WO2014173605A1 - Procédé de commande d'un frein de stationnement - Google Patents

Procédé de commande d'un frein de stationnement Download PDF

Info

Publication number
WO2014173605A1
WO2014173605A1 PCT/EP2014/056066 EP2014056066W WO2014173605A1 WO 2014173605 A1 WO2014173605 A1 WO 2014173605A1 EP 2014056066 W EP2014056066 W EP 2014056066W WO 2014173605 A1 WO2014173605 A1 WO 2014173605A1
Authority
WO
WIPO (PCT)
Prior art keywords
brake
parking brake
vehicle
parking
service
Prior art date
Application number
PCT/EP2014/056066
Other languages
German (de)
English (en)
Inventor
Lionel Pöffel
Christof Maron
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2014173605A1 publication Critical patent/WO2014173605A1/fr

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
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
    • 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
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/08—Brake-action initiating means for personal initiation hand actuated
    • B60T7/085—Brake-action initiating means for personal initiation hand actuated by electrical means, e.g. travel, force sensors
    • 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
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/08—Brake-action initiating means for personal initiation hand actuated
    • B60T7/10—Disposition of hand control
    • B60T7/107—Disposition of hand control with electrical power assistance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/413—Plausibility monitoring, cross check, redundancy

Definitions

  • the invention relates to a method for controlling a parking brake of a vehicle with the parking brake and a service brake, a control device for carrying out the method and the parking brake.
  • a parking brake for a vehicle is known with the vehicle in an emergency, even when driving out can be braked reliable.
  • According to one aspect of the invention comprises a method for controlling a parking brake of a vehicle with the hard ⁇ parking brake and a service brake, which is arranged to decelerate the vehicle based on a braking request, the steps of transferring the parking brake in a ready ⁇ -by state, when a functional state of the Service brake is faulty, and operating the parking brake during a travel of the vehicle based on the braking request when the parking brake is in the standby state.
  • the stated method is based on the consideration that the driver of a vehicle with the parking brake provided for stopping the vehicle at a standstill provided in the event of an emergency when the vehicle is at a standstill for braking the vehicle. Failures of non-zero provided service brake of the vehicle fails, the parking brake can be used to decelerate the vehicle by pressing the parking brake instead of the service brake. Based on this consideration, however, the disclosed method is based on the finding that the failure of a service brake in a vehicle, especially at high speeds, is not an ordinary situation in which not every driver reacts rationally and actuates the parking brake. Not a few drivers panic here. As more and more actuators for parking brakes than small
  • the specified method begins and proposes, in principle, to permit an actuation of the parking brake also via the actuating means for actuating the service brake.
  • the parking brake for braking the vehicle is permanently operated together with the service brake, the parking brake is exposed to a non-negligible wear, the unacceptable maintenance intervals he ⁇ calls.
  • Parking brake must be used constantly to brake the vehicle.
  • the specified method therefore not only makes it possible to increase traffic safety, it can also be avoided that the parking brake must be serviced unacceptably too frequently.
  • the specified method includes the step transferring the parking brake in the ready ⁇ state when further comprises a speed of the vehicle exceeds a limit speed.
  • the standby state of the parking brake which can be set for example by certain memory states in a control device for the parking brake, by certain input and / or from ⁇ input signals to this control device or tions at any other manner must not in a power-consuming Way constantly so, for example, be kept at a standstill of the vehicle when the Be ⁇ service brake has failed.
  • the brake request variable operating size of the service brake may include any variables in the service brake.
  • the service brake includes a control circuit for driving its end-effectors, such as theirs
  • Brake shoes it can be used as a variable operating variable Re ⁇ money difference, the controller output variable or the controlled variable, such as a speed drop to be regulated or to be controlled deceleration of the vehicle.
  • the ultimately applied brake pressure could be used itself.
  • the brake request is dependent on a position of a brake pedal of the vehicle and the actuation of the parking brake includes a closing of the parking brake when the position of the brake pedal reaches a predetermined closing indication position.
  • the actuation of the parking brake comprises opening the
  • the actuation of the parking brake is dependent on a change in the position of the brake pedal. That is, the driver must depress the brake pedal with a certain speed to four of the parking brake for braking of the vehicle to acti ⁇ .
