EP2496453A1 - Method for carrying out an emergency braking procedure in a vehicle - Google Patents

Method for carrying out an emergency braking procedure in a vehicle

Info

Publication number
EP2496453A1
EP2496453A1 EP10771081A EP10771081A EP2496453A1 EP 2496453 A1 EP2496453 A1 EP 2496453A1 EP 10771081 A EP10771081 A EP 10771081A EP 10771081 A EP10771081 A EP 10771081A EP 2496453 A1 EP2496453 A1 EP 2496453A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
emergency
electric actuator
brake
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10771081A
Other languages
German (de)
French (fr)
Inventor
Oliver Leibfried
Oliver Schmautz
Christian Doberschuetz
Ralph Lauxmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2496453A1 publication Critical patent/EP2496453A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60T8/404—Control of the pump unit
    • B60T8/4059—Control of the pump unit involving the rate of delivery
    • 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
    • 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

Definitions

  • the invention relates to a method for carrying out an emergency braking operation in a vehicle according to the preamble of claim 1.
  • driver assistance systems such as, for example, electronic stability programs (ESP) automatically undertake an intervention to stabilize the vehicle in critical driving situations.
  • ESP electronic stability programs
  • a major requirement for the driver assistance system is the rapid provision of a high vehicle deceleration.
  • the hydraulic brake systems usually installed in vehicles this means that in the shortest possible time a high brake pressure must be built up, which can reach up to the blocking pressure level of the wheels.
  • the pressure build-up dynamics or the maximum deceleration gradient are limited by the maximum available, hydraulic delivery rate of a hydraulic pump in the brake circuit.
  • the invention has for its object to perform an emergency braking operation in a vehicle with simple and cost-effective measures to be performed. This object is achieved according to the invention with the features of the claim.
  • the dependent claims indicate expedient developments.
  • the method according to the invention for carrying out an emergency braking operation in a vehicle requires an electric actuator in the brake system, upon the actuation of which braking force is generated in the brake system.
  • the electrical actuator is controlled via control signals of a control or control device, which are generated as a function of environmental information or the currentyedzu- state.
  • the environmental information is provided either by means of an environment sensor system in the vehicle, which includes, for example, radar, visual or optical sensors, or externally supplied to the vehicle, for example via a navigation system or via a vehicle-to-vehicle communication device.
  • an inertial sensor in the vehicle current state variables can be determined, which are based on the generation of the control signals for the at least one electric actuator.
  • the method according to the invention relates exclusively to an emergency braking operation which is carried out in an emergency situation, in particular in the case of an imminent or already occurred accident.
  • the electric actuator is activated via the control signals of the control or control device to reduce the consequences of accidents.
  • the emergency on which the emergency braking is based is determined by means of the above-described sensors or communication devices. It is possible to trigger the emergency braking process by coupling to the triggering of another, an accident situation characterizing unit such as the triggering of an airbag.
  • the at least one electric actuator in the brake system is acted on by a maximum voltage which exceeds the rated voltage of the actuator, which characterizes the maximum value of the electrical voltage in the actuator during normal operation.
  • the rated voltage is at least the same size, but usually greater than the rated electrical voltage of the actuator.
  • the electric actuator in the brake system With the maximum voltage exceeding the rated voltage, a targeted over-energization of the actuator is brought about, whereby the desired braking force build-up dynamics is achieved, ie both the provision of a certain braking force in the shortest possible time and the desired high braking force level.
  • the electrical actuator undergoes damage and, if necessary, becomes inoperable after completion of the fürbestromungsvorgangs.
  • the emergency situation which is usually associated with vehicle damage in the event of accidents, this consequence can be accepted, since the other damage usually exceeds the damage caused by the overcurrent of the actuator.
  • the high braking force dynamics can contribute to a reduction in accident damage.
  • the Matterbestromung invention of the electric actuator in the brake system allows at least once the provision of a short-term braking force dynamics, which can otherwise only be achieved with larger sized electric actuators. Since the emergency braking process is a special situation, damage to the actuator is accepted by the overcurrent. The installation of larger sized actuators can thus be dispensed with.
  • the electric actuator is in particular an electric pump motor, which is installed in a hydraulic pump or drives a hydraulic pump, which acts on a hydraulic fluid in the hydraulic brake circuit with a desired pressure.
  • the electric pump motor is subjected to a maximum voltage, which leads to the desired higher engine power and thus to a faster and higher pressure build-up in the hydraulic brake system.
  • the achievable in this way hydraulic delivery is significantly above the nominal values in normal operation.
  • the method for performing the emergency braking operation runs in a Regel upon. Control unit in which, as described above, the control signals for driving the electric actuator are generated.
  • the control unit is installed in the vehicle and may be part of a driver assistance system in the vehicle or communicate with such a driver assistance system, for example with an electronic stability program (ESP).
  • ESP electronic stability program
  • About the driver assistance system is achieved in the emergency situation automatically by the overcurrent of the electric actuator faster and higher braking force dynamics.
  • FIG. 1 shows a hydraulic circuit diagram of a vehicle brake system with a front-axle brake circuit and a rear-axle brake circuit and with an electronic stability program, which comprises an electric pump unit,
  • FIG. 2 is a schematic representation of a pump motor which is supplied via the regular electrical system in the vehicle with electrical voltage, with an additional energy storage is switchable for a higher voltage supply in emergency situations,
  • the power supply for the pump motor in a further embodiment in which can be switched between the regular electrical system and the energy storage for the maximum voltage.
