METHOD FOR CONTROLLING A CHANGE IN THE DIRECTION OF TRAVEL OF A WORKING VEHICLE BETWEEN FORWARD TRAVEL AND REARWARD TRAVEL OR VICE VERSA

Abstract

A method is disclosed for controlling a change in the direction of travel of a working vehicle between forward travel and rearward travel or vice versa. The working vehicle has an electronically controllable hydrostatic travel drive, a power-operated brake system with at least one electronically controllable brake circuit, and an electronic brake-control unit for controlling the travel drive and the brake circuit. While the vehicle is traveling in a first direction, a change in the direction of travel is triggered by a switchover of the hydrostatic travel drive by means of an assigned manual operating element. To reduce the mechanical loading, the deceleration of the working vehicle can be assisted by automatically actuating the brakes of the electronically controllable brake circuit, where these brakes are actuated by being triggered by the switchover of the operating element and are released by the time the vehicle comes to a standstill.

Claims

1-15. (canceled)

16. A method for controlling a change in a direction of travel of a working vehicle (2) between forward travel and rearward travel or vice versa, wherein the working vehicle (2) has an electronically controllable hydrostatic travel drive (3), has a power-operated brake system (22) with at least one electronically controllable brake circuit (106), and has an electronic brake-control unit (40) for controlling the travel drive (3) and for controlling the at least one electronically controllable brake circuit (106) of the brake system (22), the method comprising: triggering, by a switchover (69) of the hydrostatic drive (3) by means of an assigned manual operating element (70) and while the work vehicle is traveling in a first direction of travel, the change in the direction of travel from the first direction of travel (15) to an opposite second direction of travel (17); automatically actuating the brakes (113a, 113b), by the electronically controllable brake circuit (106) of the brake system (22), thereby assisting the deceleration of the working vehicle (2), wherein actuating the brakes (113a, 113b) includes triggering actuation by the switchover (69) using the operating element (70); and releasing the brakes no later than when the working vehicle comes to a standstill (v.sub.F=0).

17. The method according to claim 16, comprising: detecting, by a sensor, a driving speed (v.sub.F) of the working vehicle (2); detecting, by a sensor, at least one operating parameter (a.sub.F_soll, i.sub.HA, M.sub.HA_A, M.sub.HA_E, p.sub.A, S.sub.BE), the at least one operating parameter characterizing a mechanical loading of a hydrostatic drive train (3.1) of the hydrostatic drive (3); transmitting the driving speed and the at least one operating parameter to the brake-control unit (40); and determining, as a function of the driving speed (v.sub.F) of the working vehicle (2) and the value of the at least one operating parameter (a.sub.F_soll, i.sub.HA, M.sub.HA_A, M.sub.HA_E, p.sub.A, S.sub.BE), a brake pressure (p.sub.B) to be fed into the brake cylinders (114a, 114b) of the brakes (113a, 113b) of the electronically controllable brake circuit (106) in the brake-control unit (40).

18. The method according to claim 16, wherein automatically actuating the brakes (113a, 113b) of the electronically controllable brake circuit (106) is performed only when the driving speed (v.sub.F) of the working vehicle (2) has reached or exceeded (|v.sub.F|.sup.3v.sub.F_min) a predetermined minimum driving speed (v.sub.F_min) at the time of the switchover (69) of the operating element (70).

19. The method according to claim 16, wherein releasing the brakes (113a, 113b) of the electronically controllable brake circuit (106) occurs before the working vehicle comes to the standstill (v.sub.F=0) and when the driving speed (v.sub.F) of the working vehicle (2) has reached or fallen below a minimum driving speed (v.sub.F_min*) close to zero (|v.sub.F|v.sub.F_min*).

20. The method according to claim 16, comprises: registering an actuation of a foot brake valve (74a, 74b); releasing the brakes (113a, 113b) of the electronically controllable brake circuit (106) upon registering the actuation of the foot brake valve; and continuously converting the brake pressure (p.sub.B) fed into the respective brake cylinders (114a, 114b) to a brake pressure fed in via the foot brake valve (74a, 74b) or determining by means of a brake value encoder or travel range sensor (82a, 82b) arranged on the foot brake valve (74a, 74b).

21. The method according to claim 16, wherein determining the the brake pressure (p.sub.B) fed into the brake cylinders (114a, 114b) of the electronically controllable brake circuit (106) is determined proportionately to the driving speed (v.sub.F) of the working vehicle (2) at the time of the switchover (69) of the operating element (70).

