CN103987594B - Method and apparatus for adjusting the braking moment of at least one friction brake of wheel - Google Patents
Method and apparatus for adjusting the braking moment of at least one friction brake of wheel Download PDFInfo
- Publication number
- CN103987594B CN103987594B CN201280062096.3A CN201280062096A CN103987594B CN 103987594 B CN103987594 B CN 103987594B CN 201280062096 A CN201280062096 A CN 201280062096A CN 103987594 B CN103987594 B CN 103987594B
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- Prior art keywords
- friction
- coefficient
- brake
- moment
- braking
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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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- 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
- B60T2270/10—ABS control systems
- B60T2270/14—ABS control systems hydraulic model
-
- 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
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention relates to the method and apparatus (1) of the braking moment of at least one friction brake of wheel for determining motor vehicles, including：For determining driver desired braking moment (Msoll) unit (2), wherein, make theoretical wheel drag moment (MsollR) and driver desired braking moment (Msoll) be associated；For determining and setting up the pressure determination unit (4) of brake pressure, brake pressure is used in the case of the coefficient of friction (Cp) in view of friction brake producing theoretical wheel drag moment (MsollR)；And sensor, it is used for detecting actual brake pressure (pB‑ist), wherein, this device (1) includes coefficient of friction module (6), at least conveys actual brake pressure (p for itB‑ist), wherein, at least dependent on actual brake pressure (p in coefficient of friction module (6)B‑ist) determine coefficient of friction (Cp) and back into pressure determination unit (4).
Description
Technical field
The present invention relates to the method and apparatus of the braking moment of at least one friction brake for adjusting wheel.
Background technology
The known braking features value by the wheel drag in vehicle or friction system from document DE 103 09 933 A1
Number is defined as the ratio that wheel drag moment (Radbremsmoment) is with respect to wheel brake pressure.Special to braking in order to consider
The external action of value indicative, according to the publication it is considered in brake brake influential on coefficient of friction temperature.By
Even if this realizes being also contemplated for the temperature dependency of braking features value in lasting run duration and being continually updated braking features
Value.
However, here disadvantageously affecting parameters only to braking features value for the temperature, and do not consider other
Affecting parameters, for example humidity, salt fog, abrasion or braking lining aging.These parameters affect braking features value, but not only more
Have an impact in long run time section, and had an impact with quite significant degree during travelling in real time.Understand exactly
Braking features value one side is used for identifying the functional fault of brake, and is on the other hand used for by adjusting for single wheel
Whole vehicle brake is improving integral stop effect.
Known a kind of special for determining the braking in the wheel drag of vehicle from document WO 2009/106455 A1
The method of value indicative, wherein, braking features value depends on wheel drag moment and wheel brake pressure and preferably limits or calculate
Ratio for wheel drag moment and wheel brake pressure.Here, being arranged to wheel drag moment to pass through wheel moment sensing
Device records and for calculating the basis of braking features value.Wheel drag moment is being held by means of the measurement of associated sensor
It is consecutively carried out in continuous operation, thus realizing enduringly updating braking features value, and can be same in braking features value changes
Corresponding braking adjustment is executed in lasting operation.It is achieved in：Not only to emergent change (such as braking features value
Unexpected change, this can be this situation for example when track condition changes through moisture) make a response, and to wheel system
The condition (for example aging, loss or decay) more slowly changing in dynamic system is made a response.It is especially each single car
Wheel brake is directed to single wheel execution braking features value or the lasting and continuous of coefficient of friction is monitored and determine, thus going back
Accordingly for single wheel, the condition of change can be made a response.Disadvantageously the measurement cost of wheel drag moment is non-
Chang Gao.
A kind of known method of the eigenvalue for determining wheel drag from document DE 100 11 270 A1, its
In, this feature value is the control parameter (it causes the extruding of wheel drag) in braking moment or brake force and wheel drag
Between relation, wherein, braking features value depends on operational factor determining, wherein, depends on wheel for single wheel
Distinctive parameter is braked the determination of eigenvalue.Preferably, control parameter be electronic wheel drag operating parameter or
Brake pressure.Preferably, the distinctive parameter of wheel is wheel-slip, wheel support power, wheel brake pressure and radius of wheel.
