WO2022106096A1 - Verfahren zum betreiben eines bremssystems eines fahrzeugs, steuergerät für ein bremssystem, bremssystem - Google Patents
Verfahren zum betreiben eines bremssystems eines fahrzeugs, steuergerät für ein bremssystem, bremssystem Download PDFInfo
- Publication number
- WO2022106096A1 WO2022106096A1 PCT/EP2021/076009 EP2021076009W WO2022106096A1 WO 2022106096 A1 WO2022106096 A1 WO 2022106096A1 EP 2021076009 W EP2021076009 W EP 2021076009W WO 2022106096 A1 WO2022106096 A1 WO 2022106096A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- vehicle
- hydraulic pressure
- deceleration
- control unit
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000011156 evaluation Methods 0.000 claims description 4
- 231100001261 hazardous Toxicity 0.000 abstract 2
- 238000011161 development Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 5
- 230000004913 activation Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
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
- B60T8/321—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 deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
- B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/81—Braking systems
Definitions
- the invention relates to a method for operating a brake system of a vehicle, with a first and a second actuator for generating a hydraulic pressure in the brake system, with a first control device designed to control the first actuator, and with a second control device designed to control the second actuator, wherein the braking system is monitored for emergency braking, wherein the first actuator is then controlled by the first control unit to generate a first hydraulic pressure to achieve a predefined emergency deceleration of the vehicle when emergency braking is detected.
- the invention also relates to a first and second control device for a brake system and a brake system of a vehicle.
- actuators of the braking system of the Vehicle in particular electromechanical brake boosters or hydraulic pumps of an electronic stability program, controlled by control units to generate a hydraulic pressure in the brake system, that the maximum possible deceleration of the vehicle is achieved.
- the brake pressures at the wheel brakes of the vehicle are adjusted in particular in such a way that the brake pressures are increased up to the control range of an anti-lock braking system, ie up to the locking pressure or the locking limit of the individual wheels.
- the method according to the invention with the features of claim 1 is characterized in that the second control unit is controlled by the first control unit to control the second actuator to generate a second hydraulic pressure when the deceleration that can be achieved or has been achieved by the first actuator is less than the specified one emergency delay is.
- Such an actuation of the second control unit by the first control unit ensures that the predefined emergency deceleration of the vehicle is achieved at all times with the aid of the second actuator.
- the second control unit thus receives a request to support the first control unit or to initiate emergency braking.
- the second control unit does not have to monitor the brake system for emergency braking; this can be done by the first control unit.
- the second control device is preferably part of an electronic stability program or anti-lock braking system of the vehicle.
- the first control unit preferably controls a part of the, in particular, electromechanical brake system that can be controlled independently thereof.
- the first control device preferably receives information about the deceleration achieved by the vehicle and/or a control state of the anti-lock braking system, in particular brake slip, from sensors assigned in particular to the electronic stability program. With the help of this information, it is advantageously achieved that the hydraulic pressure is initially limited to a maximum hydraulic pressure that can be achieved by the first actuator, and only when this hydraulic pressure is insufficient to achieve the specified emergency deceleration, the second control unit for controlling the second actuator is controlled.
- the predefined emergency deceleration is preferably a minimum deceleration that is legally predefined or required, in particular by an ECE regulation.
- vehicle data of the vehicle are monitored in order to detect emergency braking.
- vehicle data that is already present in the vehicle are preferably monitored in any case, so that no additional vehicle data or input signals have to be assigned to the brake system.
- the vehicle data include an actuation distance and a speed of actuation of a brake pedal by a driver, and emergency braking is initiated if the actuation distance and the speed each exceed a predetermined limit value.
- Such monitoring of the actuation path and the speed at which the brake pedal is actuated makes it possible to determine with the aid of a simple evaluation logic whether emergency braking needs to be initiated.
- This monitoring can also be used advantageously in brake systems in which the brake pedal or the actuation of the brake pedal is completely mechanically decoupled from the brake circuit, ie the driver brakes in a pedal force simulator.
- the simulator pressure and the input rod travel, which result from the actuation of the brake pedal, are preferably used to interpret a driver's braking request and to identify emergency braking.
