes that in the low pressure reservoir
DE102012004894A1 (en) * 2012-03-09 2013-09-12 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Braking force generator for brake system of rail vehicle, provides surface contact pressure to brake lining, such that surface contact pressure is modified by auxiliary power source connected to braking force generator or brake lining

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