Method and device for electronic control of a vehicle deceleration of a brake slip-controlled vehicle

Patent metadata

Field	Value
Publication number	US-10889274-B2
Application number	US-201615575822-A
Country	US
Kind code	B2
Filing date	Jun 17, 2016
Priority date	Jul 14, 2015
Publication date	Jan 12, 2021
Grant date	Jan 12, 2021

Abstract

A method for electronically controlling a vehicle deceleration of a brake slip-controlled vehicle comprising a pneumatic braking system includes detecting that at least one wheel of the vehicle has a brake slip that exceeds a setpoint brake slip; in response to detecting that at least one of the wheels of the vehicle has a brake slip that exceeds the setpoint brake slip, brake slip-controlling the at least one wheel in order to prevent a lockup of the at least one wheel; determining a braking effect caused by wheel brakes on the wheels of the vehicle; and adjusting brake pressures output at the wheel brakes of one or more non-brake slip-controlled wheels in order to adjust the induced braking effect. The brake pressures at the wheel brakes of all non-brake slip-controlled wheels are adjusted.

First claim

The invention claimed is:

1. A method for electronically controlling a vehicle deceleration of a brake slip-controlled vehicle comprising a pneumatic braking system, the method comprising:
detecting that at least one wheel of the vehicle has a brake slip that exceeds a setpoint brake slip;
in response to detecting that at least one of the wheels of the vehicle has a brake slip that exceeds the setpoint brake slip, brake slip-controlling the at least one wheel in order to prevent a lockup of the at least one wheel;
determining a braking effect caused by wheel brakes on the wheels of the vehicle; and
adjusting brake pressures output at the wheel brakes of one or more non-brake slip-controlled wheels in order to adjust the induced braking effect,
wherein the brake pressures at the wheel brakes of all non-brake slip-controlled wheels are adjusted,
wherein the brake pressures are selected in such a way that a braking effect reduced by the brake slip control at the at least one wheel is compensated for by the adjustment of the brake pressures on the wheel brakes of all non-brake slip-controlled wheels,
wherein the brake pressures at the wheel brakes of the non-brake slip-controlled wheels are adjusted by a factor,
wherein a wheel-specific factor is applied at each wheel brake of the non-brake slip-controlled wheels,
wherein the factor is selected depending on whether cornering is present, and
wherein the wheel-specific factors applied at each wheel brake of outer, non-brake slip-controlled wheels are higher than the wheel-specific factors applied at each wheel brake on inner, non-brake slip-controlled wheels.

2. The method as claimed in claim 1 , wherein the braking effect is characterized by a brake pressure and/or a braking torque and/or a braking force.

3. The method as claimed in claim 1 , wherein the brake pressure at the wheel brakes of the brake slip-controlled wheel is held or reduced by the brake slip control.

4. The method as claimed in claim 1 , wherein the brake pressures at the wheel brakes of the non-brake slip-controlled wheels are selected in such a way that, for a detected setpoint vehicle deceleration, a total brake pressure or a total braking force or a total braking torque during active brake slip control approximately corresponds to a total brake pressure or a total braking force or a total braking torque without active brake slip control.

5. The method as claimed in claim 1 , wherein the adjustment of the brake pressures at the wheel brakes of the non-brake slip-controlled wheels takes place when cornering is present.

6. The method as claimed in claim 1 , wherein the factors are selected in such a way that the brake pressures at the wheel brakes of the non-brake slip-controlled wheels increase.

7. The method as claimed in claim 1 , wherein the factor is dynamically adjusted during a braking depending on a response of the vehicle to the adjustment of the brake pressures at the wheel brakes of the non-brake slip-controlled wheels.

8. The method as claimed in claim 1 , wherein the factor is selected depending on a transversal acceleration of the vehicle, and
wherein the wheel-specific factor applied at each wheel brake of the non-brake slip-controlled wheels, on which a weight acts that is higher due to the transversal acceleration, is set higher than the wheel-specific factors applied at each wheel brake of the non-brake slip-controlled wheels, on which a weight acts that is lower due to the transversal acceleration.