A kind of known method of the brakes for motor vehicles, this brakes from document EP 1 625 044 B1
Have electrical regenerative braking device (especially electromotor) and by least one brake pressure generator part by arrestant manipulate many
The friction brake of individual hydraulic pressure, its total delay is made up of the delay component of friction brake and electrical regenerative braking device, wherein, at least
One brake pressure generator part is formed by the master cylinder (especially tandem main cylinder) being run using auxiliary force (Hilfskraft), and
Wherein, when being braked using electrical regenerative braking device, arrestant is drawn away in pressure accumlator, and wherein, braking procedure passes through electricity
Sub- adjustment unit is divided into multiple time phases, and wherein, these time phases pass through to distribute friction brake and electrical regenerative braking device
Braking moment distinguishing, wherein, (it is adjusted in friction to adjust process by adjustment unit execution first during braking procedure
Theoretical brake pressure at brake) and the second regulation process (react on the system of brake pressure generator part using its adjustment
The pressure of dynamic agent, to adjust for brake generator part by the predetermined power/stroke-delay line of brakes), wherein,
Switch the pressure in the pressure in tandem main cylinder and the appearance therefore at brake pedal for the valve regulation using electronics.
Content of the invention
The technical problem of the present invention is based on a kind of brake force of at least one friction brake for adjusting wheel of offer
The method of square and device, its very simple and accurately adjusting brake moment in terms of structure or process.
The solution of this technical problem is passed through to be rubbed at least one of wheel determining motor vehicles according to the present invention
The method and apparatus of braking moment wiping brake is solving.According to the present invention for determine motor vehicles wheel at least
In the method for the braking moment of one friction brake, determine driver's desired braking moment by means of unit, wherein, in pressure
Determine in determining unit and set up brake pressure, it is used in the case of the coefficient of friction in view of friction brake producing reason
By wheel drag moment it is characterised in that detecting actual brake pressure and delivering this to coefficient of friction module, wherein,
Determine coefficient of friction at least dependent on actual brake pressure in coefficient of friction module, and back into single to pressure determination
Unit.Included for the device determining the braking moment of at least one friction brake of the wheel of motor vehicles according to the present invention：
For determining the unit of driver's desired braking moment, wherein, theoretical wheel drag moment and driver's desired braking power are made
Square is associated；For determining and setting up the pressure determination unit of brake pressure, brake pressure is used in view of for friction system
Theoretical wheel drag moment is produced in the case of the coefficient of friction of dynamic device；And for detecting the sensing of actual brake pressure
Device, it is characterised in that device (1) includes coefficient of friction module, at least conveys actual brake pressure for it, wherein, in friction system
Determine coefficient of friction at least dependent on actual brake pressure in digital-to-analogue block and back into pressure determination unit.
Method or apparatus for adjusting the braking moment of at least one friction brake of the wheel of motor vehicles include using
In the unit determining driver's desired braking moment, wherein, theoretical wheel drag moment and driver's desired braking moment phase
Association.Only exist in the embodiment of friction brake wherein, driver's desired braking moment is equal to theoretical wheel braking
Device moment.Here is for determining that the unit of driver's desired braking moment preferably conveys at least one pedal row of brake pedal
Journey, from wherein determining driver's desired braking moment.Here, additionally, still it is also possible to consider the time of manipulation, so that in view of braking
The stopping (In-Stop) of device or change are tight.The stopping of brake or change are tightly understood as braking in the case of identical pedal travel
The braking moment of device rises in time.Additionally, this device has：For determining and setting up the pressure determination unit of brake pressure,
Brake pressure is used in the case of the coefficient of friction in view of friction brake producing theoretical wheel drag moment；And use
In the sensor detecting actual brake pressure.Additionally, this device includes coefficient of friction module now, at least conveys reality for it
Brake pressure, wherein, determines coefficient of friction at least dependent on actual brake pressure in coefficient of friction module and backs into
To pressure determination unit.This makes it possible to realize iteratively close to actual coefficient of friction, this actual coefficient of friction due to internal with
External action and stand lasting fluctuation.Because particularly simple actual brake pressure can be measured compared to braking moment,
Structure is very simple in terms of sensor, and wherein, additional cost is limited in the construction of coefficient of friction module.
In another embodiment, device includes the unit for Torque distribution, wherein, by driver's desired braking power
Square is divided into (generatorisch) braking moment and the wheel drag moment of the electromotor of motor.Here, motor is, for example, electricity
The drive motor of the electricity of motor-car or motor vehicle driven by mixed power.Here, can relate to unique motor or multiple being for example configured to wheel hub
The motor of motor (Radnabenmotor).Here, distribution is preferably carried out under the viewpoint of energy, that is, make every effort to reach by sending out
The braking moment of motor applies the share as big as possible of driver's desired braking moment.In extreme circumstances, completely to generate electricity
Machine applies driver's desired braking moment.If however, driver's desired braking moment exceedes the electromotor that maximum can apply
Braking moment, then must be additionally carried out braking by friction brake.Here, manipulation can be for example hydraulic pressure or electricity.