  • the illustrated in the hydraulic circuit diagram of FIG. 1 hydraulic brake system in a brake system 1 has a Vorderachsbremsnik 2 and a Wegachsbremsnik 3 for supplying Radbremsvorraumen 8 and 9 on the front wheels and 10 and 1 1 on the rear wheels with hydraulic brake fluid.
  • the two brake circuits 2, 3 are connected to a common master cylinder 4, which is supplied via a brake fluid reservoir 5 with brake fluid.
  • the master cylinder 4 is actuated by the driver via the brake pedal 6, the pedal travel exerted by the driver is measured via a pedal travel sensor 7.
  • a switching valve 12 is arranged, which lies in the flow path between the master cylinder and the respective wheel brake devices 8 and 9 or 10 and 1 1.
  • the changeover valves 12 are opened in their currentless basic position.
  • Each switching valve 12 is associated with a parallel-connected check valve, which can be flowed through in the direction of the respective wheel brake devices.
  • inlet valves 13 which are also normally open and which are associated with check valves, which in the opposite direction, ie can be flowed through by the wheel brake devices in the direction of the master cylinder.
  • Each wheel brake device 8, 9 or 10, 1 1 is assigned to an outlet valve 14, which is normally closed.
  • the exhaust valves 14 are each connected to the suction side of a pump unit 15, which has a pump 18 or 19 in each brake circuit 2, 3.
  • the pump unit is associated with an electric drive or pump motor 22 which actuates both pumps 18 and 19 via a shaft 13.
  • the pressure side of the pump 18 or 19 is connected to a line section between the switching valve 12 and the two inlet valves 13 per
  • the suction sides of the pumps 18 and 19 are each connected to a main switching valve 24 which is hydraulically connected to the master cylinder 4.
  • the main switching valves 24 closed in the de-energized state can be opened for a rapid buildup of brake pressure so that the pumps 18 and 19 draw in hydraulic fluid directly from the master brake cylinder 4.
  • This brake pressure build-up can be carried out independently of an actuation of the brake system by the driver.
  • the pump unit 15 with the two individual pumps 18 and 19, the electric pump motor 22 and the shaft 23 belongs to a driver assistance system and in particular forms an electronic stability program (ESP).
  • ESP electronic stability program
  • Each hydraulic accumulator 25 is associated with a check valve which opens in the direction of the suction sides of the pumps 18, 19.
  • each brake circuit 2 3 in the wheel brake devices 8, 9 and 10, 1 1 each have a pressure sensor 26.
  • a further pressure sensor 27 is arranged in the brake circuit 2 adjacent to the master cylinder 4. 2 and 3, the voltage supply of the electric pump motor 2 is shown.
  • the electric pump motor 2 is supplied via the vehicle electrical system 30 of the vehicle from a vehicle battery 32 with nominal electrical voltage.
  • the rated voltage is below the rated voltage, which denotes the maximum value of the electrical voltage in normal operation.
  • the electric pump motor 22 is associated with a switch 31, via which the pump motor is switched on and off.
  • a further switch 35 can be used to switch over between the vehicle electrical system and an extension in the vehicle electrical system, in which case an additional electrical energy store 33 is connected, which is connected to the vehicle electrical system via a step-up converter 34.
  • the electrical pump motor 22 In the position of the switch 35 which switches on the electrical energy store 33, the electrical pump motor 22 is supplied with a maximum voltage which is above the rated voltage.
  • this occurs only in emergency situations, in particular in the case of an imminent or just occurred accident, in order to achieve an overflow of the electric pump motor 22 and, consequently, a higher power of the engine. This leads to an improved pressure build-up dynamics in the hydraulic brake system, so that a higher hydraulic pressure is set within a shorter time.
  • the power supply for the electric pump motor 22 is shown in a variant embodiment.
  • the electric pump motor 22 is fed via the vehicle electrical system 30 with voltage from the vehicle battery 32.
  • the energy storage 33 is executed, which is associated with the boost converter 34. With the switching of the switch 35 from the electrical system to the electrical energy storage 33, the higher compared to the rated voltage maximum voltage comes into play, with which the pump motor 22 is acted upon.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

In a method for carrying out an emergency braking procedure in a vehicle, at least one electric actuator in the braking system is automatically actuated to generate increased braking force in the case of an emergency situation. The electric actuator is supplied with a maximum voltage, which exceeds the rated voltage of the actuator.

Description

Beschreibung  description
Titel title
Verfahren zur Durchführung eines Notbremsvorgangs in einem Fahrzeug Die Erfindung bezieht sich auf ein Verfahren zur Durchführung eines Notbremsvorgangs in einem Fahrzeug nach dem Oberbegriff des Anspruches 1 .  The invention relates to a method for carrying out an emergency braking operation in a vehicle according to the preamble of claim 1.
