Braking system and vehicle having a braking system

Abstract

The invention relates to a braking system (10a; 10b; 10c) for a vehicle (11), the braking system comprising: a brake pedal (12); a position sensor unit (13) for determining position data about an adjustment travel and / or a pivot angle of a brake pedal (12) of the vehicle (11); a force sensor unit (14) for determining force data about an actuation force used to actuate the brake pedal (12); a control unit (15) and an additional control unit (16), wherein the position sensor unit is in signal connection with the control unit and the additional control unit for transmitting position data to the control unit and the additional control unit, and the force sensor unit is in signal connection with the control unit and the additional control unit for transmitting force data to the control unit and the additional control unit. The invention also relates to a vehicle having the braking system according to the invention.

Description

Technical Field

[0001] The invention relates to a brake system for a vehicle, the brake system comprising: a brake pedal; a position sensor unit for determining position data about an adjustment travel and / or a pivot angle of a brake pedal of the vehicle; and a force sensor unit for determining force data about an actuation force used to actuate the brake pedal. The invention also relates to a vehicle having such a brake system. Background Art

[0002] Due to the increasing electrification of the powertrain of motor vehicles and due to the increased exhaust gas requirements, it is necessary to develop new possibilities for generating the braking effect. Current brake systems are already designed in such a way that the braking effect is no longer boosted vacuum-based, but servo-electrically. However, a mechanical effect on the braking effect is always generated here. This means that even if the brake booster fails, the braking effect can be achieved by pressing the brake pedal.

[0003] The next generation of systems should now be further developed in such a way that the driver's braking command and the braking action are completely decoupled, as is already known in current accelerator pedals. Since the requirements for the safety of the brake pedal are significantly higher than for the accelerator pedal, a higher variety of redundancy is required for fault detection. Therefore, a large number of channels are required at the vehicle level with a correspondingly high level of signal processing in the control device.

[0004] It is known that a force sensor and a position sensor or a travel sensor are integrated in the brake pedal, wherein the force sensor is implemented as a sensor for measuring the travel difference with an elastic unit and shares a common circuit board with the position sensor. In such a system, all data can be transmitted to a superior control device and processed there by comparing the sensor channels and signal processing. Subsequently, the driver's braking expectation can be determined with the aid of the processed data. The disadvantage of this concept is that multiple redundant sensor information is usually sent to the control device. In the so-called Fail-Operational-System, two brake control devices separated from each other are generally used. The basic idea here is that the two brake control devices share the channel for measuring the brake pedal position. However, a position sensor with an established protocol (such as "SENT" or "PSI5") cannot be sent to two receivers in parallel. In addition, the communication of the two brake control devices for exchanging brake pedal position information is either too slow or not implemented at all to ensure complete independence. In addition, since the independence for faults cannot be fully ensured, availability and safety issues may arise due to the integration of system components on a circuit board.

[0005] A brake system of the same type as that described above is known from the international patent application WO 2012 / 136293 A1, in which the signals of a force sensor and a position sensor are fed to a central evaluation unit. Summary of the invention

[0006] The object of the present invention is to at least partially take the above-mentioned problems into account. In particular, the object of the present invention is to provide a simply designed and reliably functioning electric brake system and a vehicle having such a brake system.

[0007] The above-mentioned object is achieved by a brake system according to the invention and a vehicle according to the invention. Features described in connection with the brake system are of course also applicable in connection with the vehicle according to the invention, and vice versa, respectively, so that reference can always be made to each other with respect to the disclosures for the individual inventive aspects.