In another embodiment, it is that coefficient of friction module conveys at least one of following parameter：Wheel velocity, braking
Device temperature, manipulation time or braking frequency, wherein, in addition to actual brake pressure, determine friction from the parameter being conveyed
Coefficient.Here, braking frequency is, for example, the meter reading of the break-in state reflecting friction brake.Manipulation time reflection friction system
The Stopping Ability (In-Stop-Verhalten) of dynamic device.It is understood that this is enumerated is not conclusive, but still also can examine
Consider other parameters.
In another embodiment, the parameter being single stores the spy of reflection coefficient of friction and the relation of corresponding parameter
The single value being used for coefficient of friction wherein, is summarized as common in combining unit (Fusionseinheit) by linearity curve
Coefficient of friction.Because the dependency largely changes in material being used according to friction brake, preferably in advance according to warp
Test determination storage characteristic curve.
In another embodiment with multiple friction brakes, determine the friction system for each wheel drag
Number, or the coefficient of friction for friction brake is determined with axle (achsweise).
Brief description
The present invention is expanded on further by preferred embodiment below.Unique accompanying drawing shows for adjusting wheel extremely
The schematic block diagram of the device of braking moment of a few friction brake.
Specific embodiment
Device 1 for adjusting the braking moment of at least one friction brake is included for determining driver's desired braking
Moment MsollUnit 2, for Torque distribution unit 3, for determine and set up be used for produce theoretical wheel drag moment
MsollRThe pressure determination unit 4 of brake pressure, be used for detecting actual brake pressure pB-istSensor 5 and coefficient of friction
Module 6.
Here, the pedal travel s of pedal and manipulation time t is conveyed to unit 2, and determine from these |input parametes
Driver's desired braking moment Msoll.Here, moment is associated with pedal travel s, wherein, moment M is brake pressure and ideal
Coefficient of friction Cp (it is set to be constant) function.Because pressure p depends on volume, and volume is pedal travel s
Function, so pass through p-V- characteristic curve correction torque characteristic, thus there is not linear relation between M and s.Also will
Additional moment MZBe added to moment M related to pedal travel s, i.e. in view of brake become tight that is to say, that over time
Rise the actual braking force square at friction brake to improve.When additionally or only to be braked with electromotor, driver
Equally expect this characteristic.Then, two moment components and be driver's desired braking moment Msoll.
Then enter to be about to driver's desired braking moment M in unit 3sollIt is divided into braking moment M of electromotorsollgAnd reason
By wheel drag moment MsollR.For this reason, motor controller 7 is actual braking force square M that motor 8 transmits electromotoristgWith can
Braking moment M of dominationgReserveThat is to say, that motor 8 also can apply how many braking moments.If motor can apply all of driving
The person's of sailing desired braking moment Msoll, then preferably only to be braked with electromotor, wherein, due to considering MZ, braking ability is with only
Have in the vehicle of friction brake like that.
And if governable braking moment M of motor 8gReserveNot, then at least one friction brake must be passed through
Or apply difference by multiple friction brakes in the case of multiple friction brakes.Then in multiple friction brakes
In the case of equally can enter to be about to braking torque distribution to different friction brakes by unit 3.
Then by theoretical wheel drag moment MsollRIt is conveyed to pressure determination unit 4, it calculates brake pressure p, with
Just produce desired theory wheel drag moment M in the case of preferable coefficient of friction CpsollR.Then pass through sensor 5
Actual brake pressure p produced by measurementB-istAnd deliver this to coefficient of friction module 6.Make friction system by means of characteristic curve
Number Cp and actual brake pressure p recordingB-istAssociated, and deliver this to combining unit 9.Additionally, being also coefficient of friction mould
Block 6 conveying wheel velocity V, brake temperature T, manipulation time t and braking frequency n, wherein, exist to each parameter and are reflected in
The characteristic curve of corresponding relation between parameter and coefficient of friction Cp.The corresponding coefficient of friction derived from these characteristic curves
Cp is fed to combining unit 9, it is then determined that common coefficient of friction Cp, it is then delivered to pressure and determines combining unit 9
Unit 4, this pressure determination unit 4 and then the coefficient of friction Cp using this correction are used for pressure and determine.Thus enduringly follow the trail of and rub
Wipe coefficient Cp, thus accurately M is set up all the time by pressure determination unit 4sollR.Then, as a result, driver's desired braking
Moment MsollIt is expressed as MsollgAnd MsollRSum.It should be noted herein that can be to different coefficient of friction Cp in combining unit 9
Weight to some extent, wherein, the share of preferably actual brake pressure is maximum.
