Method for controlling a multitude of braking devices and braking system of a vehicle
A method for controlling a multitude of braking devices of a vehicle to effect a desired brake function quantified as a desired brake parameter, wherein each of the braking devices is controllable by an actuation parameter to effect at least a portion of said desired brake function, comprising the steps: determine, for each braking device, a brake capability representing a maximum brake function achievable by the braking device; determine, for each braking device, an actuation priority, wherein the actuation priority is determined from at least one predetermined operating parameter of the braking device and/or the vehicle; in order from highest priority to lowest priority of the braking means, allocating, to each braking device, the actuation parameter, wherein the actuation parameter is chosen between the brake capability and the quantity of the desired brake parameter not yet allocated to other braking devices, whichever is lower. Further, a braking system for a vehicle is configured to carry out the method.
1 . A method for controlling a multitude of braking devices of a vehicle to effect a desired brake function quantified as a desired brake parameter, wherein each of the braking devices is controllable by an actuation parameter to effect at least a portion of said desired brake function, the method comprising the steps of:
determining, for each braking device, a brake capability representing a maximum brake function achievable by the braking device,
determining, for each braking device, an actuation priority, wherein the actuation priority is determined from at least one predetermined operating parameter of the braking device and/or the vehicle; and
in order from highest priority to lowest priority of the braking devices, allocating, to each braking device, the actuation parameter, wherein the actuation parameter is chosen between the brake capability and the quantity of the desired brake parameter not yet allocated to other braking devices, whichever is lower.
2 . The method according to claim 1 , wherein
the desired brake parameter, the maximum actuation parameter and/or the actuation parameter each are expressed as one of the following: a torque, a force, a retardation.
3 . The method according to claim 1 , wherein
when determining the actuation priority, braking devices comprising non-frictional brakes are determined to have a higher priority than braking devices comprising frictional brakes.
4 . The method according to claim 1 , wherein
when determining the actuation priority, braking devices comprising regenerational brakes are determined to have a higher priority than braking devices comprising dissipational brakes.
5 . The method according to claim 4 , wherein
when determining the actuation priority, the higher a regeneration efficiency of a regenerational brake, the higher its priority relative to other brakes comprising regenerational brakes.
6 . The method according to claim 1 , wherein
when determining the actuation priority, one or more of the following parameters is taken into account:
type or types of brake(s) comprised in the braking devices,
efficiency of regenerational brakes comprised in the braking devices,
recuperation ratio of regenerational brake devices comprised in the braking devices,
current vehicle speed, current dynamic vehicle state, state of charge of a traction battery, axle load of the vehicle, individual loads on each axle of the vehicle, brake device response time, brake device response brake force, configurable priority value.
7 . The method according to claim 1 , wherein
where a braking device comprises multiple brake devices, the actuation parameter is distributed among the multiple brake devices according to predefined and/or calculated distribution ratios.
8 . The method according to claim 1 , wherein
when multiple braking devices are determined to have the same actuation priority, in the allocating step, the brake capabilities of the multiple braking devices determined to have the same actuation priority are conflated and the actuation parameter allocated to the multiple braking devices is distributed among the brake devices according to predefined and/or calculated allocation ratios.
9 . The method according to claim 1 , wherein, when determining the actuation priority, axle load of the vehicle and individual loads on each axle of the vehicle are taken into account.
10 . The method according to claim 1 , wherein, when determining the actuation priority, a current dynamic vehicle state is taken into account.
11 . A braking system of a vehicle, comprising:
a first braking device comprising at least one frictional brake,
a second braking device comprising at least one regenerative brake, and
a control device, wherein the control device is configured to:
determine, for each braking device, a brake capability representing a maximum brake function achievable by the braking device,
determine, for each braking device, an actuation priority, wherein the actuation priority is determined from at least one predetermined operating parameter of the braking device and/or the vehicle;
in order from highest priority to lowest priority of the braking devices, allocate, to each braking device, the actuation parameter, wherein the actuation parameter is chosen between the brake capability and the quantity of the desired brake parameter not yet allocated to other braking devices, whichever is lower.
12 . The braking system according to claim 11 , wherein, when determining the actuation priority, axle load of the vehicle and individual loads on each axle of the vehicle are taken into account.
13 . The braking system according to claim 11 , wherein, when determining the actuation priority, a current dynamic vehicle state is taken into account.