Method for Braking a Vehicle with a Hydraulic Vehicle Brake and an Electromechanical Braking Device

Abstract

A method for braking a vehicle includes at least reducing a hydraulic brake pressure in at least one wheel brake device disposed on a vehicle axle in response to an at least partial failure of a brake boosting of a hydraulic brake with at least one first brake circuit and at least one second brake circuit. The method further includes operating an electric brake motor of an electromechanical braking device to produce a braking force on the at least one wheel brake device.

Claims

1. A method for braking a vehicle, comprising: in response to an at least partial failure of a brake boosting of a hydraulic brake with at least one first brake circuit and at least one second brake circuit, at least reducing a hydraulic brake pressure in at least one wheel brake device disposed on a vehicle axle; and operating at least one electric brake motor of an electromechanical braking device to produce a braking force on the at least one wheel brake device.

2. The method according to claim 1, wherein the at least reduction of hydraulic brake pressure in the at least one wheel brake device includes fully cutting off the hydraulic brake pressure.

3. The method according to claim 1, wherein: the at least one wheel brake device includes two wheel brake devices; and the at least one electric brake motor includes two electric brake motors that are each assigned to a respective one of the two wheel brake devices.

4. The method according to claim 1, wherein the at least reducing includes at least reducing the hydraulic brake pressure of at least one wheel brake device disposed on a rear axle of the vehicle.

5. The method according to claim 1, wherein the at least reducing includes at least reducing the hydraulic brake pressure of at least one wheel brake device disposed on a second axle that is not assigned an electric brake motor.

6. The method according to claim 1, further comprising: prior to receiving an indication of a braking demand from an operation of the vehicle, operating the electric brake motor to move the electric brake motor in a clamping direction until the electric brake motor reaches a braking contact point whereat a brake lining of a brake piston acted on by the electric brake motor is in contact with a brake disk without an air gap.

7. The method according to claim 1, further comprising: after a termination of a braking demand by an operator of the vehicle, operating the electric brake motor to move the electric brake motor to a release position.

8. The method according to claim 7, further comprising: operating the electric brake motor to move the electric brake motor in a releasing direction until the electric brake motor reaches a braking contact point whereat a brake lining of a brake piston acted on by the electric brake motor is in contact with a brake disk without an air gap.

9. The method according to claim 8, wherein the operating of the electric brake motor is delayed by a period of time after the termination of the braking demand.

10. The method according to claim 1, further comprising: during a braking process, opening an outlet valve disposed on the at least one wheel brake device via an at least reduced hydraulic brake pressure; and after completion of the braking process, closing the outlet valve.

11. The method according to claim 9, further comprising: in response to receiving a further braking demand during the period of time that the operating of the electric brake motor is delayed after termination of the braking demand, adjusting a plurality of valves disposed on at least one first wheel brake device disposed on a front axle of the vehicle and a plurality of valves disposed on at least one second wheel brake device disposed on a rear axle of the vehicle such that the at least one first wheel brake device and the at least one second wheel brake device are at least partially hydraulically coupled.

12. The method according to claim 1, further comprising: operating an electrically controlled actuator to perform the brake boosting.

13. The method according to claim 12, wherein: the electrically controlled actuator is a plunger; and the operating of the electrically controlled actuator includes operating a further electric motor to drive the electrically controlled actuator.

14. The method according to claim 12, wherein the electrically controlled actuator is disposed along an additional hydraulic supply line that is positioned between a brake fluid reservoir and the at least one wheel brake device.

15. The method according to claim 1, further comprising: performing the brake boosting via an electrically controlled actuator that is connected to the at least one wheel brake device via a first hydraulic supply line; and in response to the at least partial failure of the brake boosting of the hydraulic brake: switching an isolating valve disposed along a second hydraulic supply line that is positioned between a master brake cylinder and the at least one wheel brake device to pass flow; and opening the second hydraulic supply line.

16. The method according to claim 15, wherein the electrically controlled actuator is an electrically operated pump.

17. The method according to claim 1, wherein the operation of the electric brake motor of the electromechanical braking device is only performed in response to the vehicle exceeding a target deceleration threshold value.

18. A regulating or control unit, wherein: the regulating or control unit is configured to operatively connect with at least one wheel brake disposed on a vehicle axle and at least one electric brake motor of an electromechanical braking device operable to produce a braking force on the at least one wheel braking device; and the regulating or control unit is further configured to: at least reduce a hydraulic brake pressure in the at least one wheel brake device in response to an at least partial failure of a brake boosting of a hydraulic brake with at least one first brake circuit and at least one second brake circuit; and operate the at least one electric brake motor to produce the braking force on the at least one wheel brake device.