- the vehicle data include sensor data from the vehicle's surroundings detecting sensors, and that emergency braking is initiated if a dangerous driving situation is detected during the evaluation of the sensor data.
- a dangerous driving situation is present in particular when the distance to a vehicle in front is too small, or There are obstacles in the roadway that require the vehicle to brake to avoid an accident.
- an actual deceleration of the vehicle is measured and that the second actuator is only activated when the actual deceleration is less than the predefined emergency deceleration.
- Such activation of the second actuator only when the measured actual deceleration is insufficient advantageously ensures that the second actuator is not activated unnecessarily or the hydraulic pressure is not increased unnecessarily. It is preferably monitored in this case whether the goal of full deceleration has already been reached, in which case the second actuator is then likewise not activated by the second control unit.
- an actual hydraulic pressure is measured in the brake system and the second actuator is only activated when the actual hydraulic pressure is less than a setpoint hydraulic pressure specified as a function of the specified emergency deceleration.
- Such activation of the second actuator only when the measured actual hydraulic pressure is insufficient advantageously ensures that the second actuator is not activated unnecessarily or the hydraulic pressure is not increased unnecessarily.
- the second actuator is activated to generate a maximum possible hydraulic pressure if no actual deceleration and/or no actual hydraulic pressure can be measured.
- Such activation of the second actuator to generate the maximum possible hydraulic pressure creates an advantageous fallback level for the case that no measured data on the actual deceleration or the actual hydraulic pressure are available. This increases the fail-safety of the brake system at least to the extent that, in the event of a failure of the sensor system, the second control unit and the second actuator continue to ensure sufficient deceleration in the event of emergency braking.
- the first and second control unit according to the invention for a brake system is characterized by the features of claim 8 in that the control units are specially designed to carry out the method according to the invention. This results in the advantages already mentioned.
- the brake system according to the invention with the features of claim 9 has a first and a second actuator for generating a hydraulic pressure in the brake system and is characterized by the control devices according to the invention. This also results in the advantages already mentioned.
- Figure 1 shows a braking system in a schematic representation
- FIG. 2 shows a method for operating the braking system
- FIG. 4 further characteristic curves of pressure curves in the brake system.
- FIG. 1 shows components of a braking system 1 of a vehicle 2 in a schematic illustration.
- the braking system 1 has a first actuator 3 and a second actuator 4 .
- the first actuator 3 and the second actuator 4 are each designed to generate a hydraulic pressure in the brake system 1, so that wheel brake devices of the vehicle 2 (not shown in detail) can be subjected to a brake pressure.
- the brake system 1 has a first control unit 5 and a second control unit 6 .
- the first control unit 5 is connected to the first actuator 3 in terms of communication technology and is designed to control the first actuator 3 .
- the first control unit 5 is connected to the second control unit e for communication purposes and is designed to control the second control unit 6 .
- the first control unit 5 is connected to the vehicle 2 in terms of communication technology in such a way that the brake system 1 can be monitored by the first control unit 5 for emergency braking, in particular on the basis of vehicle data of the vehicle 2 .
- FIG. 2 shows the method using a flowchart.
- the method ensures that when emergency braking is detected, vehicle 2 is braked safely and quickly to a standstill with a predefined emergency deceleration, or undergoes full deceleration.
- a step S1 the method starts with the monitoring of the brake system for emergency braking.
- Vehicle data from vehicle 2 are preferably monitored to detect emergency braking.
- the vehicle data preferably includes an actuation path and a speed at which a brake pedal is actuated by a driver and/or sensor data from sensors of the vehicle 2 that detect the surroundings of the vehicle 2.
- a step S2 the vehicle data are evaluated and a check is made as to whether emergency braking needs to be initiated.
- the emergency braking is preferably initiated when the actuation path and the speed at which the brake pedal is actuated by the driver exceed a predetermined level in each case exceed limit.
- the emergency braking is preferably initiated if a dangerous driving situation is detected during the evaluation of the sensor data from the sensors of the vehicle 2 detecting the surroundings of the vehicle 2 . If it is now recognized that emergency braking does not have to be initiated because, in particular, neither the specified limit values are exceeded when the brake pedal is actuated nor is there a dangerous driving situation, the method ends in step S6.
