DE3916672A1 - Controlling two channel brake antilocking system - measuring wheel rotation behaviour and evaluating to produce vehicle reference speed and brake pressure regulating signals - Google Patents

Controlling two channel brake antilocking system - measuring wheel rotation behaviour and evaluating to produce vehicle reference speed and brake pressure regulating signals

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Publication number
DE3916672A1
DE3916672A1 DE19893916672 DE3916672A DE3916672A1 DE 3916672 A1 DE3916672 A1 DE 3916672A1 DE 19893916672 DE19893916672 DE 19893916672 DE 3916672 A DE3916672 A DE 3916672A DE 3916672 A1 DE3916672 A1 DE 3916672A1
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DE
Germany
Prior art keywords
wheel
reference speed
signals
brake pressure
brake
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.)
Ceased
Application number
DE19893916672
Other languages
German (de)
Inventor
Helmut Fennel
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.)
ITT Automotive Europe GmbH
Original Assignee
Alfred Teves 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
Priority claimed from DE3809100A external-priority patent/DE3809100A1/en
Application filed by Alfred Teves GmbH filed Critical Alfred Teves GmbH
Priority to DE19893916672 priority Critical patent/DE3916672A1/en
Priority to GB9008133A priority patent/GB2232731B/en
Priority to FR9006139A priority patent/FR2647403B1/en
Priority to US07/528,015 priority patent/US5060159A/en
Priority to JP2131453A priority patent/JPH0316864A/en
Publication of DE3916672A1 publication Critical patent/DE3916672A1/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1769—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS specially adapted for vehicles having more than one driven axle, e.g. four-wheel drive vehicles
    • 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
    • B60T2270/20—ASR control systems
    • B60T2270/204—ASR control systems hydraulic model

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)

Abstract

The brake pressure model is derived from the measurement variables and reproduces approximately the pressure course in the wheel brakes and, together with the wheel rotation behaviour, is called up for the wheel slip regulation or for the determination of the brake pressure regulating signals. The vehicle reference speed (VREF) is determined from the rotational behaviour of the front wheels (VL, VR) and the wheel pressure model (RDM). The circuit used has sensors to determines the wheel rotational behaviour, circuits for producing a vehicle reference speed, brake pressure control signals, as well as for forming a wheel pressure model or electrical signals reproducing approximately the pressure course in the wheel brakes, which can be integrated in the signal processing for the prodn. of the brake pressure control signals. The front wheels (VR, VL) have respective a r.p.m. sensors (1, 2), the output signals of which are connected logically linked with the wheel pressure model signals, for forming the vehicle reference speed. USE/ADVANTAGE - Information from wheel sensors is better evaluated to improve regulation and reduce cost of sensors and create full two channel ABS regulation at min. sensor cost.

Description

Die Erfindung bezieht sich auf ein Verfahren zur Steuerung der Bremsanlage eines 2-Kanal-Antiblockiersystems (2-Ka­ nal-ABS), bei dem das Raddrehverhalten gemessen und zur Er­ zeugung einer Fahrzeugreferenzgeschwindigkeit sowie von Bremsdruck-Regelsignalen ausgewertet wird und bei dem den Bremsdruck in den Radbremsen bestimmende Größen gemessen und aus diesen Meßgrößen ein Raddruckmodell, das näherungsweise den Druckverlauf in den Radbremsen wiedergibt, abgeleitet und zusammen mit dem Raddrehverhalten zur Radschlupfregelung bzw. zur Bestimmung der Bremsdruck-Regelsignale herangezogen wird, nach Patent ... (Patentanmeldung P 38 09 100.3). Eine Schal­ tungsanordnung zur Durchführung des Verfahrens gehört eben­ falls zur Erfindung.The invention relates to a method for control the braking system of a 2-channel anti-lock braking system (2-Ka nal ABS), in which the wheel turning behavior is measured and the Er generation of a vehicle reference speed and Brake pressure control signals is evaluated and in which the Brake pressure measured in the wheel brakes and determining variables a wheel pressure model from these measured variables, which approximately reproduces the pressure curve in the wheel brakes, derived and together with the wheel turning behavior for wheel slip control or is used to determine the brake pressure control signals, according to patent ... (patent application P 38 09 100.3). A scarf The arrangement to carry out the procedure belongs if to the invention.