Stand der Technik Bekannt sind Fahrerassistenzsysteme wie zum Beispiel elektronische Stabilitätsprogramme (ESP), die in fahrdynamisch kritischen Situationen selbsttätig einen Eingriff zur Stabilisierung des Fahrzeugs vornehmen. Zu den möglichen Maßnahmen, die über das Fahrerassistenzsystem ergriffen werden, gehört ein Eingriff in das Bremssystem des Fahrzeugs, wobei eine Hauptanforderung an das Fahrerassistenzsystem in der schnellen Bereitstellung einer hohen Fahrzeugverzögerung liegt. Bei den üblicherweise in Fahrzeugen verbauten hydraulischen Bremssystemen bedeutet dies, dass in möglichst kurzer Zeit ein hoher Bremsdruck aufgebaut werden muss, der bis zum Blockierdruckniveau der Räder reichen kann. Die Druckaufbaudynamik bzw. der maximale Verzögerungsgradient sind jedoch durch die maximal zur Verfügung stehende, hydraulische Förderleistung einer Hydraulikpumpe im Bremskreis begrenzt. PRIOR ART Known driver assistance systems, such as, for example, electronic stability programs (ESP), automatically undertake an intervention to stabilize the vehicle in critical driving situations. Among the possible measures taken via the driver assistance system is an intervention in the braking system of the vehicle, wherein a major requirement for the driver assistance system is the rapid provision of a high vehicle deceleration. In the hydraulic brake systems usually installed in vehicles, this means that in the shortest possible time a high brake pressure must be built up, which can reach up to the blocking pressure level of the wheels. However, the pressure build-up dynamics or the maximum deceleration gradient are limited by the maximum available, hydraulic delivery rate of a hydraulic pump in the brake circuit.
Insbesondere in Unfallsituationen kann jedoch ein sehr rascher und hoher Bremsdruckaufbau gewünscht sein, wofür entsprechend dimensionierte Hydrau- likpumpen erforderlich sind. However, especially in accident situations, a very rapid and high brake pressure build-up may be desired, for which correspondingly dimensioned hydraulic pumps are required.
Offenbarung der Erfindung Disclosure of the invention
Der Erfindung liegt die Aufgabe zugrunde, mit einfachen sowie kostengünstig durchzuführenden Maßnahmen einen Notbremsvorgang in einem Fahrzeug durchzuführen. Diese Aufgabe wird erfindungsgemäß mit den Merkmalen des Anspruch löst. Die Unteransprüche geben zweckmäßige Weiterbildungen an. Das erfindungsgemäße Verfahren zur Durchführung eines Notbremsvorgangs in einem Fahrzeug setzt ein elektrisches Stellglied im Bremssystem voraus, bei dessen Betätigung Bremskraft im Bremssystem erzeugt wird. Das elektrische Stellglied wird über Stellsignale eines Regel- bzw. Steuergeräts angesteuert, die in Abhängigkeit von Umgebungsinformationen bzw. des aktuellen Fahrzeugzu- Stands generiert werden. Die Umgebungsinformationen werden entweder mithilfe einer Umfeldsensorik im Fahrzeug bereitgestellt, die beispielsweise Radar-, Li- dar- oder optische Sensoren umfasst, oder von außen dem Fahrzeug zugeführt, beispielsweise über ein Navigationssystem oder über eine Fahrzeug-zuFahrzeug-Kommunikationseinrichtung. Mittels einer Inertialsensorik im Fahrzeug können aktuelle Zustandsgrößen ermittelt werden, die der Erzeugung der Stellsignale für das mindestens eine elektrische Stellglied zugrunde gelegt werden. The invention has for its object to perform an emergency braking operation in a vehicle with simple and cost-effective measures to be performed. This object is achieved according to the invention with the features of the claim. The dependent claims indicate expedient developments. The method according to the invention for carrying out an emergency braking operation in a vehicle requires an electric actuator in the brake system, upon the actuation of which braking force is generated in the brake system. The electrical actuator is controlled via control signals of a control or control device, which are generated as a function of environmental information or the current Fahrzeugzu- state. The environmental information is provided either by means of an environment sensor system in the vehicle, which includes, for example, radar, visual or optical sensors, or externally supplied to the vehicle, for example via a navigation system or via a vehicle-to-vehicle communication device. By means of an inertial sensor in the vehicle current state variables can be determined, which are based on the generation of the control signals for the at least one electric actuator.
Das erfindungsgemäße Verfahren bezieht sich ausschließlich auf einen Notbremsvorgang, der in einer Notsituation durchgeführt wird, insbesondere im Falle eines unmittelbar bevorstehenden oder bereits eingetretenen Unfalls. In dieserThe method according to the invention relates exclusively to an emergency braking operation which is carried out in an emergency situation, in particular in the case of an imminent or already occurred accident. In this
Situation wird das elektrische Stellglied über die Stellsignale des Regel- bzw. Steuergeräts aktiviert, um die Unfallfolgen zu mindern. Situation, the electric actuator is activated via the control signals of the control or control device to reduce the consequences of accidents.