  • This improves the traffic safety in connection with the specified method, because in flowing traffic an abrupt onset of the parking brake without discernible reason for a behind-traveling vehicle could represent a not to negligible ⁇ security risk.
  • this would inevitably arise if the driver only intended to slow down slightly, but the full braking effect of
  • the specified method for determining whether the functional state of the service brake is faulty the step plausibility of the functional state of the service brake based on a comparison of at least one variable by the brake request operating variable of the service brake at the ⁇ ff ⁇ tion display position of the brake pedal and a desired operation ⁇ size.
  • the fault condition of the service brake can be detected before the brake pedal reaches the closed display position, so that it is ensured in case of failure of the service brake that the service brake starts to act at the closed display position of the brake pedal.
  • the operating variable comprises a pressure in a brake cylinder of the service brake.
  • a control device is designed to perform one of the aforementioned methods.
  • the specified device has a memory and a processor.
  • the specified method is stored in the form of a computer program in the memory and the processor is provided for carrying out one of the aforementioned methods when the computer program is loaded from the memory into the processor.
  • a solid ⁇ parking brake for blocking a movement of a vehicle with a service brake at a standstill a given control ⁇ device.
  • a vehicle includes a specified parking brake.
  • the invention also relates to a computer program comprising program code means for carrying out all the steps of one of the stated methods when the computer program is executed on a computer or one of the specified control devices.
  • the invention also relates to a computer program product which contains a program code which is stored on a computer-readable data carrier and which, when executed on a data processing device, performs one of the stated methods.
  • 1 is a schematic diagram of a vehicle with a service brake and a parking brake
  • Fig. 2 shows a functional sequence of an insert of the Fest ⁇ parking brake in case of failure of the service brake of Fig. 1, and
  • Fig. 3 shows a diagram of a brake request over time.
  • Fig. 1 is a schematic diagram of a vehicle 2 with a service brake 4 and a
  • the vehicle 2 has a chassis 8, which can roll driven on a non-illustrated road on four wheels 10 via a motor, not shown.
  • brake discs 12 are rotationally fixed in the present embodiment, which can be described yet rotatable to the chassis 8 fixed brake actuators attack to block the wheels 10 in a conventional manner and decelerate the vehicle 2 out of the drive or to hold at a standstill.
  • the service brake 4 each has a service brake effector 14, such as a
  • This Railbrems monoo ⁇ Ren 14 are of a service brake control unit 16 via hydraulic lines 18 based on a with a
  • Brake pedal 20 specifiable service brake request 22 driven in a known manner.
  • the parking brake 6 on the wheels 10 of a certain not shown axes of the vehicle 2 depending on a parking brake 24, which may for example also be designed as brake shoes.
  • the Feststellbrems flexible or electrical lines 28 be driven 24 of a parking brake control unit 26 via electrical lines 28, either based on a predeterminable with a parking brake lever 30 Feststellbremsanforde ⁇ tion 32 in a per se known manner or, alternatively, in another way, closer to the later at a point will be received.
  • both brakes 4, 6 are arbitrary.
  • one of the two brakes 4, 6 or both brakes 4, 6 could also be designed as a drum brake in a manner known per se, which should not be discussed in greater detail for the sake of brevity.
  • the parking brake ⁇ effectors 24 instead based on the intended tion Feststellbremsanforde- 30 can also be controlled in another manner, which will be discussed below.
  • the service brake control unit 16 may control the Feststellbrems Kunststoffein ⁇ standardized 26 having a yet to be described dynamic signal 34 to ⁇ .
  • the two control units 16, 26 are in a _
  • the dynamic ⁇ signal 34 for example, be sent via the internal control lines of the common control unit.
  • the dynamic signal 34 can also be transmitted via external connecting lines or a data bus known per se, such as CAN or FlexRay.
  • the further possibility is to steer the Feststellbrems compactoren 24 Toggle be below based on Fig. 2 in more detail ⁇ be written, which shows a functional sequence of an insert of the parking brake 6 of this further possibility.
  • the aim of this further option is, in a fault of the service brake, the parking brake 6 via the brake pedal 20, which is actually intended to control the service brake 4, to control and activate.
  • this poses the problem that the parking brake 6 should not be controlled by the brake pedal 20 in error-free case, so that the parking brake 6 is not worn unnecessarily when braking the vehicle 2 from high speeds.
  • the service brake request 22 initiated by a braking action 36 of a driver 38 of the vehicle 2 on the brake pedal 20 is output not only to the service brake control unit 16 but also to the parking brake control unit 26 so that the parking brake device 26 can determine when the driver 38 of the vehicle 2 want to slow down.