Die notwendigen Informationen zur Regelung des Bremsdruckes werden bei den heutigen elektronischen Antiblockiersystemen vornehmlich mit Radsensoren gewonnen, die für jedes überwach­ te Rad ein elektrisches Signal erzeugen, das das Raddrehver­ halten wiedergibt. Die Fahrzeuggeschwindigkeit wird üblicher­ weise durch logische Verknüpfung der Rad-Drehzahlsignale nä­ herungsweise bestimmt. In manchen Bremssituationen oder unter bestimmten Bedingungen, z.B. bei Allradbetrieb, ist es aller­ dings schwierig oder gar unmöglich, die Fahrzeuggeschwindig­ keit hinreichend genau aus dem Raddrehverhalten abzuleiten. Aus diesen Gründen wurden auch schon Fahrzeugsensoren, die die Translationsgeschwindigkeit, -beschleunigung bzw. -verzö­ gerung messen, Bremsdrucksensoren und dergl. zusätzlich in die Fahrzeuge eingebaut.The information required to regulate the brake pressure are used in today's electronic anti-lock braking systems won primarily with wheel sensors that monitor for each te wheel generate an electrical signal that the wheel rotation hold reproduces. The vehicle speed is becoming more common wise by logically linking the wheel speed signals determined way. In some braking situations or under certain conditions, e.g. with all-wheel drive, it's all However difficult or even impossible, the vehicle speed derive sufficiently accurately from the wheel turning behavior. For these reasons, vehicle sensors have already been used  the translation speed, acceleration or deceleration measurement, brake pressure sensors and the like in addition the vehicles installed.

Aus Kostengründen ist man jedoch bemüht, allein mit Radsenso­ ren, möglichst mit wenigen, auszukommen. Selbst bei einem An­ tiblockiersystem mit nur zwei Regelkanälen - vorzugsweise wird der Druck in jeder Diagonalen separat geregelt - hielt man bisher vier Radsensoren, unter bestimmten Bedingungen nur drei, für eine zufriedenstellende Regelung für erforderlich.For cost reasons, however, efforts are made to use only Radsenso ren, if possible with a few. Even with an anti-lock braking system with only two control channels - preferably the pressure in each diagonal is controlled separately - four wheel sensors, under certain conditions only three, were previously considered necessary for satisfactory control.

Grundsätzlich ließe sich eine Regelung verbessern, wenn z.B. der aktuelle Bremsdruck bekannt wäre, der vorhanden ist, wenn die Regelung einsetzt bzw. wenn ein Rad instabil wird. Es sind daher bereits Antiblockiersysteme bekannt, die zusätz­ lich mit Bremsdrucksensoren ausgerüstet sind.In principle, a regulation could be improved if e.g. would know the current brake pressure that is present if the control starts or if a wheel becomes unstable. It are therefore already known anti-lock braking systems, the additional are equipped with brake pressure sensors.

Nach der Hauptanmeldung (P 38 09 100.3), auf die hier Bezug genommen wird, wurde bereits vorgeschlagen, anstelle einer tatsächlichen Bremsdruckmessung ein Raddruckmodell zu bilden. Durch Messen, Zählen und Integrieren der Impulse, mit denen die Einlaß- und Auslaßventile geöffnet bzw. geschlossen wer­ den, wobei man zusätzlich die Bremsdruckaufbau- und -abbau­ kennlinien der Radbremsen beachten kann, erhält man nähe­ rungsweise Kenntnis über den Druckverlauf. Die auf diese Wei­ se gewonnenen Informationen über den momentanen Druck werden dann bei der Dimensionierung der Ventil-Steuerimpulse berück­ sichtigt.After the main registration (P 38 09 100.3), referred to here has already been proposed, instead of one actual brake pressure measurement to form a wheel pressure model. By measuring, counting and integrating the impulses with which the intake and exhaust valves opened or closed who the, whereby one additionally builds up and decreases the brake pressure characteristics of the wheel brakes can be observed approximately knowledge of the pressure curve. The in this way information about the current pressure then take into account when dimensioning the valve control pulses inspects.

Der Erfindung liegt nun die allgemeine Aufgabe zugrunde, die mit Radsensoren gewonnenen Informationen noch besser auszu­ werten, um die Regelung zu verbessern und/oder den Aufwand an Sensoren zu verringern. Es sollte eine vollwertige 2-Kanal-ABS-Regelung mit minimalem Sensoraufwand geschaffen werden.The invention is based on the general task that to better extract information obtained with wheel sensors evaluate to improve the regulation and / or the effort  Decrease sensors. It should be a full-fledged one 2-channel ABS control created with minimal sensor effort will.