Der Notfall, der dem Notbremsvorgang zugrunde liegt, wird mithilfe der vorbe- schriebenen Sensorik bzw. Kommunikationseinrichtungen festgestellt. Möglich ist das Auslösen des Notbremsvorganges auch durch Koppelung an das Auslösen eines weiteren, eine Unfallsituation kennzeichnenden Aggregats wie zum Beispiel das Auslösen eines Airbags. Erfindungsgemäß ist vorgesehen, dass das mindestens eine elektrische Stellglied im Bremssystem mit einer Maximalspannung beaufschlagt wird, die die Bemessungsspannung des Stellglieds übersteigt, welche den maximalen Wert der elektrischen Spannung im Stellglied im Normalbetrieb kennzeichnet. Die Bemessungsspannung ist zumindest gleich groß, üblicherweise aber größer als die elektrische Nennspannung des Stellglieds. Durch die Beaufschlagung des elektrischen Stellglieds im Bremssystem mit der die Bemessungsspannung übersteigenden Maximalspannung wird eine gezielte Überbestromung des Stellglieds herbeigeführt, wodurch die gewünschte Bremskraftaufbaudynamik erreicht wird, also sowohl die Bereitstellung einer bestimm- ten Bremskraft in möglichst kurzer Zeit als auch das gewünschte hohe Bremskraftniveau. Hierbei wird in Kauf genommen, dass aufgrund der Überbestromung das elektrische Stellglied eine Schädigung erfährt und gegebenenfalls nach Beendigung des Überbestromungsvorgangs funktionsuntüchtig wird. Aufgrund der Notfallsituation, die bei Unfällen in der Regel ohnehin mit einer Fahrzeugbeschä- digung einhergeht, kann diese Folge jedoch in Kauf genommen werden, da die sonstigen Schäden üblicherweise den durch die Überbestromung des Stellglieds ausgelösten Schaden übersteigen. Im Übrigen kann die hohe Bremskraftaufbaudynamik zu einer Reduzierung der Unfallschäden beitragen. Die erfindungsgemäße Überbestromung des elektrischen Stellglieds im Bremssystem erlaubt zumindest einmalig die Bereitstellung einer kurzzeitigen Bremskraftaufbaudynamik, die sonst nur mit größer dimensionierten elektrischen Stellgliedern erreicht werden kann. Da es sich bei dem Notbremsvorgang um eine Sondersituation handelt, wird die Beschädigung des Stellglieds durch die Über- bestromung in Kauf genommen. Auf den Einbau größer dimensionierter Stellglieder kann somit verzichtet werden kann. The emergency on which the emergency braking is based is determined by means of the above-described sensors or communication devices. It is possible to trigger the emergency braking process by coupling to the triggering of another, an accident situation characterizing unit such as the triggering of an airbag. According to the invention, it is provided that the at least one electric actuator in the brake system is acted on by a maximum voltage which exceeds the rated voltage of the actuator, which characterizes the maximum value of the electrical voltage in the actuator during normal operation. The rated voltage is at least the same size, but usually greater than the rated electrical voltage of the actuator. By applying the electric actuator in the brake system with the maximum voltage exceeding the rated voltage, a targeted over-energization of the actuator is brought about, whereby the desired braking force build-up dynamics is achieved, ie both the provision of a certain braking force in the shortest possible time and the desired high braking force level. In this case, it is accepted that due to the overcurrent, the electrical actuator undergoes damage and, if necessary, becomes inoperable after completion of the Überbestromungsvorgangs. However, due to the emergency situation, which is usually associated with vehicle damage in the event of accidents, this consequence can be accepted, since the other damage usually exceeds the damage caused by the overcurrent of the actuator. Incidentally, the high braking force dynamics can contribute to a reduction in accident damage. The Überbestromung invention of the electric actuator in the brake system allows at least once the provision of a short-term braking force dynamics, which can otherwise only be achieved with larger sized electric actuators. Since the emergency braking process is a special situation, damage to the actuator is accepted by the overcurrent. The installation of larger sized actuators can thus be dispensed with.
Im Falle eines hydraulischen Bremssystems handelt es sich bei dem elektrischen Stellglied insbesondere um einen elektrischen Pumpenmotor, der in einer Hyd- raulikpumpe eingebaut ist bzw. eine Hydraulikpumpe antreibt, welche Hydrau- likfluid im hydraulischen Bremskreis mit einem gewünschten Druck beaufschlagt. Der elektrische Pumpenmotor wird in der Notsituation mit einer Maximalspannung beaufschlagt, die zu der gewünschten höheren Motorleistung und damit zu einem schnelleren und höheren Druckaufbau im hydraulischen Bremssystem führt. Die auf diese Weise erzielbare hydraulische Förderleistung liegt signifikant über den Nennwerten im Normalbetriebsfall. In the case of a hydraulic brake system, the electric actuator is in particular an electric pump motor, which is installed in a hydraulic pump or drives a hydraulic pump, which acts on a hydraulic fluid in the hydraulic brake circuit with a desired pressure. In the emergency situation, the electric pump motor is subjected to a maximum voltage, which leads to the desired higher engine power and thus to a faster and higher pressure build-up in the hydraulic brake system. The achievable in this way hydraulic delivery is significantly above the nominal values in normal operation.