22. The method according to claim 16, wherein determining the brake pressure (p.sub.B) fed into the brake cylinders (114a, 114b) of the electronically controllable brake circuit (106) is determined proportionately to an input torque (M.sub.HA_E) present at the time of the switchover (69) of the operating element (70), a working pressure (p.sub.A) in a high-pressure line (77), and an output torque (M.sub.HA_A) or the translation (i.sub.HA) of the hydrostatic drive train (3.1).

23. The method according to claim 21, comprising maintaining the brake pressure (p.sub.B) fed into the brake cylinders (114a, 114b) of the electronically controllable brake circuit (106) after the switchover (69) of the operating element (70) until the release of the brakes (113a, 113b).

24. The method according to claim 21, comprising reducing continuously the brake pressure (p.sub.B) fed into the brake cylinders (114a, 114b) of the brakes (113a, 113b) of the electronically controllable brake circuit (106) after the switchover (69) of the operating element (70) until the release of the brakes (113a, 113b).

25. The method according to claim 21, comprising maintaining a specified brake deceleration (a.sub.F_soll) by regulating the brake pressure (p.sub.B) fed into the brake cylinders (114a, 114b) of the electronically controllable brake circuit (106) after the switchover (69) of the operating element (70).

26. The method according to claim 16, comprising setting the brake pressure (p.sub.B) in the brake cylinders (114a, 114b) of the electronically controllable brake circuit (106) by means of an electronically controllable proportional valve (108) to which a pressurized supply line (62) is connected on an input side thereof and a main brake line (110) leading to the brake cylinders (114a, 114b) is connected on an output side thereof.

27. The method according to claim 16, comprising is setting, by means of ABS control units (130, 132), the brake pressure (p.sub.B) in the brake cylinders (114a, 114b) of the brakes (113a, 113b) of the electronically controllable brake circuit (106) to which a respective section (112a, 112b) of a front axle brake line (112) branching off from an axle brake line (110) is connected on an input side thereof and a respective section (115a, 115b) of the front axle brake line (112) leading to a brake cylinder (114a, 114b) of the assigned brake (113a, 113b) is connected on an output side thereof.

28. The method according to claim 16, wherein the working vehicle comprises a vehicle combination (10) consisting of a towing subvehicle (12) and a trailing subvehicle (14), and wherein automatically actuating the brakes (113a, 113b) is performed by actuating the brakes (113a, 113b) only of at least one electronically controllable brake circuit (106) of a brake system (22) of a rear subvehicle (14) in the direction of travel.

29. The method according to claim 16, wherein the working vehicle comprises a vehicle combination (10) consisting of a towing subvehicle (12) and a trailing subvehicle (14), and wherein automatically actuating the brakes (113a, 113b) is performed by actuating the brakes (113a, 113b) more strongly of at least one electronically controllable brake circuit of the brake system (22) of a rear subvehicle in the direction of travel, compared to the brakes (113a, 113b) of at least one electronically controllable brake circuit (106) of a front subvehicle (12) in the direction of travel.

30. The method according to claim 16, wherein, after the actuation (69) of the manual operating element (70) for supporting the deceleration of the working vehicle (2) or a towing subvehicle (12) or the trailing subvehicle (14), automatically actuating the brakes (113a, 113b) includes actuating the brakes on a front axle (24) or on a rear axle (28) and/or on the front axle (24) and on the rear axle (28) of this vehicle (2, 12, 14) in an electronically controlled manner.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The invention is explained in further detail below with reference to an exemplary embodiment illustrated in the attached drawing. The drawing shows:

[0031] FIG. 1: a view from above of a loading zone on which a working vehicle loads a trailing vehicle of a towing vehicle with a cargo, wherein the method according to the invention for controlling a change in the direction of travel of the working vehicle from forward travel to rearward travel and vice versa is used,

[0032] FIG. 2a: the switching state of a manual operating element of the working vehicle in the driving scenario shown in FIG. 1 in a time diagram,

[0033] FIG. 2b: the driving speed and the direction of travel of the working vehicle in the driving scenario shown in FIG. 1 in a further time diagram,

[0034] FIG. 3: the control of the braking operations in the driving scenario according to FIGS. 1, 2a, and 2b in a functional diagram, and

[0035] FIG. 4: a brake system of a working vehicle for using the method according to FIGS. 1 to 3 in a schematic illustration.