Es hat sich herausgestellt, daß diese Aufgabe mit einem Ver­ fahren nach Patent ... (Patentanmeldung P 38 09 100.3) gelöst werden kann, dessen Besonderheit darin besteht, daß die Fahr­ zeugreferenzgeschwindigkeit nur aus dem Drehverhalten der Vorderräder und aus dem Raddruckmodell ermittelt wird. Da be­ kanntlich die Fahrzeugverzögerung mit dem Bremsdruck ver­ knüpft ist, läßt sich die Fahrzeugreferenzgeschwindigkeit mit Hilfe des Raddruckmodells errechnen.It has been found that this task with a ver drive according to patent ... (patent application P 38 09 100.3) solved can be, the peculiarity is that the driving tool reference speed only from the turning behavior of the Front wheels and is determined from the wheel pressure model. Since be Knows ver the vehicle deceleration with the brake pressure is linked, the vehicle reference speed can be used Calculate using the wheel pressure model.

Bei einer Schaltungsanordnung zur Durchführung des erfin­ dungsgemäßen Verfahrens sind die Vorderräder mit je einem Drehzahlsensor ausgerüstet, deren Ausgangssignale zur Bildung der Fahrzeugreferenzgeschwindigkeit mit den Raddruckmo­ dell-Signalen logisch verknüpfbar sind.In a circuit arrangement for performing the inventions According to the method, the front wheels are each with one Speed sensor equipped, their output signals for formation the vehicle reference speed with the wheel pressure mo dell signals can be logically linked.

Durch die Einbeziehung des Raddruckmodells in die Bildung der Fahrzeugreferenzgeschwindigkeit wird es möglich, ein 2-Kanal-ABS mit nur zwei Radsensoren, die an den Vorderrädern angebracht werden, zu verwirklichen. Trotz dieser Beschrän­ kung auf zwei Sensoren läßt sich durch die Berücksichtigung des indirekt ermittelten Raddrucks eine ausreichend genaue 2-Kanal-Regelung gewährleisten. Es wird davon ausgegangen, daß an jedem Kanal ein Vorderrad und ein Hinterrad, vorzugs­ weise in diagonaler Zuordnung, angeschlossen sind und daß die Bremskraftverteilung auf die Vorder- und Hinterachse mit Hil­ fe eines lastabhängigen Reglers in bekannter Weise verbessert wird. By including the wheel pressure model in the formation of the Vehicle reference speed becomes possible 2-channel ABS with only two wheel sensors on the front wheels be attached to realize. Despite these limitations kung on two sensors can be considered the indirectly determined wheel pressure is sufficiently accurate Ensure 2-channel control. It is assumed, that a front wheel and a rear wheel are preferred on each channel wise in diagonal assignment, are connected and that the Brake force distribution on the front and rear axles with Hil fe of a load-dependent controller improved in a known manner becomes.  

Die Referenzgeschwindigkeit wird während eines geregelten Bremsvorganges auf Basis der Sensorsignale und der Näherungs­ informationen über den Raddruck variabel extrapoliert.The reference speed is regulated during a Braking process based on the sensor signals and the approximation Variable extrapolated information about the wheel pressure.

Da alle Informationen für die Regelung mit Hilfe der Vorder­ radsensoren - und dem gespeicherten Druckmodell - gewonnen werden und es hierfür keine Rolle spielt, ob die Vorderräder angetrieben sind oder nicht, eignet sich die Erfindung auch für Fahrzeuge mit Allradantrieb. Dies ist ein wesentlicher Vorteil.Since all information for the control with the help of the front wheel sensors - and the stored pressure model - is obtained and it does not matter whether the front wheels are driven or not, the invention is also suitable for vehicles with all-wheel drive. This is an essential advantage.

Bei der Bildung des Raddruckmodells kann zusätzlich das Aus­ gangssignal eines Pedalwegsensors berücksichtigt werden.When creating the wheel pressure model, the end can also be used gear signal of a pedal travel sensor are taken into account.

Weitere Merkmale, Vorteile und Anwendungsmöglichkeiten der Erfindung gehen aus der folgenden Beschreibung eines Ausfüh­ rungbeispiels anhand der beigefügten Abbildungen hervor, die in Blockdarstellung eine Schaltungsanordnung zur Durchführung des erfindungsgemäßen Verfahrens zeigt.Other features, advantages and possible uses of the Invention emerge from the following description of an embodiment example with the help of the attached illustrations in block diagram a circuit arrangement for implementation of the method according to the invention shows.