19. A brake system for a vehicle, comprising: a hydraulic vehicle brake including at least one first brake circuit and at least one second brake circuit; at least one wheel brake device disposed on a vehicle axle; an electromechanical braking device including at least one electric brake motor operable to produce a braking force on the at least one wheel braking device; and a regulating or control unit operatively connected to the at least one wheel brake and the at least one electric brake motor, and configured to: at least reduce a hydraulic brake pressure in the at least one wheel brake device in response to an at least partial failure of a brake boosting of the hydraulic vehicle brake; and operate the electric brake motor of the electromechanical braking device to produce a braking force on the at least one wheel brake device.

20. The brake system according to claim 19, further comprising: an electrically controlled actuator connected to the at least one wheel brake device via a first hydraulic supply line and configured to perform the brake boosting; a further electric motor configured to drive the electrically controlled actuator; and an isolating valve disposed along a second hydraulic supply line that is positioned between a master brake cylinder and the at least one wheel brake device, wherein the electrically controlled actuator is a plunger.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Further advantages and advantageous implementations can be found in the further claims, the description of the figures and the drawings.

[0028] There are shown in:

[0029] FIG. 1 shows a schematic representation of a hydraulic vehicle brake with a brake booster forming an actuator, wherein the wheel brake devices of the vehicle brakes on the rear axle of the vehicle are additionally implemented as an electromechanical braking device with an electric brake motor;

[0030] FIG. 2 shows a section through an electromechanical braking device with an electric brake motor;

[0031] FIG. 3 shows a flow chart with process steps for braking a vehicle in the event of a failure of the brake booster;

[0032] FIG. 4 shows a schematic representation of a further hydraulic vehicle brake with additional electromechanical braking devices on the wheel brake devices on the rear axle of the vehicle.

DETAILED DESCRIPTION

[0033] In the figures, identical components are provided with the same reference characters.

[0034] The hydraulic vehicle brake 1 for a vehicle represented in FIG. 1 comprises a front axle brake circuit 2 and a rear axle brake circuit 3 for supplying and controlling wheel brake devices 9 on each wheel of the vehicle with a brake fluid under hydraulic pressure. The two brake circuits 2, 3 are connected to a common master brake cylinder 4 that is supplied with brake fluid by means of a brake fluid reservoir 5. The master brake cylinder piston within the master brake cylinder 4 is operated by the driver by means of the brake pedal 6 and the pedal travel caused by the driver is measured by means of a pedal travel sensor 7. A brake booster 10 that comprises for example an electric motor that is preferably operated by means of a gearbox of the master brake cylinder 4 (iBooster) is disposed between the brake pedal 6 and the master brake cylinder 4. The brake booster 10 forms an electrically controlled actuator for influencing the brake pressure.

[0035] The control movement of the brake pedal 6 measured by the pedal travel sensor 7 is transmitted as a sensor signal to a regulating or control unit 11, in which control signals for controlling the brake booster 10 are generated. The supply of the wheel brake devices 9 with brake fluid is carried out in each brake circuit 2, 3 via various switching valves, which in common with further units are part of a brake hydraulic system 8. Furthermore, the brake hydraulic system 8 contains a hydraulic pump that is a component of an electronic stability program (ESP).

[0036] The brake boosting can additionally or alternatively be carried out using an electrically controlled actuator, which is connected downstream of the master brake cylinder 4 of the vehicle brake 1. With the actuator, the boosting is provided for example by means of an electric motor 26 that displaces a plunger 25. Said plunger is disposed after the master brake cylinder 4 and can produce brake pressure in the two brake circuits.

[0037] The vehicle brake 1 is provided with an additional hydraulic supply line 24 that connects the brake fluid reservoir 5 to the outlet valves of wheel brake devices 9. The plunger 25 controlled by the electric motor 26 is integrated within the supply line 24.

[0038] The wheel brake device 9 that is disposed on a wheel on the rear axle of the vehicles represented in detail in FIG. 2. The wheel brake device 9 is part of the hydraulic vehicle brake 1 and is supplied with brake fluid 22 from the rear axle brake circuit. Moreover, the wheel brake device 9 comprises an electromechanical braking device that is preferably used for holding a vehicle at a standstill, but that can also be used during movement of the vehicle, in particular for braking the vehicle at lower vehicle speeds below a speed limit value.