DETAILED DESCRIPTION

[0036] The method according to the invention is used in order to control a change in direction of travel from forward travel to rearward travel or vice versa in a working vehicle 2 which has an electronically controllable hydrostatic travel drive 3, a power-operated brake system 22 with at least one electronically controllable brake circuit 106, and an electronic brake-control unit 40 for controlling the travel drive 3 and the electronically controllable brake circuit 106 of the brake system 22. This method is explained below by means of a driving scenario by way of example, which is shown in a plan view in FIG. 1.

[0037] A working vehicle 2, which in the present case is a tractor provided with a front loader shovel 4, is intended to pick up loose cargo 8 from a larger heap 6 and unload it onto the loading surface of a trailer 14 of a vehicle combination 10. In this example, the cargo 8 is sand, grain, or silage. The vehicle combination 10 consists of a further tractor 12 and the trailer 14 attached thereto.

[0038] In order to carry out this loading operation, the working vehicle 2 moves from a home position A on a first travel path 16 forwards into the loading position B, at which the heap 6 with the cargo 8 is located in order to pick up the cargo 8 with the front loader shovel 4. The working vehicle 2 then drives in reverse approximately along the first travel path 16 to the first turning position C, which is close to the home position A. From the first turning position C, the working vehicle 2 travels forward on a second travel path 18 to an unloading position D, which is located immediately adjacent the trailer 14. Once there, the front loader shovel 4 tips the cargo 8 it has picked up onto the loading surface of the trailer 14. Thereafter, the working vehicle 2 drives in reverse approximately along the second travel path 18 to a second turning position E, which is close to the home position A and the first turning position C. This driving cycle is repeated until the trailer 14 is sufficiently loaded with the cargo 8.

[0039] It can be seen that, at the loading position B and the unloading position D, there is a change in direction from forward travel to rearward travel, while at the two turning positions C, E there is a change in direction of travel from rearward travel to forward travel.

[0040] The mentioned change in direction can be triggered while driving by a corresponding actuation 69 of a manual operating element 70 (see FIG. 4), i.e., a direction-of-travel lever or a direction of travel switch, into the respective opposite direction. In the hydrostatic drive train 3.1, the conveyance volume of a hydrostatic pump (not shown) is first continuously reduced to the value zero or at least close to zero and then increased again in the opposite conveyance direction or with a switched switchover valve (also not shown). This causes an undesirably high mechanical loading of the components of the hydrostatic drive train 3.1 that are in action here.

[0041] The method according to the invention counteracts this in that the deceleration of the working vehicle 2 by means of the hydrostatic drive train 3.1 is supported by an automatic braking with the brakes 113a, 113b of at least one electronically controllable brake circuit 106 of the brake system 22. The involved wheel brakes 113a, 113b are actuated by the switchover 69 of the manual operating element 70 counter to the current forward direction of travel 15, V or reverse direction of travel 17, R and released again at the latest when the vehicle comes to a standstill (v.sub.F=0). This is illustrated in the two diagrams in FIGS. 2a and 2b for the driving scenario shown in FIG. 1. In the first diagram according to FIG. 2a, the solid line shows the switching state S.sub.BE of the manual operating element 70 between forward travel V and rearward travel R over time t, while the diagram according to FIG. 2b shows the driving speed v.sub.F of working vehicle 2 during forward travel and rearward travel over time t.

[0042] As both FIGS. 2a and 2b illustrate in a combined view, the driving operation begins at the home position A according to FIG. 1 at timepoint t0 with an acceleration of working vehicle 2 in forward travel, wherein the mentioned manual operating element 70 is initially in the switch position S.sub.BE=V for forward travel.

[0043] At timepoint t1, the driver of the working vehicle 2 switches the manual operating element 70 into the switch position S.sub.BE=R for rearward travel. Then, in a first brake phase B1, the working vehicle 2 is braked by switching the hydrostatic travel drive 3 on the one hand and also by actuating the brakes 113a, 113b of the mentioned electronically controllable brake circuit 106 of brake system 22. At the latest when the vehicle comes to a standstill (v.sub.F=0) at timepoint t1, which ideally coincides with reaching the loading position B, the brakes 113a, 113b of the electronically controllable brake circuit 106 are released again.