Wheel velocity V is preferably supplied to coefficient of friction module 6 by bus system (such as CAN system).Brake
Temperature T available sensors are detecting, or can derive from thermal module, for example derived by other parameters wherein or estimate
Go out brake temperature.Manipulation time t corresponds to the same time t running in unit 2, thus it can be conveyed by pedal itself.System
Dynamic frequency n plays the meter reading of how frequently operating brakes for self installation.
Claims (10)
1. a kind of method of the braking moment of at least one friction brake of the wheel for determining motor vehicles, wherein, by
Determine driver desired braking moment (M in unit (2)soll), wherein, determine in pressure determination unit (4) and set up braking
Pressure, it is used in the case of the coefficient of friction (Cp) in view of friction brake producing theoretical wheel drag moment
(MsollR) it is characterised in that detecting actual brake pressure (pB-ist) and deliver this to coefficient of friction module (6), wherein,
At least dependent on actual brake pressure (p in coefficient of friction module (6)B-ist) determine coefficient of friction (Cp), and back into
To pressure determination unit (4).
2. method according to claim 1 is it is characterised in that the braking moment of electromotor can be produced by means of motor (8)
(Msollg), wherein, by driver desired braking moment (M in the unit (3) for Torque distributionsoll) it is divided into the system of electromotor
Kinetic moment (Msollg) and theoretical wheel drag moment (MsollR).
3. method according to claim 1 and 2 is it is characterised in that convey in following parameter for coefficient of friction module (6)
At least one：Wheel velocity (V), brake temperature (T), manipulation time (t) or braking frequency (n), wherein, except actual braking
Pressure (pB-ist) outside, depending on the parameter determination coefficient of friction (Cp) being conveyed.
4. method according to claim 3 it is characterised in that for single parameter store reflection coefficient of friction (Cp) with
The characteristic curve of the relation of corresponding parameter, wherein, the single value that will be used for coefficient of friction (Cp) in combining unit (9) is total
Form common coefficient of friction (Cp).
5. method according to claim 1 is it is characterised in that determine the coefficient of friction for each wheel drag
(Cp), or with axle determine the coefficient of friction (Cp) for friction brake.
6. a kind of device (1) of the braking moment of at least one friction brake of the wheel for determining motor vehicles, including：With
In determination driver desired braking moment (Msoll) unit (2), wherein, make theoretical wheel drag moment (MsollR) and drive
Member desired braking moment (Msoll) be associated；For determining and setting up the pressure determination unit (4) of brake pressure, brake pressure is used
In the theoretical wheel drag moment (M of generation in the case of in view of for the coefficient of friction (Cp) of friction brakesollR)；With
And be used for detecting actual brake pressure (pB-ist) sensor (5) it is characterised in that device (1) include coefficient of friction module
(6), at least convey actual brake pressure (p for itB-ist), wherein, at least dependent on actual braking in coefficient of friction module (6)
Pressure (pB-ist) determine coefficient of friction (Cp) and back into pressure determination unit (4).
7. device according to claim 6 is it is characterised in that device (1) includes the unit (3) for Torque distribution,
Wherein by driver desired braking moment (Msoll) be divided into motor (8) electromotor braking moment (Msollg) and wheel drag
Moment (MsollR).
8. the device according to claim 6 or 7 is it is characterised in that convey in following parameter for coefficient of friction module (6)
At least one：Wheel velocity (V), brake temperature (T), manipulation time (t) or braking frequency (n), wherein, except actual braking
Pressure (pB-ist) outside, determine coefficient of friction (Cp) from the parameter being conveyed.
9. device according to claim 8 it is characterised in that for single parameter store reflection coefficient of friction (Cp) with
The characteristic curve of the relation of corresponding parameter, wherein, the single value that will be used for coefficient of friction (Cp) in combining unit (9) is total
Form common coefficient of friction (Cp).