Grundsätzlich kommen auch sonstige elektrische Stellglieder in Fahrzeug- Bremssystemen in Betracht, die direkt oder indirekt die Bremskraftaufbaudynamik beeinflussen. Möglich sind beispielsweise elektrisch betätigbare Keilbremsen oder auch Scheibenbremsen mit elektromotorisch verstellbaren Bremsbacken. Um die Energieversorgung zur Bereitstellung der Maximalspannung sicherzustellen, kann ein zusätzlicher Energiespeicher vorgesehen sein, der in Notbremssituationen zugeschaltet wird. Hierbei kommt sowohl eine Ausführung in Betracht, bei der zwischen dem regulären Bordnetz im Fahrzeug zur Spannungsversorgung in Normalsituationen und im zusätzlichen Energiespeicher zur Spannungsversorgung in Notsituationen umgeschaltet wird, als auch Ausführungen, in denen der Energiespeicher in Notsituationen dem regulären Bordnetz aufgeschaltet wird, so dass sich die Spannungen addieren. Beide Varianten bieten den Vorteil, dass herkömmliche Bordnetze zur Spannungsversorgung verwendet werden können, die lediglich um den zusätzlichen Energiespeicher zur Spannungsversorgung in Notfallsituationen ergänzt werden müssen. In principle, other electrical actuators in vehicle brake systems come into consideration, which directly or indirectly influence the brake force build-up dynamics. Possible, for example, electrically actuated wedge brakes or disc brakes with electric motor adjustable brake shoes. To ensure the power supply to provide the maximum voltage, an additional energy storage can be provided, which is switched on in emergency braking situations. In this case, both a design is considered in which is switched between the regular electrical system in the vehicle for power supply in normal situations and in the additional energy storage for power supply in emergency situations, as well as versions in which the energy storage is connected to the regular electrical system in emergency situations, so that add the voltages. Both variants have the advantage that conventional electrical systems can be used for power supply, which only need to be supplemented by the additional energy storage for power supply in emergency situations.
Das Verfahren zur Durchführung des Notbremsvorgangs läuft in einem Regelbzw. Steuergerät ab, in welchem wie vorbeschrieben die Stellsignale zur Ansteu- erung des elektrischen Stellglieds erzeugt werden. Das Regel- bzw. Steuergerät ist im Fahrzeug verbaut und kann Teil eines Fahrerassistenzsystems im Fahrzeug sein oder mit einem derartigen Fahrerassistenzsystem kommunizieren, beispielsweise mit einem elektronischen Stabilitätsprogramm (ESP). Über das Fahrerassistenzsystem wird in der Notsituation selbsttätig durch die Überbestromung des elektrischen Stellglieds eine schnellere und höhere Bremskraftaufbaudynamik erzielt. The method for performing the emergency braking operation runs in a Regelbzw. Control unit in which, as described above, the control signals for driving the electric actuator are generated. The control unit is installed in the vehicle and may be part of a driver assistance system in the vehicle or communicate with such a driver assistance system, for example with an electronic stability program (ESP). About the driver assistance system is achieved in the emergency situation automatically by the overcurrent of the electric actuator faster and higher braking force dynamics.
Weitere Vorteile und zweckmäßige Ausführungen sind den weiteren Ansprüchen, der Figurenbeschreibung und den Zeichnungen zu entnehmen. Es zeigen: Further advantages and expedient embodiments can be taken from the further claims, the description of the figures and the drawings. Show it:
Fig. 1 einen hydraulischen Schaltplan einer Fahrzeugbremsanlage mit einem Vorderachsbremskreis und einem Hinterachsbremskreis sowie mit einem elektronischen Stabilitätsprogramm, welches eine elektrische Pumpeneinheit umfasst, 1 shows a hydraulic circuit diagram of a vehicle brake system with a front-axle brake circuit and a rear-axle brake circuit and with an electronic stability program, which comprises an electric pump unit,
Fig. 2 in schematischer Darstellung einen Pumpenmotor, der über das reguläre Bordnetz im Fahrzeug mit elektrischer Spannung versorgt wird, wobei für eine höhere Spannungsversorgung in Notsituationen ein zusätzlicher Energiespeicher zuschaltbar ist, 2 is a schematic representation of a pump motor which is supplied via the regular electrical system in the vehicle with electrical voltage, with an additional energy storage is switchable for a higher voltage supply in emergency situations,
Fig. 3 die Spannungsversorgung für den Pumpenmotor in einer weiteren Ausführungsvariante, bei der zwischen dem regulären Bordnetz und dem Energiespeicher für die Maximalspannung umgeschaltet werden kann. Fig. 3, the power supply for the pump motor in a further embodiment in which can be switched between the regular electrical system and the energy storage for the maximum voltage.
Das im Hydraulikschaltplan gemäß Fig. 1 dargestellte hydraulische Bremssystem in einer Bremsanlage 1 weist einen Vorderachsbremskreis 2 und einen Hinterachsbremskreis 3 zur Versorgung von Radbremsvorrichtungen 8 und 9 an den Vorderrädern bzw. 10 und 1 1 an den Hinterrädern mit hydraulischem Bremsfluid auf. Die beiden Bremskreise 2, 3 sind an einem gemeinsamen Hauptbremszylinder 4 angeschlossen, der über einen Bremsflüssigkeitsvorratsbehälter 5 mit Bremsfluid versorgt wird. Der Hauptbremszylinder 4 wird vom Fahrer über das Bremspedal 6 betätigt, der vom Fahrer ausgeübte Pedalweg wird über einen Pedalwegsensor 7 gemessen. The illustrated in the hydraulic circuit diagram of FIG. 1 hydraulic brake system in a brake system 1 has a Vorderachsbremskreis 2 and a Hinterachsbremskreis 3 for supplying Radbremsvorrichtungen 8 and 9 on the front wheels and 10 and 1 1 on the rear wheels with hydraulic brake fluid. The two brake circuits 2, 3 are connected to a common master cylinder 4, which is supplied via a brake fluid reservoir 5 with brake fluid. The master cylinder 4 is actuated by the driver via the brake pedal 6, the pedal travel exerted by the driver is measured via a pedal travel sensor 7.