[0044] Thereafter, the working vehicle 2 is accelerated rearwards, as shown by the curve v.sub.F(t). At timepoint t2, the driver switches the manual operating element 70 into the switch position S.sub.BE=V for forward travel. Then, in a second brake phase B2, the working vehicle 2 is braked by switching the hydrostatic drive train 3.1 on the one hand and also by actuating the brakes 113a, 113b of the electronically controllable brake circuit 106. At the latest when the vehicle comes to a standstill (v.sub.F=0) at timepoint t2, which ideally coincides with reaching the first turning position C, the brakes 113a, 113b of the electronically controllable brake circuit 106 are released again.

[0045] Thereafter, the working vehicle 2 is accelerated forward. At time t3, the driver switches the manual operating element 70 into the switch position S.sub.BE=R for rearward travel R. Then, in a third brake phase B3, the working vehicle 2 is braked by switching the hydrostatic drive train 3.1 on the one hand and also by actuating the brakes 113a, 113b of the electronically controllable brake circuit 106. At the latest when the vehicle comes to a standstill (v.sub.F=0) at timepoint t3, which ideally coincides with reaching the unloading position D, the brakes 113a, 113b of the electronically controllable brake circuit 106 are released again.

[0046] The working vehicle 2 is subsequently accelerated rearwards. At timepoint t4, the driver switches the manual operating element 70 into the switch position S.sub.BE=V for forward travel. Then, in a fourth brake phase B4, the working vehicle 2 is braked by switching the hydrostatic drive train 3.1 on the one hand and also by actuating the brakes 113a, 113b of the electronically controllable brake circuit 106. At the latest when the vehicle comes to a standstill (v.sub.F=0) at timepoint t4, which ideally coincides with reaching the second turning position E, the brakes 113a, 113b of the electronically controllable brake circuit are released again.

[0047] Because the two turning positions C and E do not depend on maintaining the respective position exactly, the control of the method according to the invention in the two brake phases B2, B4 is unproblematic. By contrast, a largely exact maintenance of the loading position B and the unloading position D is required in order to allow the cargo 8 to be picked up at the loading position B and to allow the cargo 8 to be unloaded at the unloading position D, as well as to avoid a collision with the trailer 14 of the vehicle combination 10 close to the unloading position D. When approaching the loading position B and when approaching the unloading position D, a skilled driver is therefore required so that these two positions B and D can be reached largely exactly without the driver actuating the brake pedal and/or the accelerator.

[0048] The functional diagram according to FIG. 3 shows the determination of the brake pressure p.sub.B introduced into the brake cylinders of the electronic brake circuit 106 of the brake system 22 in the four mentioned brake phases B1, B2, B3, B4 according to FIGS. 2a and 2b. Accordingly, the switch position S.sub.BE of the manual operating element 70, the driving speed v.sub.F of the working vehicle 2, the desired braking deceleration a.sub.F_soll of the working vehicle 2, and the input torque M.sub.HA_E and/or the output torque M.sub.HA_A of the hydrostatic drive train 3.1 are measured by sensors and fed to an electronic control unit 20. These sensor data are processed in this control unit 20 and, with their help, the brake pressure p.sub.B to be fed into the brake cylinders 114a, 114b of the electronic brake circuit 106 is determined. This electronic control unit 20 can be part of a central electronic control unit 60, or it can be connected thereto via a data line, as shown in FIG. 4. The brake pressure p.sub.B thus fed in is then set either by means of an electronically controllable proportional valve or by means of the electronic ABS control units 130, 132.

[0049] Accordingly, according to FIG. 4, it can be provided that the brake pressure p.sub.B in the brake cylinders 114a, 114b of the two brakes 113a, 113b of the electronically controllable brake circuit 106 is set by means of ABS control units 130, 132. To these ABS control units 130, 132, a respective section 112a, 112b of a front axle brake line 112 branching off from an axle brake line 110 is connected on the input side, and a respective section 115a, 115b of the front axle brake line 112 leading to a brake cylinder 114a, 114b of the assigned brake 113a, 113b is connected on the output side.