10. device according to claim 6 is it is characterised in that determine the coefficient of friction for each wheel drag
(Cp), or with axle determine the coefficient of friction (Cp) for friction brake.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011121109A DE102011121109A1 (en) | 2011-12-14 | 2011-12-14 | Method and apparatus for adjusting a braking torque of at least one friction brake of a wheel |
| DE102011121109.1 | 2011-12-14 | ||
| PCT/EP2012/074515 WO2013087481A1 (en) | 2011-12-14 | 2012-12-05 | Method and device for setting a braking torque of at least one friction brake of a wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103987594A CN103987594A (en) | 2014-08-13 |
| CN103987594B true CN103987594B (en) | 2017-03-08 |
Family
ID=47428598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280062096.3A Active CN103987594B (en) | 2011-12-14 | 2012-12-05 | Method and apparatus for adjusting the braking moment of at least one friction brake of wheel |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2790982A1 (en) |
| CN (1) | CN103987594B (en) |
| DE (1) | DE102011121109A1 (en) |
| WO (1) | WO2013087481A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015211560A1 (en) * | 2015-06-23 | 2016-12-29 | Volkswagen Aktiengesellschaft | Motor vehicle with recuperation and friction-dependent brake control |
| DE102016220415A1 (en) * | 2016-10-18 | 2018-04-19 | Audi Ag | Estimation method for the coefficient of friction of a hydraulic brake system |
| US10377358B2 (en) * | 2017-01-19 | 2019-08-13 | GM Global Technology Operations LLC | Methods of learning long term brake corner specific torque variation |
| CN110962812B (en) * | 2018-09-29 | 2022-10-21 | 罗伯特·博世有限公司 | Brake management system and method |
| WO2020212162A1 (en) * | 2019-04-18 | 2020-10-22 | Continental Teves Ag & Co. Ohg | Method for operating a vehicle brake system, and brake system |
| CN112743535B (en) * | 2019-10-30 | 2024-01-09 | 北京配天技术有限公司 | Self-adaptive collision detection method, device and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19517708A1 (en) * | 1995-05-13 | 1996-11-14 | Bosch Gmbh Robert | Electronic braking system control of vehicle |
| DE10011269A1 (en) * | 2000-03-08 | 2001-09-13 | Bosch Gmbh Robert | Control method for automobile braking system has required braking values for braked wheels corrected for providing uniform braking |
| CN101460347A (en) * | 2006-03-31 | 2009-06-17 | 欧陆汽车有限责任公司 | Method and processing unit for determining a performance parameter of a brake |
| DE102008000789A1 (en) * | 2008-03-20 | 2009-09-24 | Robert Bosch Gmbh | Method for regenerative braking of a vehicle |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10011270A1 (en) | 2000-03-08 | 2001-09-13 | Bosch Gmbh Robert | Determining characteristic value of vehicle wheel brake, connecting between brake torque or power and represents control variable of wheel brake effecting clamping of brake |
| DE10309933B4 (en) | 2003-03-07 | 2007-10-11 | Audi Ag | Method for determining a brake characteristic value of a motor vehicle |
| DE502004010675D1 (en) | 2003-05-13 | 2010-03-11 | Continental Teves Ag & Co Ohg | METHOD FOR REGULATING A BRAKING SYSTEM OF A MOTOR VEHICLE |
| DE102004017632A1 (en) * | 2004-04-10 | 2005-10-27 | Daimlerchrysler Ag | Method for determining brake characteristics and brake control |
| DE102006001914B4 (en) * | 2006-01-14 | 2022-02-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining control signals from brake actuators |
| FR2910417B1 (en) * | 2006-12-21 | 2012-07-06 | Messier Bugatti | ADAPTIVE BRAKING CONTROL METHOD FOR VEHICLE. |
| US7957875B2 (en) * | 2008-01-17 | 2011-06-07 | GM Global Technology Operations LLC | Method and apparatus for predicting braking system friction |
| DE102008011674A1 (en) | 2008-02-28 | 2009-09-03 | Robert Bosch Gmbh | Method for determining the braking characteristic value in a wheel brake of a vehicle |
-
2011
- 2011-12-14 DE DE102011121109A patent/DE102011121109A1/en not_active Ceased
-
2012
- 2012-12-05 CN CN201280062096.3A patent/CN103987594B/en active Active
- 2012-12-05 EP EP12805645.4A patent/EP2790982A1/en not_active Withdrawn
- 2012-12-05 WO PCT/EP2012/074515 patent/WO2013087481A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19517708A1 (en) * | 1995-05-13 | 1996-11-14 | Bosch Gmbh Robert | Electronic braking system control of vehicle |
| DE10011269A1 (en) * | 2000-03-08 | 2001-09-13 | Bosch Gmbh Robert | Control method for automobile braking system has required braking values for braked wheels corrected for providing uniform braking |
| CN101460347A (en) * | 2006-03-31 | 2009-06-17 | 欧陆汽车有限责任公司 | Method and processing unit for determining a performance parameter of a brake |
| DE102008000789A1 (en) * | 2008-03-20 | 2009-09-24 | Robert Bosch Gmbh | Method for regenerative braking of a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2013087481A1 (en) | 2013-06-20 |
| EP2790982A1 (en) | 2014-10-22 |
| DE102011121109A1 (en) | 2013-06-20 |
| CN103987594A (en) | 2014-08-13 |
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