Method for regulating a vehicle-actual-deceleration in a vehicle with an ABS brake system

Patent metadata

Field	Value
Publication number	US-11084470-B2
Application number	US-201616060032-A
Country	US
Kind code	B2
Filing date	Nov 9, 2016
Priority date	Dec 22, 2015
Publication date	Aug 10, 2021
Grant date	Aug 10, 2021

Abstract

A method for regulating a vehicle-actual-deceleration in a vehicle with an ABS brake system includes detecting the vehicle-actual-deceleration; determining a target vehicle deceleration and detecting at least one actual wheel rotational behavior. The method further includes calculating actuation times for actuation of pressure control valves of the ABS brake system associated with the wheels of the first vehicle axle and the wheels of the further vehicle axle and determining correction actuation times if at least one of the respective calculated actuation times is less than a minimum actuation time associated with the respective pressure control valve. Calculation of each of the respective actuation times is carried out at least for all of a first number of pressure control valves with which wheels are associated whose rotational behavior follows the at least one actual wheel rotational behavior.

First claim

The invention claimed is:

1. A method for regulating a vehicle deceleration in a vehicle with an ABS brake system, the method comprising:
detecting the vehicle deceleration;
determining a target deceleration;
detecting a wheel rotational behavior that indicates a difference in a rotational behavior of a wheel of a first vehicle axle from a wheel of a further vehicle axle;
calculating, for adjusting the vehicle deceleration to the target deceleration and the wheel rotational behavior to a target rotational behavior, actuation times for actuation of each of a first number of pressure control valves of the ABS brake system;
determining at least one minimum actuation time undershoot resulting from at least one respective calculated actuation time being less than a respective corresponding minimum actuation time associated with the respective pressure control valve; and
calculating, in response to the at least one minimum actuation time undershoot, correction actuation times for actuation of each of a second number of pressure control valves of the ABS system; and
actuating, to bring about the target vehicle deceleration, each of the second number of pressure control valves of the ABS system according to the correction actuation times,
wherein the second number is smaller than the first number.

2. The method as claimed in claim 1 , wherein the pressure control valves of the second number of pressure control valves are a subset of the pressure control valves of the first number of pressure control valves.

3. The method as claimed in claim 1 , wherein the target deceleration is determined from a target deceleration function that is linear with respect to time,
wherein the target deceleration function is divided into multiple timing cycles,
wherein a respective timing cycle target deceleration is determined for each respective timing cycle,
wherein each respective timing cycle target deceleration is determined as a value of the target deceleration function at a respective point in time during the respective timing cycle, and
wherein there is a waiting time between each of the multiple timing cycles.

4. The method as claimed in claim 3 , wherein, for each timing cycle, respective correction actuation times are divided into approximately equal timing intervals, wherein each timing interval exceeds the corresponding respective minimum actuation time, and
wherein the respective pressure control valve is successively actuated with the timing intervals to implement the correction actuation time.

5. The method as claimed in claim 1 , wherein the determining at least one minimum actuation time undershoot comprises determining that all respective calculated actuation times for all of the respective first number of pressure control valves are less than respective corresponding minimum actuation times associated with the respective pressure control valves, and
wherein the calculating, in response to the at least one minimum actuation time undershoot, correction actuation times for actuation of each of the second number of pressure control valves of the ABS system comprises determining a correction actuation time for a respective pressure control valve having a respective calculated actuation time that is closest to the respective corresponding minimum actuation time.

6. The method as claimed in claim 1 , wherein the determining at least one minimum actuation time undershoot comprises determining that all respective calculated actuation times for all of the respective first number of pressure control valves are less than respective corresponding minimum actuation times associated with the respective pressure control valves, and
wherein the calculating, in response to the at least one minimum actuation time undershoot, correction actuation times for actuation of each of the second number of pressure control valves of the ABS system does not include determining a correction actuation time for a respective pressure control valve having a respective calculated actuation time that differs most from the respective corresponding minimum actuation time,
wherein the method further comprises:
determining at least one minimum correction actuation time undershoot resulting from at least one respective correction actuation time for a respective pressure control valve being less than a respective corresponding minimum actuation time associated with the respective pressure control valve, and
successively carrying out a recalculation of the correction actuation times without the respective correction actuation time that differs most from the respective corresponding minimum actuation time.

7. The method as claimed in claim 6 , wherein successively carrying out the recalculation of the correction actuation times without the respective correction actuation time that differs most from the respective corresponding minimum actuation time results in only a single remaining pressure control valve being available for actuation,
wherein the recalculation of the correction actuation time for the single remaining pressure control valve provides a recalculated correction actuation time for the single remaining pressure control valve that is less than the respective corresponding minimum actuation time of the single remaining pressure control valve,
wherein the method further comprises carrying out actuation of the single remaining pressure control valve only if the recalculated correction actuation time for the single remaining pressure control valve is greater than or equal to the respective corresponding minimum actuation time after a variable waiting time between two timing cycles, the variable waiting time being divided into a minimum waiting time and at least one time interval.

8. The method as claimed in claim 1 , further comprising:
determining at least one minimum correction actuation time undershoot resulting from at least one respective correction actuation time for a respective pressure control valve being less than a respective corresponding minimum actuation time associated with the respective pressure control valve, and
setting each of the at least one respective correction actuation time that is less than the respective corresponding minimum actuation time to the respective corresponding minimum actuation time.

9. The method as claimed in claim 1 , wherein calculating, in response to the at least one minimum actuation time undershoot, correction actuation times for actuation of each of the second number of pressure control valves of the ABS system comprises calculating at least one or only one correction actuation time for each pressure control valve for which the calculated respective actuation time exceeds the corresponding respective minimum actuation time.

10. The method as claimed in claim 1 , wherein actuation times are calculated for pressure control valves associated with all wheels of the vehicle that can be braked.

11. The method as claimed in claim 1 , wherein each respective calculated actuation time indicates a time for which an inlet valve and/or an outlet valve of a respective pressure control valve of the ABS system is to be actuated,
wherein each respective calculated correction actuation time indicates a time for which an inlet and/or an outlet valve of a respective pressure control valve of the ABS system is to be actuated,
wherein an inlet valve minimum actuation time is associated with each respective inlet valve, and
wherein an outlet valve minimum actuation time is associated with each respective outlet valve.

12. The method as claimed in claim 1 , wherein the target vehicle deceleration is specified by a controller of a driver assistance system and/or by a dr

Assignees

• Wabco Gmbh
• Zf Cv Systems Hannover Gmbh

Inventors

• Eckert Horst
• Schwagmeyer Florian

Classifications

• B60T8/1766 Primary

  Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle · CPC title

• B60T8/17636

  Microprocessor-based systems · CPC title

• B60T8/36

  including a pilot valve responding to an electromagnetic force · CPC title

• 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 (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02) · CPC title

• B60T8/361

  wherein the pilot valve is mounted in a circuit controlling an auxiliary fluid system · CPC title