[0050] As a further operating parameter for determining the brake pressure p.sub.B to be fed in, the working pressure p.sub.A can be measured by sensors in a high-pressure line 77 of the hydrostatic drive train 3.1 and transmitted to the control unit 20. Instead of measuring the output torque M.sub.HA_A by means of sensors, the translation ii-IA of the hydrostatic drive train 3.1 can be measured by means of sensors and transmitted to the control unit 20, with which the output torque M.sub.HA_A can be calculated from the input torque M.sub.HA_E.

[0051] In the schematic illustration of FIG. 4, a brake system 22, known per se, of a working vehicle 2 designed as a tractor is shown, in which the method according to the invention can be used. The working vehicle 2 has a non-driving front axle 24 with two front wheels 26a, 26b arranged on both sides and a rear axle 28 configured as a drive axle with two rear wheels 30a, 30b arranged on both sides. A wheel speed sensor 32a, 32b, 36a, 36b is arranged on each of the wheels 26a, 26b, 30a, 30b of the two vehicle axles 24, 26 and is connected to the electronic brake-control unit 40 via sensor lines 34a, 34b, 38a, 38b. The driving speed v.sub.F of the working vehicle 2 can be determined in the brake-control unit 40 from the sensor signals of the wheel speed sensors 32a, 32b, 36a, 35b.

[0052] The brake system 22 has a hydraulic primary brake system 72, a hydraulic secondary brake system configured as the electronically controllable brake circuit 106, and a pneumatic trailer control valve 88. A hydraulic pressure medium source 42 has an oil pump 46, from which hydraulic oil can be conveyed from a hydraulic reservoir 44 via a relay valve 48 into a hydraulic pressure medium concentration device 50. In the pressure medium concentration device 50, the delivered hydraulic oil is cleaned, cooled, and conducted to two supply lines 52, 62. An electrohydraulic pressure sensor 54, 64 and a respective hydraulic pressure reservoir 58, 68 are connected to each of the two supply lines 52, 62. The two pressure sensors 54, 64 are connected to a central electronic control unit 60 of the working vehicle 2 via electrical sensor lines 56, 66. A manually actuatable operating element 70 configured as a direction-of-travel lever is also connected to this control unit 60, by means of which the direction of travel of the working vehicle 2 can be selected.

[0053] The primary brake system 72 can be used as a service brake system and as a steering brake system and, in this example, has two brake circuits assigned to a respective side of the vehicle. The primary brake system 72 comprises the first supply line 52 with the assigned hydraulic first pressure reservoir 58, two foot brake valves 74a, 74b that can be actuated mechanically by the driver via a brake pedal, an axle relay valve 76, and two wheel brake lines 78a, 78b. The two foot brake valves 74a, 74b are connected to the first supply line 52 on the input side and to the axle relay valve 76 on the output side. The axle relay valve 76 is also connected to the supply line 52. The two wheel brake lines 78a, 78b are guided from the axle relay valve 76 to a respective rear brake cylinder 80a, 80b. The rear brake cylinders 80a, 80b are designed as active diaphragm or piston brake cylinders and are arranged on the wheel brakes of the rear wheels 30a, 30b, which are known per se and not shown here.

[0054] In the function as a service brake system, the brake pedals of the two foot brake valves 74a, 74b are mechanically coupled to one another, so that, when one of the two brake pedals is actuated, both assigned rear brake cylinders 80a, 80b are subjected to the same brake pressure synchronously, and, as a result, the working vehicle 2 is braked in a track-stable manner. In the function as a steering brake system, the brake pedals are mechanically disconnected, so that, when one of the brake pedals is actuated, only the assigned rear brake cylinder 80a, 80b is subjected to brake pressure, thereby supporting a cornering or turning maneuver of working vehicle 2 in the relevant direction.

[0055] The travel range of the assigned valve piston is measured by a travel range sensor 82a, 82b arranged on each of the two foot brake valves 74a, 74b and transmitted via an electrical sensor line 84a, 84b to the central control unit 60, in which a brake value signal can be formed from the respective travel signal. The central control unit 60 is connected to the brake-control unit 40 via a data bus 86, such as a CAN bus, for transmission of information. The brake-control unit 40 is also connected to the hydrostatic travel drive 3 via a control line 122 for controlling it.

[0056] The trailer control valve 88 is connected on the input side to a compressed air source 90 via a pneumatic supply line 92 and to the axle relay valve 76 of the primary brake system 72 via a hydraulic brake-control line 94. In addition, the trailer control valve 88 is connected to the brake-control unit 40 via an electrical control line 96.