In jedem Bremskreis 2, 3 ist ein Umschaltventil 12 angeordnet, das im Strömungsweg zwischen dem Hauptbremszylinder und den jeweiligen Radbremsvorrichtungen 8 und 9 bzw. 10 und 1 1 liegt. Die Umschaltventile 12 sind in ihrer stromlosen Grundstellung geöffnet. Jedem Umschaltventil 12 ist ein parallel geschaltetes Rückschlagventil zugeordnet, das in Richtung der jeweiligen Radbremsvorrichtungen durchströmbar ist. In each brake circuit 2, 3, a switching valve 12 is arranged, which lies in the flow path between the master cylinder and the respective wheel brake devices 8 and 9 or 10 and 1 1. The changeover valves 12 are opened in their currentless basic position. Each switching valve 12 is associated with a parallel-connected check valve, which can be flowed through in the direction of the respective wheel brake devices.
Zwischen den Umschaltventilen 12 und den jeweiligen Radbremsvorrichtungen 8, 9 bzw. 10, 1 1 befinden sich Einlassventile 13, die ebenfalls stromlos geöffnet und denen Rückschlagventile zugeordnet sind, welche in Gegenrichtung, also von den Radbremsvorrichtungen in Richtung zum Hauptbremszylinder durchströmbar sind. Between the switching valves 12 and the respective wheel brake devices 8, 9 and 10, 1 1 are inlet valves 13, which are also normally open and which are associated with check valves, which in the opposite direction, ie can be flowed through by the wheel brake devices in the direction of the master cylinder.
Jeder Radbremsvorrichtung 8, 9 bzw. 10, 1 1 ist jeweils ein Auslassventil 14 zu- geordnet, das stromlos geschlossen ist. Die Auslassventile 14 sind jeweils mit der Saugseite einer Pumpeneinheit 15 verbunden, die in jeden Bremskreis 2, 3 eine Pumpe 18 bzw. 19 aufweist. Der Pumpeneinheit ist ein elektrischer Antriebs- bzw. Pumpenmotor 22 zugeordnet, der über eine Welle 13 beide Pumpen 18 und 19 betätigt. Die Druckseite der Pumpe 18 bzw. 19 ist an einen Leitungs- abschnitt zwischen dem Umschaltventil 12 und den beiden Einlassventilen 13 proEach wheel brake device 8, 9 or 10, 1 1 is assigned to an outlet valve 14, which is normally closed. The exhaust valves 14 are each connected to the suction side of a pump unit 15, which has a pump 18 or 19 in each brake circuit 2, 3. The pump unit is associated with an electric drive or pump motor 22 which actuates both pumps 18 and 19 via a shaft 13. The pressure side of the pump 18 or 19 is connected to a line section between the switching valve 12 and the two inlet valves 13 per
Bremskreis angeschlossen. Brake circuit connected.
Die Saugseiten der Pumpen 18 und 19 sind jeweils mit einem Hauptschaltventil 24 verbunden, das an den Hauptbremszylinder 4 hydraulisch angeschlossen ist. Bei einem fahrdynamischen Regeleingriff können für einen schnellen Bremsdruckaufbau die im stromlosen Zustand geschlossenen Hauptschaltventile 24 geöffnet werden, so dass die Pumpen 18 und 19 unmittelbar aus dem Hauptbremszylinder 4 Hydraulikfluid ansaugen. Dieser Bremsdruckaufbau kann unabhängig von einer Betätigung der Bremsanlage durch den Fahrer durchgeführt werden. Die Pumpeneinheit 15 mit den beiden Einzelpumpen 18 und 19, dem e- lektrischen Pumpenmotor 22 und der Welle 23 gehört zu einem Fahrerassistenzsystem und bildet insbesondere ein elektronisches Stabilitätsprogramm (ESP). The suction sides of the pumps 18 and 19 are each connected to a main switching valve 24 which is hydraulically connected to the master cylinder 4. In a vehicle dynamic control intervention, the main switching valves 24 closed in the de-energized state can be opened for a rapid buildup of brake pressure so that the pumps 18 and 19 draw in hydraulic fluid directly from the master brake cylinder 4. This brake pressure build-up can be carried out independently of an actuation of the brake system by the driver. The pump unit 15 with the two individual pumps 18 and 19, the electric pump motor 22 and the shaft 23 belongs to a driver assistance system and in particular forms an electronic stability program (ESP).
Zwischen den Auslassventilen 14 und der Saugseite der Pumpen 18 und 19 be- findet sich pro Bremskreis 2, 3 ein Hydrospeicher 25, der zur Zwischenspeiche- rung von Bremsflüssigkeit dient, welche während eines fahrdynamischen Eingriffs durch die Auslassventile 14 aus den Radbremsvorrichtungen 8, 9 bzw. 10, 1 1 ausgelassen wird. Jedem Hydrospeicher 25 ist ein Rückschlagventil zugeordnet, das in Richtung der Saugseiten der Pumpen 18, 19 öffnet. Between the outlet valves 14 and the suction side of the pumps 18 and 19, there is one hydraulic accumulator 25 per brake circuit 2, 3, which serves for the intermediate storage of brake fluid, which during a driving dynamic intervention by the exhaust valves 14 from the wheel brake devices 8, 9 resp 10, 1 1 is omitted. Each hydraulic accumulator 25 is associated with a check valve which opens in the direction of the suction sides of the pumps 18, 19.