  • the operating ⁇ brake control unit 16 in the present embodiment 34 the dynamic signal 34, with which it instructs the Feststellbrems Kunststoff ⁇ unit 26, the vehicle 2 based on the Be ⁇ drive brake request 22 decelerate while driving.
  • the parking brake ⁇ control unit 26 is thus set in a standby state to brake the vehicle 2 during driving.
  • the dynamic signal 34 can be generated in the service brake control unit 16.
  • the service brake control unit 16 may, for example, use movement data 40 of the vehicle from a corresponding sensor 42, such as an acceleration sensor or a wheel speed sensor. For example, if the driver 38 initiates braking so that the service brake control unit 16 receives the service brake request 22 and decelerates the vehicle 2 with the service brake 4, then the service brake control unit 16 may evaluate whether the vehicle 2 is actually operating based on the sensor 42 and its movement data 40 the service brake 4 is braked. Should be with the service brake 4, for example, due to a defect in the hydraulic lines 18 no
  • the service brake control unit 16 can output the dynamic signal 34, so that the vehicle 2 can then be brought to a stop with the parking brake 6.
  • the deceleration of the vehicle 2 with the parking brake 6 can then be regulated based on the movement data 40.
  • the movement data 40 should preferably include wheel speeds and accelerations, so that a slip control of the parking brake 6 is possible, as described in the printed publication WO 2004/054 862 A1.
  • the wheels 10 of the vehicle 2 can not apply a determinable by the driver 38 force and thus block and thus either can only run freely or only block can the driver can be alarmed 38 of the vehicle 2 may, when the parking brake 6 reacts with a slight braking action ⁇ 36 to the brake pedal 20 immediately at the full brake ⁇ effective. This can in particular lead to traffic-critical situations. The same situation could arise when releasing the parking brake 6 based on the brake pedal 20.
  • the parking brake 6 should make the service brake request 22 plausible and brake the vehicle only when there is really a braking request from the driver. In the simplest case, this can be carried out by means of a brake light switch of the vehicle 2 which is not shown in any more detail but is activated only when the brake pedal 20 is sufficiently actuated by the driver 38.
  • a brake light switch of the vehicle 2 which is not shown in any more detail but is activated only when the brake pedal 20 is sufficiently actuated by the driver 38.
  • An alternative plausibility check will be described below with reference to FIG. 3, in which the service brake request 22 is plotted over time 44 in the form of a signal indicating the position of the brake pedal 20.
  • the parking brake control unit 26 If the parking brake control unit 26 and thus the hard ⁇ parking brake 6 by means of the dynamic signal 34 in the ready-by state ⁇ to brake the vehicle 2 during driving, the parking brake control unit 26, the Feststellbrems- effectors 24 controlled via the electrical lines 28, as soon as the service brake request 22 and thus the position of the brake pedal 20 either exceed a first Sch conductedan Seaepositi ⁇ on 46 or a second Sch conductedan Seaeposition 48.
  • the first Sch concentratedan Attache- position 46 is selected to be smaller than the second Sch conductedan Attache ⁇ position 48.
  • the Radio Service brake request 22 must exceed a predetermined positive closing change rate 52, which is illustratively represented by a mathematical gradient triangle in FIG. 3, to trigger the actuation of the parking brake effectors 24 by the parking brake control unit 26.
  • the sti ⁇ supply triangle is not shown in the present drawing for clarity at the position where the closing rate of change is evaluated 52nd If the driver quickly depresses the brake pedal 20 and thus indicates an urgent braking request, the braking is triggered via the parking brake 6 at the smaller closing display position 48 in this way. In a slow passage of the brake pedal 20, however, the braking begins only at the higher threshold 46th
  • the parking brake control unit 26 can control the parking brake effectors 24 via the electric lines 28 and release them as soon as the service brake request 22 and thus the position of the brake pedal 20 either a first opening display position 54 or a second
  • the first opening indication position 54 is set larger than the second opening indication position 56.
  • the service brake request 22 must fall below the corresponding opening indication position 54, 56 for the predetermined activation time 50 for the parking brake control unit 26 to start the parking brake effector 24 via the electric To solve lines 28.
  • Closing change rate 58 which in FIG. 3 is again illustrated by a mathematical gradient triangle, is explained below. step, so that the control of Feststellbrems bino ⁇ Ren 24 is triggered by the parking brake control unit, so that an urgent, indicated by a rapid retraction of the brake pedal elimination of the braking request is performed faster.
  • Activation times 50 are all the same in the present embodiment. However, they can also be chosen individually.