In dem dargestellten Ausführungsbeispiel wird das Drehverhal­ ten der beiden Vorderräder VL, VR mit Hilfe von Radsensoren 1,2 gemessen. Das Ausgangssignal dieser Sensoren wird sodann in Schaltkreisen 3, 4 aufbereitet, damit ein auswertbares Si­ gnal v 1 (t), v 2 (t), das das Drehverhalten der Räder wieder­ gibt, zur Verfügung steht. Aus diesen Radgeschwindigkeitssi­ gnalen v 1 (t), v 2 (t) wird in bekannter Weise in einem Schaltkreis 5 eine Fahrzeugreferenzgeschwindigkeit ermittelt. Erfindungsgemäß werden hierbei zusätzlich die Ausgangssignale einer Stufe 6 berücksichtigt, die das Raddruckmodell RDM bzw. annähernd den Druckverlauf in den einzelnen Radbremsen oder in den beiden Bremskreisen wiedergibt. In the illustrated embodiment, the rotary behavior of the two front wheels VL, VR is measured with the aid of wheel sensors 1, 2 . The output signal of these sensors is then processed in circuits 3, 4 so that an evaluable signal v 1 (t) , v 2 (t) , which reflects the turning behavior of the wheels, is available. From these wheel speed signals v 1 (t) , v 2 (t) , a vehicle reference speed is determined in a known manner in a circuit 5 . According to the invention, the output signals of a stage 6 are additionally taken into account, which represent the wheel pressure model RDM or approximately the pressure curve in the individual wheel brakes or in the two brake circuits.

Die Geschwindigkeitssignale v 1 (t), v 2 (t) werden zusammen mit der Referenzgeschwindigkeit v REF einer Regellogik 7 zu­ geführt, in der in bekannter Weise die erste und die zweite zeitliche Ableitung der Geschwindigkeitssignale 1 (t), 2 (t) bzw. 1 (t), 2 (t) sowie der Radschlupf τ gebildet werden. Außerdem wird das Ausgangssignal eines Bremslichtschalters BLS in die Regellogik eingespeist. Für bestimmte sogenannte "Start"-Bedingungen der Raddruckmodell­ bildung wird das Signal dieses Bremslichtschalters BLS ausge­ wertet.The speed signalsv 1 (t),v 2nd (t)be together with the reference speedv REF  a control logic7 to performed in the known manner the first and the second temporal derivation of the speed signals 1 (t), 2nd (t) respectively. 1 (t), 2nd (t) as well as the wheel slipτ  be formed. In addition, the output signal is a Brake light switchBLS fed into the control logic. For certain so-called "start" conditions of the wheel pressure model education is the signal of this brake light switchBLS out evaluates.

An den Ausgängen a 1 bis a 4 der Regellogik 7 stehen unmittel­ bar die Bremsdruck-Steuersignale zur Verfügung, die den Ein­ laßventilen EV 1, EV 2 und den Auslaßventilen AV 1, AV 2 der beiden Diagonalen I und II zugeführt werden. Mit diesen Einlaßventilen EV 1, 2 und den Auslaßventilen AV 1, 2 wird der Bremsdruck moduliert. Üblicherweise ist das jeweils zuge­ hörige Vorderrad direkt an diesen Bremskreis I bzw. II ange­ schlossen, das entsprechende (diagonale) Hinterrad über einen Bremskraftverteiler, beispielsweise einem sogenannten lastab­ hängigen Regler.At the outputs a 1 to a 4 of the control logic 7 , the brake pressure control signals are available immediately, which are supplied to the inlet valves EV 1 , EV 2 and the outlet valves AV 1 , AV 2 of the two diagonals I and II. The brake pressure is modulated with these inlet valves EV 1, 2 and the outlet valves AV 1, 2 . Usually the respective front wheel is directly connected to this brake circuit I or II, the corresponding (diagonal) rear wheel via a brake force distributor, for example a so-called load-dependent controller.