Zur Druckmessung befindet sich in jedem Bremskreis 2, 3 im Bereich der Radbremsvorrichtungen 8, 9 bzw. 10, 1 1 jeweils ein Drucksensor 26. Ein weiterer Drucksensor 27 ist im Bremskreis 2 benachbart zum Hauptbremszylinder 4 angeordnet. In den Fig. 2 und 3 ist die Spannungsversorgung des elektrischen Pumpenmotors 2 dargestellt. Im Regelfall wird der elektrische Pumpenmotor 2 über das Bordnetz 30 des Fahrzeugs aus einer Fahrzeugbatterie 32 mit elektrischer Nennspannung versorgt. Die Nennspannung liegt unterhalb der Bemessungs- Spannung, die den maximalen Wert der elektrischen Spannung im Normalbetrieb bezeichnet. Dem elektrischen Pumpenmotor 22 ist ein Schalter 31 zugeordnet, über den der Pumpenmotor ein- und auszuschalten ist. For pressure measurement is in each brake circuit 2, 3 in the wheel brake devices 8, 9 and 10, 1 1 each have a pressure sensor 26. A further pressure sensor 27 is arranged in the brake circuit 2 adjacent to the master cylinder 4. 2 and 3, the voltage supply of the electric pump motor 2 is shown. As a rule, the electric pump motor 2 is supplied via the vehicle electrical system 30 of the vehicle from a vehicle battery 32 with nominal electrical voltage. The rated voltage is below the rated voltage, which denotes the maximum value of the electrical voltage in normal operation. The electric pump motor 22 is associated with a switch 31, via which the pump motor is switched on and off.
Über einen weiteren Schalter 35 kann zwischen dem Bordnetz und einer Erweite- rung im Bordnetz umgeschaltet werden, bei der zusätzlich ein elektrischer Energiespeicher 33 zugeschaltet wird, der über einen Hochsetzsteller 34 mit dem Bordnetz verbunden ist. In der den elektrischen Energiespeicher 33 zuschaltenden Position des Schalters 35 wird dem elektrischen Pumpenmotor 22 eine Maximalspannung zugeführt, die oberhalb der Bemessungsspannung liegt. Dies er- folgt jedoch ausschließlich in Notsituationen, insbesondere im Falle eines unmittelbar bevorstehenden oder gerade eingetretenen Unfalls, um eine Überbestro- mung des elektrischen Pumpenmotors 22 und damit einhergehend eine höhere Leistung des Motors zu erreichen. Dies führt zu einer verbesserten Druckaufbaudynamik im hydraulischen Bremssystem, so dass innerhalb kürzerer Zeit ein hö- herer Hydraulikdruck eingestellt wird. A further switch 35 can be used to switch over between the vehicle electrical system and an extension in the vehicle electrical system, in which case an additional electrical energy store 33 is connected, which is connected to the vehicle electrical system via a step-up converter 34. In the position of the switch 35 which switches on the electrical energy store 33, the electrical pump motor 22 is supplied with a maximum voltage which is above the rated voltage. However, this occurs only in emergency situations, in particular in the case of an imminent or just occurred accident, in order to achieve an overflow of the electric pump motor 22 and, consequently, a higher power of the engine. This leads to an improved pressure build-up dynamics in the hydraulic brake system, so that a higher hydraulic pressure is set within a shorter time.
In Fig. 3 ist die Spannungsversorgung für den elektrischen Pumpenmotor 22 in einer Ausführungsvariante dargestellt. Im Normalfall wird der elektrische Pumpenmotor 22 über das Bordnetz 30 mit Spannung aus der Fahrzeugbatterie 32 gespeist. Unabhängig vom Bordnetz 30 ist der Energiespeicher 33 ausgeführt, dem der Hochsetzsteller 34 zugeordnet ist. Mit dem Umschalten des Schalters 35 vom Bordnetz zu dem elektrischen Energiespeicher 33 kommt die im Vergleich zur Nennspannung höhere Maximalspannung zum Tragen, mit der der Pumpenmotor 22 beaufschlagt wird. In Fig. 3, the power supply for the electric pump motor 22 is shown in a variant embodiment. In the normal case, the electric pump motor 22 is fed via the vehicle electrical system 30 with voltage from the vehicle battery 32. Regardless of the electrical system 30, the energy storage 33 is executed, which is associated with the boost converter 34. With the switching of the switch 35 from the electrical system to the electrical energy storage 33, the higher compared to the rated voltage maximum voltage comes into play, with which the pump motor 22 is acted upon.