- step S3 the first actuator 3 is controlled by the first control unit 5 to generate a first hydraulic pressure pi to achieve a predefined emergency deceleration of the vehicle 2.
- the specified emergency delay is in particular a legally specified minimum delay.
- a step S4 it is now checked, preferably at a predetermined point in time after the activation of the actuator 3 by the first control unit 5, whether the deceleration achieved by the first actuator 3 is less than the predetermined emergency deceleration.
- an actual deceleration of the vehicle is preferably measured and compared with the predefined emergency deceleration. If the deceleration achieved or the actual deceleration is at least as great as the specified emergency deceleration, the method also ends in step S6. This case will be described further with reference to the pressure curves shown in FIG.
- Step S5 the method is Step S5 continued.
- the second control unit 6 is controlled by the first control unit 5 to control the second actuator 4 to generate a second hydraulic pressure p2 in order to achieve the specified emergency deceleration. This case will be described further with reference to the pressure curves shown in FIG. That The method then ends, preferably when the vehicle 2 has reached full deceleration, in step S6.
- FIG. 3 shows characteristic curves of pressure profiles in the brake system 1 when emergency braking is detected.
- the characteristic curves are shown in a diagram in which the x-axis shows the time t and the y-axis shows the pressure p.
- the pressure curves shown in Figure 3 show a method carried out according to the description of Figure 2, in which it was recognized in step S4 that the deceleration achieved is sufficient and the method ends without the hydraulic pressure being released by the second actuator 4 must be increased.
- the driver first initiates a braking process in which a brake pressure PB at the wheel brake devices and a first hydraulic pressure pi in the brake system increase linearly and are the same.
- emergency braking is initiated by first control unit 5, so that a hydraulic pressure PH profile is now specified in order to achieve a specified emergency deceleration.
- a maximum brake pressure p ⁇ max or a locking pressure at the wheel brake devices is reached.
- An anti-lock braking system now regulates the braking process. If the wheels are about to lock, the anti-lock braking system initially reduces the brake pressure PB until the tendency to lock is stopped and then increases it again. The brake pressure PB at the wheel brake devices therefore oscillates from time t2 around the maximum brake pressure p ⁇ max.
- FIG. 4 shows further characteristic curves of pressure profiles in the brake system 1 when emergency braking is detected.
- the characteristic curves are also shown in a diagram in which the x-axis shows the time t and the y-axis shows the pressure p.
- the pressure curves shown in FIG. 4 show a method carried out according to the description of FIG. 2, in which it was recognized in step S4 that the deceleration achieved is not sufficient and the hydraulic pressure must be increased by the second actuator 4.
- the driver initiates a braking process at a point in time to, during which the brake pressure PB at the wheel brake devices and the first hydraulic pressure pi in the brake system increase linearly and are the same.
- emergency braking is again initiated by first control unit 5, so that the course of hydraulic pressure PH is now specified in order to achieve the specified emergency deceleration.
- the first hydraulic pressure pi still increases after the time ti up to a maximum first hydraulic pressure pimax.
- the second actuator 4 is then activated to increase the hydraulic pressure PH to a maximum second hydraulic pressure p2max, which is greater than the maximum brake pressure p ⁇ max, so that the predefined emergency deceleration can be achieved.
- the brake pressure PB now continues to increase until the maximum brake pressure pßmax is reached at the wheel brake devices.