Die Ventilsteuerzeiten an den Ausgängen a 1 bis a 4 der Regel­ logik 7 werden außerdem der Stufe 6 zur Bildung des Raddruck­ modells von den näherungsweise den Druckverlauf in den Dia­ gonalen I, II wiedergebenden Signalen zugeführt. Über einen Ausgang a 5 der Stufe 6 werden die Raddruckmodell-Signale ei­ nerseits zur Regellogik 7 zurückgeführt und andererseits dem Schaltkreis 5, der die Fahrzeugreferenzgeschwindigkeit v REF bildet, zugeleitet. Die Raddruckmodell-Signale werden sowohl bei der Bemessung der Ventil-Steuerzeiten als auch bei der Berechnung und Extrapolation der Fahrzeugreferenzgeschwindig­ keit v REF einbezogen.The valve timing at the outputs a 1 to a 4 of the control logic 7 are also the stage 6 to form the wheel pressure model of the approximately the pressure curve in the diagonal I, II reproducing signals supplied. Via an output a 5 of stage 6 , the wheel pressure model signals are fed back on the one hand to the control logic 7 and on the other hand are fed to the circuit 5 , which forms the vehicle reference speed v REF . The wheel pressure model signals are included in the measurement of the valve timing as well as in the calculation and extrapolation of the vehicle reference speed v REF .

Schließlich sind in der Abbildung noch die beiden Leitungen e 1 und e 2 dargestellt, über die der Stufe 6 sogenannte Start­ bedingungen zugeführt werden. Beispielsweise führt die Lei­ tung e 1 ein Signal, wenn eine normale, ungeregelte Bremsung stattfindet, während über die Leitung e 2 der Raddruckmo­ dell-Stufe 6 das Einsetzen einer Blockierschutzregelung si­ gnalisiert wird. Dies sind nur Beispiele für Informationen, die je nach Bedarf ausgetauscht werden und zur Verbesserung der Modellbildung und der Regelung beitragen.Finally, the figure also shows the two lines e 1 and e 2 , via which stage 6 so-called start conditions are supplied. For example, the line e 1 leads a signal when normal, uncontrolled braking takes place, while the onset of an anti-lock control system is signaled via line e 2 of the wheel pressure model stage 6 . These are just examples of information that is exchanged as needed and that helps to improve modeling and regulation.

Claims (2)

1. Verfahren zur Steuerung der Bremsanlage eines 2-Kanal-An­ tiblockiersystems, bei dem das Raddrehverhalten gemessen und zur Erzeugung einer Fahrzeugreferenzgeschwindigkeit sowie von Bremsdruck-Regelsignalen ausgewertet wird und bei dem den Bremsdruck in den Radbremsen bestimmende Größen gemessen und aus diesen Meßgrößen ein Raddruckmo­ dell, das näherungsweise den Druckverlauf in den Radbrem­ sen wiedergibt, abgeleitet und zusammen mit dem Raddreh­ verhalten zur Radschlupfregelung bzw. zur Bestimmung der Bremsdruck-Regelsignale herangezogen wird, nach Patent ... (Patentanmeldung P 38 09 100.3), dadurch ge­ kennzeichnet, daß die Fahrzeugreferenzge­ schwindigkeit (v REF ) aus dem Drehverhalten der Vorderrä­ der (VL, VR) und dem Raddruckmodell (RDM) ermittelt wird.1. Method for controlling the brake system of a 2-channel anti-lock braking system, in which the wheel turning behavior is measured and evaluated to generate a vehicle reference speed and brake pressure control signals, and in which the brake pressure in the wheel brakes is measured and a wheel pressure model is derived from these measured variables , which approximately reproduces the pressure curve in the wheel brakes, derived and used together with the wheel turning behavior for wheel slip control or for determining the brake pressure control signals, according to patent ... (patent application P 38 09 100.3), characterized in that the Vehicle reference speed ( v REF ) is determined from the turning behavior of the front wheels (VL, VR) and the wheel pressure model (RDM) . 2. Schaltungsanordnung zur Durchführung des Verfahrens nach Anspruch 1, für ein 2-Kanal-Antiblockiersystem, mit Sen­ soren zur Ermittlung des Raddrehverhaltens, mit Schalt­ kreisen zur Erzeugung einer Fahrzeugreferenzgeschwindig­ keit und von Bremsdruck-Steuersignalen sowie zur Bildung eines Raddruckmodells bzw. von näherungsweise den Druck­ verlauf in den Radbremsen wiedergebenden elektrischen Si­ gnalen, die in die Signalverarbeitung zur Erzeugung der Bremsdruck-Steuersignale einbeziehbar sind, nach Pa­ tent ... (Patentanmeldung P 38 09 100.3), dadurch ge­ kennzeichnet, daß die Vorderräder (VR, VL) mit je einem Drehzahlsensor (1, 2) ausgerüstet sind, deren Ausgangssignale zur Bildung der Fahrzeugreferenzgeschwin­ digkeit (v REF) mit den Raddruckmodell-Signalen logisch verknüpfbar sind.2. Circuit arrangement for performing the method according to claim 1, for a 2-channel anti-lock braking system, with sensors for determining the wheel turning behavior, with circuits for generating a vehicle reference speed and brake pressure control signals and for forming a wheel pressure model or approximately Pressure curve in the wheel brakes reflecting electrical signals which can be included in the signal processing for generating the brake pressure control signals, according to Pa tent ... (patent application P 38 09 100.3), characterized in that the front wheels (VR, VL) with are each equipped with a speed sensor ( 1 , 2 ), whose output signals to form the vehicle reference speed ( v REF ) can be logically linked to the wheel pressure model signals.
DE19893916672 1988-03-18 1989-05-23 Controlling two channel brake antilocking system - measuring wheel rotation behaviour and evaluating to produce vehicle reference speed and brake pressure regulating signals Ceased DE3916672A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE19893916672 DE3916672A1 (en) 1988-03-18 1989-05-23 Controlling two channel brake antilocking system - measuring wheel rotation behaviour and evaluating to produce vehicle reference speed and brake pressure regulating signals
GB9008133A GB2232731B (en) 1989-05-23 1990-04-10 Method and circuit arrangement for controlling an anti-lock brake system
FR9006139A FR2647403B1 (en) 1989-05-23 1990-05-16 METHOD AND CIRCUIT FOR CONTROLLING THE TWO-CHANNEL ANTI-LOCKING DEVICE OF A BRAKING SYSTEM
US07/528,015 US5060159A (en) 1989-05-23 1990-05-23 Method and circuit configuration for controlling a two-channel anti-lock system
JP2131453A JPH0316864A (en) 1989-05-23 1990-05-23 Control method for 2-channel antilock system and circuit constitution