9. The method as claimed in claim 1 , wherein the factor is selected depending on a load of the vehicle, and
wherein the wheel-specific factors applied at each wheel brake of the non-brake slip-controlled wheels, on which a weight acts that is higher due to the load, is set higher than the wheel-specific factors applied at each wheel brake of the non-brake slip-controlled wheels, on which a weight acts that is lower due to the load.

10. The method as claimed in claim 1 , wherein it is determined whether cornering is present via a steering wheel angle sensor and/or a transversal acceleration sensor and/or on the basis of a comparison of the brake slips of the inner and the outer wheels of a vehicle axle.

11. The method as claimed in claim 1 , wherein a roll stability control controlled by a RSC control unit is active during cornering in order to specify a setpoint vehicle deceleration for additional stabilization of the vehicle during cornering.

12. The method as claimed in claim 1 , wherein, when cornering has been established, the brake pressures at the wheel brakes of the non-brake slip-controlled wheels are adjusted only if it is established that the brake slip-controlled wheel is not an outer wheel.

13. The method as claimed in claim 1 , wherein the brake pressures at the wheel brakes of the non-brake slip-controlled wheels are additionally already adjusted, depending on the detected brake slip and/or the transversal acceleration, when a brake slip at one of the non-brake slip-controlled wheels is above a tolerance, wherein the brake pressures at the wheel brakes of the non-brake slip-controlled wheels are increased only at the wheel brakes at which the brake slip is below the tolerance in order to prevent a case of slip at a non-brake slip-controlled wheel as a precaution.

14. The method as claimed in claim 1 , wherein the vehicle is a single-piece vehicle or a two-piece vehicle having a trailer or a semi-trailer, wherein the brake pressures and the brake slips at the wheel brakes or the wheels of the single-piece vehicle in the case of the single-piece vehicle and at the wheel brakes or the wheels of the semi-trailer or of the trailer in the case of a two-piece vehicle are adjusted and monitored.

15. A deceleration unit for electronically controlling a vehicle deceleration of a brake slip-controlled vehicle comprising a pneumatic brake system, wherein the deceleration unit is configured to:
detect that at least one of the wheels of the vehicle is brake slip-controlled,
determine the braking effect caused by the wheel brakes of the vehicle, and
adjust the brake pressures output at the wheel brakes of the non-brake slip-controlled wheels in order to adjust the induced braking effect,
wherein the deceleration unit is designed for adjusting the brake pressures at the wheel brakes of all non-brake slip-controlled wheels,
wherein a braking effect reduced by the brake slip control at the at least one wheel can be compensated for by way of the adjustment of the brake pressures at the wheel brakes of all non-brake slip-controlled wheels,
wherein the brake pressures at the wheel brakes of the non-brake slip-controlled wheels are adjusted by a factor,
wherein a wheel-specific factor is applied at each wheel brake of the non-brake slip-controlled wheels,
wherein the factor is selected depending on whether cornering is present, and
wherein the wheel-specific factors applied at each wheel brake of outer, non-brake slip-controlled wheels are higher than the wheel-specific factors applied at each wheel brake on inner, non-brake slip-controlled wheels.

16. A vehicle, comprising a device for carrying out a method as claimed in claim 1 .

17. A method for electronically controlling a deceleration of a vehicle comprising a pneumatic braking system, the method comprising:
determining a setpoint vehicle deceleration;
outputting, at each respective wheel brake of a plurality of wheels of the vehicle, a respective brake pressure;
detecting that at least one wheel of the vehicle has a slip that exceeds a setpoint slip, and in response, brake slip-con

Assignees

• Wabco Gmbh

Inventors

• Eckert Horst
• Schwagmeyer Florian

Classifications

• B60T8/1708 Primary

  for lorries or tractor-trailer combinations · CPC title

• B60T8/323

  Systems specially adapted for tractor-trailer combinations · CPC title

• B60T8/17554

  specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention (road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04) · CPC title