[0039] The electromechanical braking device comprises a brake caliper 12 with a claw 19 that engages round a brake disk 20. As a control element, the braking device comprises a d.c. electric motor as the brake motor 13, the rotor shaft of which rotationally drives a spindle 14 on which a spindle nut 15 is rotationally supported. During rotation of the spindle 14, the spindle nut 15 is moved axially. The spindle nut 15 moves within a brake piston 16 that is the support for a brake lining 17 that is pressed against the brake disk 20 by the brake piston 16. A further brake lining 18 that is held positionally fixedly on the claw 19 is disposed on the opposite side of the brake disk 20. The brake piston 16 is sealed flow tight on the outside thereof relative to the accommodating housing by means of an encompassing sealing ring 23.

[0040] Within the brake piston 16, the spindle nut 15 can move axially forwards towards the brake disk 20 during rotation of the spindle 14 or can move axially rearwards until reaching a stop 21 during an opposite rotation of the spindle 14. To produce a clamping force the spindle nut 15 acts on the inner end face of the brake piston 16, whereby the brake piston 16, which is axially movably supported in the braking device, is pressed with the brake lining 17 against the facing end face of the brake disk 20.

[0041] For the hydraulic braking force, the hydraulic pressure of the brake fluid 22 from the hydraulic vehicle brake 1 acts on the brake piston 16. The hydraulic pressure can also act in support during operation of the electromechanical braking device when the vehicle is at a standstill, so that the total braking force is composed of the portion provided by the electric motor and the hydraulic component. While the vehicle is travelling, either only the hydraulic vehicle brake is active or both the hydraulic vehicle brake and also the electromechanical braking device are active or only the electromechanical braking device is active to produce braking force. The control signals for controlling both the adjustable components of the hydraulic vehicle brake 1 and also the electromechanical wheel brake device 9 are produced in the regulating or control unit 11.

[0042] FIG. 3 shows a flow chart with process steps for braking a vehicle in the event of a failure of the brake boosting. The vehicle is equipped with a brake system that comprises a hydraulic vehicle brake with wheel brake devices on the front axle and the rear axle as well as electromechanical braking devices with electric brake motors on the wheel brake devices of the rear axle.

[0043] Step 30 of the process symbolizes the normal operating state of the brake system with properly functioning hydraulic vehicle brakes. The vehicle is being braked by means of the hydraulic vehicle brake to implement a driver's braking demand. The electromechanical braking device on the rear axle is used as a parking or holding brake to produce a clamping force holding the vehicle at a standstill.

[0044] In the subsequent process step 31, a failure or partial failure of the brake boosting in the hydraulic vehicle brake is determined. In order to still ensure a minimum deceleration of the vehicle, the brake system is operated according to the subsequent process steps 32 through 37 at a fallback level 38, in which both the hydraulic vehicle brake and also the electromechanical braking device are operated for braking the vehicle.

[0045] Initially, in the step 32 following the determination of a failure or partial failure of the brake boosting, the electric brake motor of the electromechanical braking device is activated and moved towards the braking or clamping position until a brake contact point is reached, at which the brake piston including the brake lining that is acted on by the brake motor is in contact with the brake disk without an air gap or with a considerably reduced air gap. In this case, no braking force is still being produced electromechanically, but an electromechanical braking force can be produced without delay in the event of a subsequent braking demand.

[0046] In the next step 33, a query is made as to whether a driver's braking demand exists. If this is not the case, the no branch (“N”) is then advanced to step 34, in which a check is made as to whether the wheel brake devices on the front axle and the rear axle are hydraulically coupled, so that the same hydraulic brake pressure is applied to all wheel brake devices. If this is not the case, for example because of a previous hydraulic decoupling of the brake circuits of the hydraulic vehicle brake or the wheel brake devices on the front and rear axles, then hydraulic coupling of all wheel brake devices is carried out by suitable switching of the valves, in particular by opening the inlet valves on the wheel brake devices of the rear axle. Then the process returns to the step 32 and checks again whether a driver's braking demand exists at cyclical intervals in the step 33.

[0047] If the query in the step 33 returns that a driver's braking demand exists and is to be implemented, the yes branch (“Y”) is subsequently advanced to the next step 35, in which the wheel brake devices on the rear axle are hydraulically decoupled from the wheel brake devices on the front axle. This is carried out by closing the inlet valves at the wheel brake devices on the rear axle.

[0048] The subsequent steps of the method 36 and 37 are carried out simultaneously. In the step 36, the actuation of the wheel brake devices on the front axle of the vehicle is carried out hydraulically. Because the wheel brake devices on the rear axle are hydraulically decoupled, the operation of the brake pedal by the driver acts exclusively on the wheel brake devices on the front axle.

