Method for brake control of a vehicle combination and brake control unit for a tractor vehicle
View Patent ↗In a method for controlling the brakes of a vehicle combination having a tractor equipped with an electronically controlled brake system, at least one front axle and one rear axle, and a trailer having at least one trailer axle, in the event of a brake actuation, a deceleration setpoint value is ascertained and compared to a deceleration actual value, and a current brake-application energy reference value is ascertained therefrom. Brake-application energy setpoint values for the tractor and trailer are ascertained from the current brake-application energy reference value and brake-application energy levels for the tractor and trailer while using stored characteristic maps, which illustrate the dependencies of the brake-application energy levels on the brake-application energy reference value or on the axle load distribution of the tractor. The characteristic maps are obtained as a function of at least one pre-definable influencing factor. For this, a loading state of the tractor and/or of the trailer and/or the vehicle combination is ascertained.
1. A method for controlling the brakes of a vehicle combination having a tractor vehicle equipped with an electronically controlled brake system, at least one front axle and a rear axle, and a trailer vehicle having at least one trailer axle, the method comprising:
when at least one of a brake pedal actuation occurs and a brake value encoder signal is output, determining, using at least one control unit associated with the tractor vehicle, a deceleration setpoint value, comparing the deceleration setpoint value to a deceleration actual value, and determining a brake-application energy reference value;
determining, using the at least one control unit, brake-application energy setpoint values for the tractor vehicle and the trailer vehicle from the brake-application energy reference value and brake-application energy levels for the tractor vehicle and the trailer vehicle using stored characteristic maps, the characteristic maps being obtained as a function of at least one pre-definable influencing factor and illustrating dependencies of the brake-application energy levels for the tractor vehicle and the trailer vehicle on one of the brake-application energy reference value and axle load distribution of the tractor vehicle;
from the brake-application energy reference value, the influencing factor, and the axle load distribution of the tractor vehicle, determining, using the at least one control unit, a loading state for one of the tractor vehicle, the trailer vehicle, and the vehicle combination; receiving, at the at least one control unit, an external brake request; and adapting, using the at least one control unit, brake force control of the trailer vehicle corresponding to the external brake request, based on the determined loading state and independently of any separate automatic load-dependent brake-force control.
2. The method as claimed in claim 1 , wherein the loading state is at least one of a center of gravity location of the tractor vehicle, an axle load of the tractor vehicle, a plurality of axle loads of the tractor vehicle, and at least one axle load of the trailer vehicle.
3. The method as claimed in claim 1 , wherein the loading state includes the axle loads of the tractor vehicle determined from the brake-application energy level for the tractor vehicle, the axle load distribution, and a permissible weight of the tractor vehicle.
4. The method as claimed in claim 1 , further comprising determining at least one of a weight of the tractor vehicle, a weight of the trailer vehicle, and a total weight of the vehicle combination.
5. The method as claimed in claim 4 , wherein the trailer vehicle has at least two trailer axles, and wherein the loading state includes the axle loads of the trailer vehicle determined from the brake-application energy level for the trailer vehicle, the axle load distribution, and the total weight of the vehicle combination.
6. The method as claimed in claim 1 , wherein the deceleration setpoint value is determined for the entire vehicle combination.
7. The method as claimed in claim 1 , wherein the external brake request comprises a deceleration setpoint value determined using a vehicle dynamics control unit, and wherein the at least one control unit comprises an electronic braking system control unit.
8. The method as claimed in claim 7 , further comprising determining, for each of the at least one front axle and rear axle of the tractor vehicle, and the at least one trailer axle, axle-related deceleration setpoint values using the vehicle dynamics control unit, and outputting the axle-related deceleration setpoint values to the electronic braking system control unit.
9. The method as claimed in claim 8 , wherein the tractor vehicle and the trailer vehicle include wheels, and wherein determining the axle-related deceleration setpoint values is effected wheel by wheel.
10. The method as claimed in claim 9 , further comprising at least one of determining and controlling at least one of brake pressure setpoint values and the brake-application energy reference values of individual ones of the wheels based on at least one of steering angle, yaw rate, lateral acceleration, longitudinal acceleration, and lateral acceleration.
11. The method as claimed in claim 1 , wherein determining a loading state for one of the tractor vehicle, the trailer vehicle, and the vehicle combination includes estimating the loading states of the tractor vehicle and the trailer vehicle from the brake-application energy levels using linear interpolation.
12. The method as claimed in claim 1 , further comprising determining absolute axle loads of the at least one front axle and rear axle of the tractor vehicle and the at least one trailer axle by using at least one of a center of gravity location for the tractor vehicle, a center of gravity location for the trailer vehicle, and a center of gravity location for the vehicle combination.