Method and device for electronically controlling a vehicle deceleration in an ABS braking system

1. A method for controlling a vehicle deceleration in a vehicle with an ABS brake system, the method comprising:

detecting a target vehicle deceleration specified by a driver;

defining a maximum deceleration and a minimum deceleration, each depending on the detected target vehicle deceleration;

detecting an actual vehicle deceleration; and

controlling a braking pressure on wheel brakes of a first vehicle axle and a second vehicle axle depending on the detected actual vehicle deceleration by actuation of ABS brake valves, wherein controlling the braking pressure by the actuation of the ABS brake valves comprises:

increasing the braking pressure on the wheel brakes of the first vehicle axle and the second vehicle axles if the actual vehicle deceleration is less than the minimum deceleration in order to achieve a minimum braking effect,

limiting the braking pressure on the wheel brakes of the first vehicle axle and the and the second vehicle axles if the actual vehicle deceleration is greater than the maximum deceleration in order to limit a braking effect, and

additionally controlling the braking pressure on the wheel brakes of the second vehicle axle depending on a detected actual differential slip if the actual vehicle deceleration is less than the maximum deceleration and greater than the minimum deceleration, wherein the actual differential slip indicates the difference in a rotational behavior of the first vehicle axle with respect to the second vehicle axle.

2. The method as claimed in claim 1 , wherein the maximum deceleration is specified using a maximum deceleration characteristic curve which represents a dependency of the maximum deceleration on the target vehicle deceleration, and wherein the minimum deceleration is specified using a minimum deceleration characteristic curve which represents a dependency of the minimum deceleration on the target vehicle deceleration.

3. The method as claimed in claim 2 , wherein the maximum deceleration characteristic curve is dependent on a load on the vehicle.

4. The method as claimed in claim 3 , wherein the load on the vehicle is measured with an axle load sensor or is derived from the detected actual differential slip.

5. The method as claimed in claim 3 , wherein the maximum deceleration characteristic curve rises more steeply for a small load, so that the braking pressure is limited for a small load on the vehicle for higher detected actual vehicle decelerations in contrast to a large load on the vehicle.

6. The method as claimed in claim 2 , wherein the maximum deceleration characteristic curve has a harmonic profile without steps for limiting the braking pressure without decelerating the vehicle in a jerky manner.

7. The method as claimed in claim 1 , wherein the braking pressure on the wheel brakes of the first vehicle axle is maintained or increased during a braking process, and is maintained or reduced during a slowing down process, if the actual vehicle deceleration is less than the maximum deceleration and greater than the minimum deceleration, and wherein the braking pressure on the wheel brakes of the first vehicle axle is maintained or reduced during a slowing down process if the actual vehicle deceleration is greater than the maximum deceleration.

8. The method as claimed in claim 7 , wherein the braking pressure on the wheel brakes of the first vehicle axle is additionally reduced during a braking process if the resulting actual vehicle deceleration is greater than the target vehicle deceleration, and wherein the braking pressure on the wheel brakes of the first vehicle axle is additionally increased during a slowing down process if the resulting actual vehicle deceleration is less than the target vehicle deceleration.

9. The method as claimed in claim 1 , wherein the actual differential slip is calculated from a difference of a determined rear axle brake slip minus a determined front axle brake slip normalized to the rear axle brake slip, or from a difference of a determined axle speed of the front axle minus a determined axle speed of the rear axle normalized to the axle speed of the front axle, wherein the rear axle is the vehicle axle that is driven by an engine.

10. The method as claimed in claim 1 , wherein the braking pressure on the wheel brakes of the second vehicle axle is controlled as a function of the actual differential slip in such a way that the actual differential slip corresponds to a target differential slip, wherein the braking pressure on the wheel brakes of the second vehicle axle is for this purpose limited if the second vehicle axle is overbraked relative to the first vehicle axle and increased if the second vehicle axle is underbraked relative to the first vehicle axle.