[0057] In normal operation, the pneumatic supply pressure prevailing on the input side is reduced as required and passed through the trailer control valve 88 and guided on the output side via a pneumatic supply line 98 to a coupling head Supply (red) 100 of the working vehicle 2. In addition, depending on the brake pressure prevailing in the hydraulic brake-control line 94 and/or a control signal transmitted via the control line 96, a pneumatic brake-control pressure is set in the trailer control valve 88, which is guided via a brake-control line 102 to a coupling head Brake (yellow) 104 of the working vehicle 2. When a trailer 14 is coupled, its brake system 22, which is operated by compressed air, is supplied with the supply pressure prevailing at the coupling head Supply 100 and controlled as a function of the brake-control pressure prevailing at the coupling head Brake 104.

[0058] The secondary brake system, that is to say the electronic brake circuit 106, can be used at least as an auxiliary brake system, with which function the working vehicle 2 can be braked safely in the event of a failure of the primary brake system 72. The secondary brake system has only one electronically controllable brake circuit 106 and comprises the second supply line 62 with the assigned hydraulic second pressure reservoir 68, a brake-control valve 108, an axle brake line 110 that branches into two axle brake lines 112a, 112b and serves as the main brake line, and two front brake cylinders 114a, 114b, respectively connected to one of the two branched brake lines 112a, 112b. The two front brake cylinders 114a, 114b are designed as active membrane or piston brake cylinders and are arranged on the wheel brakes 113a, 113b of the front wheels 26a, 26b of the front axle 24, which are known per se and not shown in detail here.

[0059] The brake-control valve 108 is designed as a 3/3-way proportional solenoid valve with a pressure medium inlet, a pressure medium outlet, and a working terminal, by means of which the working terminal can be adjusted continuously between a connection with the pressure medium outlet and the pressure medium inlet. The pressure medium inlet is connected to the hydraulic pressure medium source 42 via the supply line 62, the pressure medium outlet is connected to an unpressurized hydraulic reservoir, and the working terminal is connected to the two front brake cylinders 114a, 114b via the aforementioned axle brake line 110 and the brake lines 112a, 112b branching off therefrom. By activating the brake-control valve 108 accordingly, the brake pressure p.sub.B present in axle brake line 110 and the front brake cylinders 114a, 114b connected thereto can be continuously adjusted between a minimum pressure corresponding to the ambient pressure and a maximum pressure corresponding to the supply pressure prevailing in the supply line 62.

[0060] The electromagnet of the brake-control valve 108 is connected to the brake-control unit 40 via an electrical control line 116 and can be controlled by the latter. The working terminal of the brake-control valve 108 is connected to the pressure medium outlet in the unpowered state and to the pressure medium inlet in an unthrottled manner in the maximum powered state. A third electrohydraulic pressure sensor 118 is connected to this axle brake line 110 for detecting and monitoring the brake pressure p.sub.B introduced into the axle brake line 110 via the brake-control valve 108, which is connected to the brake-control unit 40 via an electrical sensor line 120. The secondary brake system 106 can thus be controlled purely electronically. The brake pressure p.sub.B in the axle brake line 110 and the front brake cylinders 114a, 114b connected thereto can thus be adjusted independently of the primary brake system 72 as a function of a brake value signal, which can be determined in the brake-control unit 40 from the sensor signals of the travel range sensors 82a, 82b or in some other manner.

[0061] In order to use the present method, it is provided that the secondary brake system or the electronically controllable brake circuit 106 is used in order to mechanically relieve the hydrostatic drive train 3.1, in that, in the brake phases B1, B2, B3, B4, the brake-control valve 108 is actuated by the brake-control unit 40 in such a way that the two brake cylinders 114a, 114b on the front axle 24 according to FIG. 2 are each subjected to a brake pressure p.sub.B, which was previously determined as a function of the driving speed v.sub.F of the working vehicle 2 and at least one operating parameter characterizing the mechanical loading of the hydrostatic drive train 3.1.