Der Vorteil der Ausführungsvariante gemäß Fig. 3 ist in der unabhängigen Ausführung von Bordnetz 30 und elektrischem Energiespeicher 33 zu sehen. In dieser Ausführungsvariante sind keine Modifikationen im Bordnetz 32 erforderlich. Im Unterschied hierzu muss in der Ausführungsvariante gemäß Fig. 2 der elektri- sehe Energiespeicher 33 dem Bordnetz 30 zugeschaltet werden; allerdings kann zum Erreichen der Maximalspannung bei der Ausführung gemäß Fig. 2 sowohl die fahrzeugeigene Batterie 32 als auch der elektrische Energiespeicher 33 simultan genutzt werden. The advantage of the embodiment according to FIG. 3 can be seen in the independent embodiment of electrical system 30 and electrical energy storage 33. In this embodiment, no modifications in the electrical system 32 are required. In contrast, in the embodiment according to FIG. 2, the electrical energy store 33 must be connected to the vehicle electrical system 30; However, to achieve the maximum voltage in the embodiment of FIG. 2 both the on-board battery 32 and the electrical energy storage 33 are used simultaneously.

Claims

Ansprüche claims
1 . Verfahren zur Durchführung eines Notbremsvorgangs in einem Fahrzeug, bei dem im Falle einer Notsituation mindestens ein elektrisches Stellglied (22) in einem Bremssystem im Fahrzeug zur Erzeugung einer erhöhten Bremskraft selbsttätig betätigt wird, dadurch gekennzeichnet, dass das elektrische Stellglied (22) mit einer Maximalspannung beaufschlagt wird, die die Bemessungsspannung des Stellglieds (22) übersteigt. 1 . Method for carrying out an emergency braking operation in a vehicle, wherein in case of an emergency situation at least one electric actuator (22) is automatically actuated in a brake system in the vehicle to generate an increased braking force, characterized in that the electric actuator (22) is subjected to a maximum voltage which exceeds the rated voltage of the actuator (22).
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass als elektrisches Stellglied ein Elektromotor (22) eingesetzt wird, über den Bremskraft aufgebaut wird. 2. The method according to claim 1, characterized in that as an electric actuator, an electric motor (22) is used, is constructed on the braking force.
3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass der Elektromotor (22) eine Pumpe (18, 19) zur Förderung von Hydraulikfluid antreibt. 3. The method according to claim 2, characterized in that the electric motor (22) drives a pump (18, 19) for conveying hydraulic fluid.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Maximalspannung aus einem zusätzlichen elektrischen Energiespeicher (33) im Fahrzeug entnommen wird. 4. The method according to any one of claims 1 to 3, characterized in that the maximum voltage from an additional electrical energy store (33) is removed in the vehicle.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass zwischen dem regulären Bordnetz (30) im Fahrzeug zur Spannungsversorgung des elektrischen Stellglieds (22) in Normalsituationen und dem zusätzlichen Energiespeicher (33) zur Spannungsversorgung in Notsituationen umgeschaltet wird. 5. The method according to claim 4, characterized in that between the regular electrical system (30) in the vehicle for supplying power to the electric actuator (22) in normal situations and the additional energy storage (33) is switched to the power supply in emergency situations.
6. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass der zusätzliche Energiespeicher (33) in Notsituationen dem regulären Bordnetz (30) im Fahrzeug zugeschaltet wird. 6. The method according to claim 4, characterized in that the additional energy storage (33) is connected in emergency situations the regular electrical system (30) in the vehicle.
7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Maximalspannung nur in Unfallsituationen bereitgestellt wird. 7. The method according to any one of claims 1 to 6, characterized in that the maximum voltage is provided only in accident situations.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass die Unfallsituation über eine Sensorik im Fahrzeug, insbesondere eine Umfeldsensorik festgestellt wird. 8. The method according to claim 7, characterized in that the accident situation is detected by a sensor in the vehicle, in particular an environment sensor.
9. Verfahren nach Anspruch 7 oder 8, dadurch gekennzeichnet, dass die Unfallsituation anhand einer Airbagauslösung festgestellt wird. 9. The method according to claim 7 or 8, characterized in that the accident situation is determined by means of an airbag deployment.
10. Regel- bzw. Steuergerät zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 9. 10. control or control device for carrying out the method according to one of claims 1 to 9.
1 1 . Fahrerassistenzsystem in einem Fahrzeug, insbesondere elektronisches Stabilitätsprogramm (ESP), mit einem Regel- bzw. Steuergerät nach Anspruch 10. 1 1. Driver assistance system in a vehicle, in particular electronic stability program (ESP), with a control or control device according to claim 10.
12. Bremssystem in einem Fahrzeug mit einem Regel- bzw. Steuergerät nach Anspruch 10. 12. brake system in a vehicle with a control or control device according to claim 10.
13. Bremssystem nach Anspruch 12, gekennzeichnet durch eine Ausführung als hydraulisches Bremssystem. 13. Brake system according to claim 12, characterized by an embodiment as a hydraulic brake system.
14. Bremssystem nach Anspruch 12 oder 13, dadurch gekennzeichnet, dass ein zusätzlicher Energiespeicher (33) zur Spannungsversorgung des elektrischen Stellglieds in Notsituationen im Fahrzeug vorgesehen ist. 14. Braking system according to claim 12 or 13, characterized in that an additional energy store (33) is provided for supplying power to the electric actuator in emergency situations in the vehicle.
EP10771081A 2009-11-03 2010-10-20 Method for carrying out an emergency braking procedure in a vehicle Withdrawn EP2496453A1 (en)

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DE102009046339A DE102009046339A1 (en) 2009-11-03 2009-11-03 Method for carrying out an emergency braking operation in a vehicle
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US8764127B2 (en) 2014-07-01
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DE102009046339A1 (en) 2011-05-05
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