11. The method as claimed in claim 10 , wherein the target differential slip is dependent on the detected actual vehicle deceleration or the target vehicle deceleration, wherein the target differential slip is reduced in the direction of a synchronous wheel rotational behavior of the wheels of the first vehicle axle and of the second vehicle axle in the case of an increasing actual vehicle deceleration or increasing target vehicle deceleration, so that the braking pressure on the second vehicle axle is already limited in the case of low relative overbraking.

12. The method as claimed in claim 1 , wherein the braking pressure on the wheel brakes of the second vehicle axle is reduced depending on the actual differential slip if the actual vehicle deceleration is greater than the maximum deceleration and the second vehicle axle is overbraked relative to the first vehicle axle.

13. The method as claimed in claim 10 , wherein if the second vehicle axle is the rear axle, the braking pressure on rear wheel brakes is limited if the actual differential slip is greater than the target differential slip and is increased if the actual differential slip is less than the target differential slip, and

wherein if the second vehicle axle is the front axle, the braking pressure on the front wheel brakes is limited if the actual differential slip is less than the target differential slip and is increased if the actual differential slip is greater than the target differential slip.

14. The method as claimed in claim 1 , wherein the second vehicle axle is a rear axle of the vehicle and the first vehicle axle is a front axle of the vehicle.

15. The method as claimed in claim 1 , wherein in the case of limiting of the braking pressure on the wheel brakes of the first or the second vehicle axle, the braking pressure is only maintained or reduced and is not increased.

16. A device for electronically controlling a vehicle deceleration in a vehicle with an ABS brake system, wherein the device is configured to:

select a maximum deceleration and a minimum deceleration depending on a detected target vehicle deceleration, and

actuate ABS brake valves on wheel brakes of a first vehicle axle and of a second vehicle axle depending on a detected actual vehicle deceleration in such a way that

increasing the braking pressure on the wheel brakes of the first vehicle axle and the second vehicle axles if the actual vehicle deceleration is less than the minimum deceleration in order to achieve a minimum braking effect,

limiting the braking pressure on the wheel brakes of the first vehicle axle and the and the second vehicle axles if the actual vehicle deceleration is greater than the maximum deceleration in order to limit a braking effect, and

additionally controlling the braking pressure on the wheel brakes of the second vehicle axle depending on a detected actual differential slip if the actual vehicle deceleration is less than the maximum deceleration and greater than the minimum deceleration, wherein the actual differential slip indicates the difference in a rotational behavior of the first vehicle axle with respect to the second vehicle axle.

17. The device as claimed in claim 16 , wherein the second vehicle axle is a rear axle and the first vehicle axle is a front axle of the vehicle.

18. A vehicle with a brake system, the brake system comprising:

a brake valve for controlling a braking pressure on wheel brakes of the vehicle,

a braking value transducer for detecting a target vehicle,

a sensor for detecting an actual vehicle deceleration,

ABS brake valves, and

a device configured to:

select a maximum deceleration and a minimum deceleration depending on a detected target vehicle deceleration, and

actuate ABS brake valves on wheel brakes of a first vehicle axle and of a second vehicle axle depending on a detected actual vehicle deceleration in such a way that

increasing the braking pressure on the wheel brakes of the first vehicle axle and the second vehicle axle if the actual vehicle deceleration is less than the minimum deceleration in order to achieve a minimum braking effect,

limiting the braking pressure on the wheel brakes of the first vehicle axle and the and the second vehicle axle if the actual vehicle deceleration is greater than the maximum deceleration in order to limit a braking effect, and

additionally controlling the braking pressure on the wheel brakes of the second vehicle axle depending on a detected actual differential slip if the actual vehicle deceleration is less than the maximum deceleration and greater than the minimum deceleration, wherein the actual differential slip indicates the difference in a rotational behavior of the first vehicle axle with respect to the second vehicle axle.