[0049] At the same time the electric brake motors on the wheel brake devices on the rear axle are activated and moved in the clamping direction, so that an electromechanical braking force is produced on the wheel brake devices on the rear axle (step 37). By the hydraulic operation of the wheel brake devices on the front axle and the electromechanical operation of the wheel brake devices on the rear axle, in total a vehicle deceleration is achieved that reaches the minimum deceleration required by law. Moreover, the driver is given a natural brake feel, whereby startled responses can be avoided.

[0050] Following termination of the driver's braking demand, the wheel brake devices on the front axle and the rear axle are advantageously hydraulically coupled again. Moreover, it is advantageous that the electric brake motors on the wheel brake devices on the rear axle are controlled towards the release positions until the brake contact point is reached, at which the brake piston is in contact with the respective brake disk without an air gap.

[0051] In FIG. 4 a hydraulic vehicle brake 1 is represented, which is implemented as an electrohydraulic brake, with which the pedal displacement of the brake pedal 6 is detected by means of the pedal travel sensor 7 and a hydraulic power supply 31 for providing the necessary hydraulic brake pressure is controlled by means of a brake function model 30. In the brake function model 30, the signals for the brake boosting and braking force distribution to the individual wheel brake devices 9a to 9d are generated, possibly taking into account the signals of vehicle management systems 32, wherein driver assistance systems, such as for example an electronic stability program (ESP), a traction control system (TCS) or an anti-lock braking system (ABS), can also be implemented.

[0052] The corresponding signals are transmitted in the brake hydraulic system 8 to an interface 33, via which the hydraulic power supply 31 as well as wheel pressure modulators 34 are controlled to set the desired wheel brake pressure in the wheel brake devices 9a to 9d. The hydraulic power supply 31 comprises a brake booster 10 with a hydraulic pump driven by an electric motor as well as a high-pressure reservoir 35, from which the brake fluid is delivered, and a pressure sensor 36. The wheel pressure modulators 34 are connected downstream of the hydraulic power supply 31 and each comprises an adjustable valve and a pressure sensor per wheel brake device 9a to 9d.

[0053] The vehicle brake 1 is also provided with hydraulic supply lines 37 and 38 that run between the master brake cylinder 4 and the wheel brake devices 9a, 9b on the front axle. A controllable isolating valve 39, 40 is integrated within each hydraulic supply line 37, 38, the valve being opened and closed during normal brake operation so that the hydraulic supply between the master brake cylinder 4 and the wheel brake devices 9a, 9b is interrupted. If, however, the brake booster 10 fails partly or fully, the isolating valves 39, 40 are closed and switched to pass flow, so that there is hydraulic access between the master brake cylinder 4 and the wheel brake devices 9a, 9b on the front axle and a hydraulic brake pressure is built up in the wheel brake devices 9a, 9b by operating the brake pedal.

[0054] A pedal travel simulator 41 that is used to impart a natural pedal feel during normal brake operation is connected downstream of the master brake cylinder 4. A valve can be disposed between the master brake cylinder 4 and the pedal travel simulator 41 that is shut off in the event of partial or complete failure of the brake booster 10 to decouple the pedal travel simulator 41 and, if the isolating valves 39, 40 are closed at the same time, to ensure that brake fluid passes to the wheel brake devices 9a and 9b via the hydraulic supply lines 37, 38.

[0055] The vehicle brakes according to FIG. 4 with the electromechanical braking devices on the wheel brake devices 9c and 9d on the rear axle can be operated similarly to the vehicle brakes according to FIG. 1 in the manner described above in the event of a partial failure or a complete failure of the brake boosting by hydraulically decoupling the wheel brake devices on the rear axle in the event of a braking process, so that no hydraulic braking force is acting on the wheel brake devices 9c and 9d of the rear axle. At the same time, the electromechanical braking device in each wheel brake device 9c, 9d on the rear axle is operated so that braking force is produced electromechanically on said wheel brake devices 9c and 9d.

[0056] The hydraulic brake pressure that is transferred to the wheel brake devices 9a and 9b on operating the brake pedal 6 via the isolating valves 39, 40 that are switched to pass flow and the supply lines 37 and 38 acts on the wheel brake devices 9a and 9b on the front axle. An additional brake pressure may be produced in the front wheel brake devices 9a and 9b by means of the hydraulic power supply 31 if the actuator 10 is still capable of providing hydraulic brake pressure.