LIST OF REFERENCE NUMERALS

[0062] 2 Working vehicle, tractor [0063] 3 Hydrostatic travel drive [0064] 3.1 Hydrostatic drive train [0065] 3a First rear drive axle [0066] 3b Second rear drive axle [0067] 4 Front loader shovel [0068] 6 Heap [0069] 8 Cargo [0070] 10 Vehicle combination [0071] 12 Towing vehicle, tractor, front subvehicle [0072] 14 Trailing vehicle, trailer, rear subvehicle [0073] 15 First direction of travel [0074] 16 First travel path [0075] 17 Second direction of travel [0076] 18 Second travel path [0077] 20 Electronic control unit [0078] 22 Power-operated brake system [0079] 24 Front axle [0080] 26a, 26b Front wheels [0081] 28 Rear axle, drive axle [0082] 30a, 30b Rear wheels [0083] 32a, 32b Wheel rotation sensors [0084] 34a, 34b Sensor lines [0085] 36a, 36b Wheel rotation sensors [0086] 38a, 38b Sensor lines [0087] 40 Brake-control unit, control unit for brakes and the travel drive [0088] 42 Hydraulic pressure medium source [0089] 44 Sump tank [0090] 46 Oil pump [0091] 48 Relay valve [0092] 50 Pressure medium concentration device [0093] 52 First supply line [0094] 54 First pressure sensor [0095] 56 Sensor line [0096] 58 First pressure reservoir [0097] 60 Central control unit [0098] 62 Second supply line [0099] 64 Second pressure sensor [0100] 66 Sensor line [0101] 68 Second pressure reservoir [0102] 69 Switchover of the operating element 70 [0103] 70 Operating element, direction-of-travel lever [0104] 72 Primary brake system [0105] 74a, 74b Foot brake valves [0106] 76 Axle relay valve [0107] 77 High-pressure line of the hydrostatic drive train [0108] 78a, 78b Wheel brake lines on the rear axle [0109] 80a, 80b Two brake cylinders on the rear axle [0110] 82a, 82b Two brake value encoders or travel range sensors on the two foot brake valves [0111] 84a, 84b Sensor lines [0112] 86 Data bus, CAN bus [0113] 88 Trailer control valve [0114] 90 Compressed air source [0115] 92 Supply line (compressed air) [0116] 94 Brake control line (hydraulic) [0117] 96 Control line [0118] 98 Supply line (compressed air) for coupling head Supply (red) [0119] 100 Coupling head Supply (red) [0120] 102 Brake control line [0121] 104 Coupling head Brake (yellow) [0122] 106 Electronically controllable brake circuit; secondary brake system [0123] 108 Brake control valve [0124] 110 Axle brake line serving as the main brake line [0125] 112 Front axle brake line branching off from axle brake line 110 [0126] 112a First section branching off from the front axle brake line 112 [0127] 112b Second section branching off from the front axle brake line 112 [0128] 113a First brake of the electronically controllable brake circuit 106 [0129] 113b Second brake of the electronically controllable brake circuit 106 [0130] 114a First brake cylinder of the electronically controllable brake circuit 106 [0131] 114b Second brake cylinder of the electronically controllable brake circuit 106 [0132] 115a Section of the front axle brake line 112 between the first ABS control unit 130 and the first brake cylinder 114a [0133] 115b Section of the front axle brake line 112 between the second ABS control unit 132 and the second brake cylinder 114b [0134] 116 Control line [0135] 118 Third pressure sensor [0136] 120 Sensor line [0137] 122 Control line for the travel drive [0138] 130 First ABS control unit with inlet valve and outlet valve [0139] 132 Second ABS control unit with inlet valve and outlet valve [0140] a.sub.F_soll Operating parameter, target brake deceleration [0141] A Home position [0142] B Loading position [0143] B1 First brake phase [0144] B2 Second brake phase [0145] B3 Third brake phase [0146] B4 Fourth brake phase [0147] C First turning position [0148] D Unloading position [0149] E Second turning position [0150] i.sub.HA Operating parameter, translation [0151] M.sub.HA_A Operating parameter, output torque [0152] M.sub.HA_E Operating parameter, input torque [0153] p.sub.A Operating parameter, working pressure [0154] p.sub.B Brake pressure [0155] R Reverse drive [0156] S.sub.BE Operating parameter, switch position [0157] t Time [0158] t0 Timepoint [0159] t1, t1 Timepoints [0160] t2, t2 Timepoints [0161] t3, t3 Timepoints [0162] t4, t4 Timepoints [0163] v.sub.F Driving speed [0164] v.sub.F_min Minimum driving speed [0165] v.sub.F_min* Minimum driving speed [0166] V Forward drive