- the anti-lock braking system then intervenes in the braking process again in a controlling manner, as described above, so that the brake pressure PB oscillates around the maximum brake pressure p ⁇ max in order to achieve the predefined emergency deceleration.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020237019815A KR20230108297A (ko) | 2020-11-18 | 2021-09-22 | 차량의 제동 시스템의 작동 방법, 제동 시스템을 위한 제어 장치, 제동 시스템 |
CN202180077141.1A CN116457251A (zh) | 2020-11-18 | 2021-09-22 | 运行车辆制动***的方法、制动***的控制设备、制动*** |
JP2023528550A JP2023549516A (ja) | 2020-11-18 | 2021-09-22 | 車両のブレーキシステムを作動させる方法、ブレーキシステム用制御器、ブレーキシステム |
US18/002,152 US20230219546A1 (en) | 2020-11-18 | 2021-09-22 | Method for operating a brake system of a vehicle, control device for a brake system, and brake system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020214482.6A DE102020214482A1 (de) | 2020-11-18 | 2020-11-18 | Verfahren zum Betreiben eines Bremssystems eines Fahrzeugs, Steuergerät für ein Bremssystem, Bremssystem |
DE102020214482.6 | 2020-11-18 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022106096A1 true WO2022106096A1 (de) | 2022-05-27 |
Family
ID=77998981
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2021/076009 WO2022106096A1 (de) | 2020-11-18 | 2021-09-22 | Verfahren zum betreiben eines bremssystems eines fahrzeugs, steuergerät für ein bremssystem, bremssystem |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230219546A1 (de) |
JP (1) | JP2023549516A (de) |
KR (1) | KR20230108297A (de) |
CN (1) | CN116457251A (de) |
DE (1) | DE102020214482A1 (de) |
WO (1) | WO2022106096A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102023208255A1 (de) | 2023-08-29 | 2024-05-29 | Zf Friedrichshafen Ag | Bremssystem für ein Fahrrad |
DE102023208260A1 (de) | 2023-08-29 | 2024-05-29 | Zf Friedrichshafen Ag | Bremssystem für ein Fahrrad |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2331136A (en) * | 1997-11-07 | 1999-05-12 | Daimler Benz Ag | An automatic braking process for a vehicle |
US20060195231A1 (en) * | 2003-03-26 | 2006-08-31 | Continental Teves Ag & Vo. Ohg | Electronic control system for a vehicle and method for determining at least one driver-independent intervention in a vehicle system |
US20180162332A1 (en) * | 2015-06-23 | 2018-06-14 | Hitachi Automotive Systems, Ltd. | Brake Apparatus |
JP2020522434A (ja) * | 2017-06-12 | 2020-07-30 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 車両の非常ブレーキおよび/またはパニックブレーキを実施するための方法および制御装置 |
JP2020525347A (ja) * | 2017-07-13 | 2020-08-27 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 自動車のブレーキ設備を作動させる方法、ならびに制御装置および/または調節装置 |
-
2020
- 2020-11-18 DE DE102020214482.6A patent/DE102020214482A1/de active Pending
-
2021
- 2021-09-22 US US18/002,152 patent/US20230219546A1/en active Pending
- 2021-09-22 JP JP2023528550A patent/JP2023549516A/ja active Pending
- 2021-09-22 WO PCT/EP2021/076009 patent/WO2022106096A1/de active Application Filing
- 2021-09-22 CN CN202180077141.1A patent/CN116457251A/zh active Pending
- 2021-09-22 KR KR1020237019815A patent/KR20230108297A/ko unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2331136A (en) * | 1997-11-07 | 1999-05-12 | Daimler Benz Ag | An automatic braking process for a vehicle |
US20060195231A1 (en) * | 2003-03-26 | 2006-08-31 | Continental Teves Ag & Vo. Ohg | Electronic control system for a vehicle and method for determining at least one driver-independent intervention in a vehicle system |
US20180162332A1 (en) * | 2015-06-23 | 2018-06-14 | Hitachi Automotive Systems, Ltd. | Brake Apparatus |
JP2020522434A (ja) * | 2017-06-12 | 2020-07-30 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 車両の非常ブレーキおよび/またはパニックブレーキを実施するための方法および制御装置 |
JP2020525347A (ja) * | 2017-07-13 | 2020-08-27 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 自動車のブレーキ設備を作動させる方法、ならびに制御装置および/または調節装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2023549516A (ja) | 2023-11-27 |
DE102020214482A1 (de) | 2022-05-19 |
CN116457251A (zh) | 2023-07-18 |
KR20230108297A (ko) | 2023-07-18 |
US20230219546A1 (en) | 2023-07-13 |
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