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3809100A DE3809100A1 (en) 1988-03-18 1988-03-18 METHOD AND CIRCUIT ARRANGEMENT FOR CONTROLLING A BRAKE SYSTEM WITH ANTI-BLOCKING PROTECTION AND / OR DRIVE SLIP CONTROL
DE19893916672 DE3916672A1 (en) 1988-03-18 1989-05-23 Controlling two channel brake antilocking system - measuring wheel rotation behaviour and evaluating to produce vehicle reference speed and brake pressure regulating signals

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DE3916672A1 true DE3916672A1 (en) 1990-11-29

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DE19893916672 Ceased DE3916672A1 (en) 1988-03-18 1989-05-23 Controlling two channel brake antilocking system - measuring wheel rotation behaviour and evaluating to produce vehicle reference speed and brake pressure regulating signals

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4312404A1 (en) * 1993-04-16 1994-10-20 Teves Gmbh Alfred External brake system for motor vehicles
WO2000038966A1 (en) * 1998-12-28 2000-07-06 Robert Bosch Gmbh Method and device for determining the pressure in brake systems
FR2801264A1 (en) * 1999-11-24 2001-05-25 Bosch Gmbh Robert METHOD FOR EVALUATING PRESSURE IN A WHEEL BRAKE CYLINDER AND CONTROL UNIT FOR CARRYING OUT SAID METHOD
DE102016009119A1 (en) 2016-07-27 2017-03-30 Daimler Ag Method for operating a vehicle

Citations (5)

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Publication number Priority date Publication date Assignee Title
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DE4312404A1 (en) * 1993-04-16 1994-10-20 Teves Gmbh Alfred External brake system for motor vehicles
WO2000038966A1 (en) * 1998-12-28 2000-07-06 Robert Bosch Gmbh Method and device for determining the pressure in brake systems
US6446490B1 (en) 1998-12-28 2002-09-10 Robert Bosch Gmbh Method and device for determining the pressure in brake systems
FR2801264A1 (en) * 1999-11-24 2001-05-25 Bosch Gmbh Robert METHOD FOR EVALUATING PRESSURE IN A WHEEL BRAKE CYLINDER AND CONTROL UNIT FOR CARRYING OUT SAID METHOD
DE102016009119A1 (en) 2016-07-27 2017-03-30 Daimler Ag Method for operating a vehicle

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