Method for operating a brake system for motor vehicles, and brake system
Method for operating a brake system of a motor vehicle having a hydraulic service brake device with hydraulically actuated wheel brakes on at least one front axle of the motor vehicle, and a parking brake device with wheel brakes, which can be actuated in each case by an electromechanical actuator, on a rear axle of the motor vehicle, wherein a motor vehicle actual longitudinal deceleration is measured, wherein during a braking operation by the hydraulic service brake device a braking operation is carried out by the parking brake device while the motor vehicle is traveling, wherein a motor vehicle setpoint longitudinal deceleration which is to be achieved is determined, and the electromechanical actuators of the parking brake device are actuated in such a way that the motor vehicle actual longitudinal deceleration is adjusted to the motor vehicle setpoint longitudinal deceleration.
1. A method for operating a brake system of a motor vehicle having a hydraulic service brake device with hydraulically actuated wheel brakes on at least one front axle of the motor vehicle, and a parking brake device with wheel brakes, which can be actuated in each case by an electromechanical actuator, on a rear axle of the motor vehicle, the method comprising:
measuring a motor vehicle actual longitudinal deceleration, wherein during a braking operation by the hydraulic service brake device a braking operation is carried out by the parking brake device while the motor vehicle is traveling,
determining a motor vehicle setpoint longitudinal deceleration which is to be achieved,
actuating the electromechanical actuators of the parking brake device in such a way that the motor vehicle actual longitudinal deceleration is adjusted to the motor vehicle setpoint longitudinal deceleration;
monitoring a first time profile representing a change in the motor vehicle actual longitudinal deceleration over time and a second time profile representing a change in a wheel brake pressure of the hydraulically actuated wheel brakes over time;
detecting locking of at least one of the wheels on the basis of the first time profile representing the change in the motor vehicle actual longitudinal deceleration over time and on the basis of the second time profile representing the change in the wheel brake pressure of the hydraulically actuated wheel brakes over time; and
reducing the motor vehicle setpoint longitudinal deceleration when the locking of the at least one of the wheels is detected.
2. The method as claimed in claim 1 , wherein the motor vehicle setpoint longitudinal deceleration is determined on the basis of a brake pressure of the service brake device.
3. The method as claimed in claim 2 , wherein the motor vehicle setpoint longitudinal deceleration is additionally determined on the basis of a measured lateral acceleration of the motor vehicle.
4. The method as claimed in claim 1 , wherein the motor vehicle setpoint longitudinal deceleration is calculated from a first motor vehicle longitudinal deceleration portion, for the front axle, and a second motor vehicle longitudinal deceleration portion, for the rear axle.
5. The method as claimed in claim 4 , wherein the first motor vehicle longitudinal deceleration portion is determined from a wheel brake pressure of the hydraulically actuated wheel brakes of the service brake device.
6. The method as claimed in claim 5 , wherein the first motor vehicle longitudinal deceleration portion is calculated from the wheel brake pressure on the basis of a first predefined relationship.
7. The method as claimed in claim 4 , wherein the second motor vehicle longitudinal deceleration portion is determined as a function of a measured lateral acceleration of the motor vehicle.
8. The method as claimed in claim 4 , wherein the second motor vehicle longitudinal deceleration portion is calculated from a third motor vehicle longitudinal deceleration portion and a predefined or predetermined safety deceleration value.
9. The method as claimed in claim 8 , wherein the third motor vehicle longitudinal deceleration portion is calculated from the first motor vehicle longitudinal deceleration portion on the basis of a second predefined relationship.
10. The method as claimed in claim 1 , wherein a change in a side slip angle of the motor vehicle is determined on the basis of a lateral acceleration of the motor vehicle, a yaw rate of the motor vehicle and a vehicle speed, and if the determined change in the side slip angle exceeds a limiting value, a brake application force at the electromechanical actuators of the parking brake device is reduced, or the motor vehicle setpoint longitudinal deceleration, is reduced.
11. The method as claimed in claim 1 , wherein the motor vehicle setpoint longitudinal deceleration is determined on the basis of a wheel brake pressure of the hydraulically actuated wheel brakes of the service brake device.
12. A brake system for a motor vehicle comprising:
a hydraulic service brake device with hydraulically actuated wheel brakes on at least one front axle,
a parking brake device with wheel brakes, which can each be actuated by an electromechanical actuator, at a rear axle (HA), and
an electronic open-loop and closed-loop control unit,
wherein the brake system comprises an acceleration-detection device which detects at least one longitudinal deceleration of the motor vehicle or receives measurement data of such an acceleration-detection device,
wherein a method as claimed in claim 1 is carried out in the electronic open-loop and closed-loop control unit.