Landscapes

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

Abstract

L'invention concerne un procédé de commande d'un frein de stationnement (6) d'un véhicule (2) équipé dudit frein de stationnement (6) et d'un frein de service (4), qui est conçu pour freiner le véhicule en réponse à une demande de freinage (22). Ce procédé comprend les étapes consistant à: - faire passer le frein de stationnement (6) dans un état de veille (34) lorsqu'un état de service du frein de service (4) est défectueux, et - actionner le frein de stationnement (6), pendant que le véhicule (2) circule, en réponse à la demande de freinage (22) lorsque le frein de stationnement (6) se trouve dans l'état de veille (34).
PCT/EP2014/056066 2013-04-22 2014-03-26 Procédé de commande d'un frein de stationnement WO2014173605A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013207286.4A DE102013207286A1 (de) 2013-04-22 2013-04-22 Verfahren zum Steuern einer Feststellbremse
DE102013207286.4 2013-04-22

Publications (1)

Publication Number Publication Date
WO2014173605A1 true WO2014173605A1 (fr) 2014-10-30

Family

ID=50349635

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/056066 WO2014173605A1 (fr) 2013-04-22 2014-03-26 Procédé de commande d'un frein de stationnement

Country Status (2)

Country Link
DE (1) DE102013207286A1 (fr)
WO (1) WO2014173605A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3789255A1 (fr) 2019-09-09 2021-03-10 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Système de frein pour véhicule commercial
WO2021115827A1 (fr) 2019-12-10 2021-06-17 Haldex Brake Products Aktiebolag Système de freinage pour un véhicule utilitaire
US11358573B2 (en) * 2017-09-19 2022-06-14 Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh Method and device for controlling a parking brake

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015110670A1 (de) * 2015-07-02 2017-01-05 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Elektrische Bremseinrichtung mit vom Betriebsbremsbetätigungsorgan betätigbarer Feststellbremse
DE102016213169A1 (de) 2015-07-30 2017-02-02 Ford Global Technologies, Llc Verfahren zur Steuerung einer elektrischen Feststellbremse sowie Steuervorrichtung
DE102015120588A1 (de) * 2015-11-27 2017-06-01 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren und Vorrichtung zum Betreiben eines Bremssystems für ein Fahrzeug und Bremssystem
DE102021131520A1 (de) 2021-12-01 2023-06-01 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bestimmen einer Reaktionszeit einer Person mittels einer Simulationsvorrichtung, Computerprogrammprodukt sowie Simulationsvorrichtung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004054862A1 (fr) 2002-12-13 2004-07-01 Continental Teves Ag & Co. Ohg Procede de reglage adaptatif du moment de freinage
WO2006010735A1 (fr) * 2004-07-23 2006-02-02 Continental Teves Ag & Co. Ohg Mecanisme de freinage pour vehicule a systeme de frein de stationnement electrique et procede permettant d'en assurer la commande
DE102005043608A1 (de) * 2005-09-06 2007-03-15 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren zum Steuern einer pneumatischen Bremsanlage
EP2108554A1 (fr) * 2008-04-11 2009-10-14 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Procédé de fonctionnement d'une installation de frein et installation de frein pour un véhicule utilitaire

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Publication number Priority date Publication date Assignee Title
DE19738877C2 (de) * 1997-03-12 1998-12-24 Kuester & Co Gmbh Feststellbremsanlage für Fahrzeuge
DE102008003379A1 (de) * 2008-01-07 2009-07-09 Wabco Gmbh Bremsanlage für ein Fahrzeug sowie Bremspedaleinrichtung für eine derartige Bremsanlage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004054862A1 (fr) 2002-12-13 2004-07-01 Continental Teves Ag & Co. Ohg Procede de reglage adaptatif du moment de freinage
WO2006010735A1 (fr) * 2004-07-23 2006-02-02 Continental Teves Ag & Co. Ohg Mecanisme de freinage pour vehicule a systeme de frein de stationnement electrique et procede permettant d'en assurer la commande
DE102005043608A1 (de) * 2005-09-06 2007-03-15 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren zum Steuern einer pneumatischen Bremsanlage
EP2108554A1 (fr) * 2008-04-11 2009-10-14 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Procédé de fonctionnement d'une installation de frein et installation de frein pour un véhicule utilitaire

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11358573B2 (en) * 2017-09-19 2022-06-14 Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh Method and device for controlling a parking brake
EP3789255A1 (fr) 2019-09-09 2021-03-10 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Système de frein pour véhicule commercial
WO2021047946A1 (fr) 2019-09-09 2021-03-18 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Système de freinage pour un véhicule utilitaire
WO2021115827A1 (fr) 2019-12-10 2021-06-17 Haldex Brake Products Aktiebolag Système de freinage pour un véhicule utilitaire

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