[0008] According to a first aspect of the present invention, a braking system for a vehicle is provided. The braking system comprises: a brake pedal; a position sensor unit for determining position data about an adjustment stroke and / or a pivot angle of a brake pedal of the vehicle; and a force sensor unit for determining force data about an operating force used to operate the brake pedal. The braking system also comprises a control unit and an additional control unit, wherein the position sensor unit is in signal connection with the control unit and the additional control unit for transmitting position data to the control unit and the additional control unit, and wherein the force sensor unit is in signal connection with the control unit and the additional control unit for transmitting force data to the control unit and the additional control unit, and the position sensor unit and / or the force sensor unit each have at least two sensor channel pairs arranged separately from each other, one sensor channel pair is in signal connection with the control unit for transmitting position data or force data to the control unit, and the other sensor channel pair is in signal connection with the additional control unit for transmitting position data or force data to the additional control unit. The control unit comprises a preprocessing device for receiving and preprocessing position data and force data and a main control device in signal connection with the preprocessing device, the main control device being used to further process the preprocessed position data and the preprocessed force data, and the additional control unit comprises an additional preprocessing device for receiving and preprocessing position data and force data and an additional main control device in signal connection with the additional preprocessing device, the additional main control device being used to further process the preprocessed position data and the preprocessed force data, the preprocessing device and the additional preprocessing device being integrated in the brake pedal, and the main control device and the additional main control device being installed outside the brake pedal, whereby only a signal line for transmitting signals and / or data from the preprocessing device installed in the brake pedal to the main control device installed outside the brake pedal and a signal line for transmitting signals and / or data from the additional preprocessing device installed in the brake pedal to the additional main control device installed outside the brake pedal need to be led out from the brake pedal.

[0009] Therefore, the known prior art is further improved as follows: two control units, in particular two control units arranged separately from each other, are provided in a braking system. That is, redundancy is extended from the sensor device to the control unit or the corresponding ECU. The control unit and the additional control unit can be understood as control devices or corresponding ECUs of the same type or substantially the same type, respectively. The control unit and the additional control unit can be designed to be independent and different from each other. In the proposed braking system, the position sensor unit and the force sensor unit can send, that is, transmit position data or force data to the two control units (i.e., the control unit and the additional control unit) in parallel, respectively. By the arrangement structure of the control unit and the additional control unit for the corresponding signal processing of force data and position data according to the present invention, the improved fault safety of the braking system can be achieved in a simple manner. In conventional braking systems, mechanical and / or hydraulic emergency systems are always required to operate the brake pedal. When using the braking system according to the present invention, this can be abandoned in principle. The control unit and the additional control unit can be designed to be multi-channel redundant, respectively. In this case, each sensor channel can be connected to the control unit and the additional control unit in parallel.

[0010] “The position sensor unit is configured to determine position data” can be understood to mean that position data can be determined and / or corresponding position values, in particular values ​​regarding the pivot angle and / or regarding the adjustment path, can be measured with the help of the position sensor unit. “The force sensor unit is configured to determine force data” can be understood to mean that force data can be determined and / or corresponding force values, in particular values ​​regarding the actuating force, can be measured with the help of the force sensor unit.

[0011] The signal connection can be realized wired or wirelessly. In particular, the brake system can have a first signal line for transmitting position data from the position sensor unit to the control unit and a second signal line extending at least partially parallel to the first signal line in terms of signal technology, the second signal line for transmitting position data from the position sensor unit to the additional control unit. Correspondingly, the brake system can have a third signal line for transmitting force data from the position sensor unit to the control unit and a fourth signal line extending at least partially parallel to the third signal line in terms of signal technology, the fourth signal line for transmitting force data from the position sensor unit to the additional control unit.

[0012] “The position sensor unit is in signal connection with the control unit and the additional control unit for transmitting position data to the control unit and the additional control unit” can be understood as the position sensor unit is in signal connection with the control unit for transmitting position data to the control unit, and the position sensor unit is in signal connection with the additional control unit for transmitting position data to the additional control unit. “The force sensor unit is in signal connection with the control unit and the additional control unit for transmitting force data to the control unit and the additional control unit” can be understood as the force sensor unit is in signal connection with the control unit for transmitting force data to the control unit, and the force sensor unit is in signal connection with the additional control unit for transmitting force data to the additional control unit.

[0013] The force sensor may be understood as a pedal force sensor. The position of a force simulator unit of the brake system may be measured by means of the force sensor unit. Thus, a travel measurement may also be performed by means of the force sensor unit. The position sensor may be understood as a pedal travel sensor. The brake system is preferably configured in the form of a brake-by-wire system and / or in the form of an electric brake system, in particular in the form of a brake system which is only electric in terms of the generation of the braking force that can be achieved by the driver, which forgoes a purely mechanical and / or purely hydraulic emergency system for the driver to actuate the brake pedal.

[0014] According to another embodiment of the present invention, it is feasible that the control unit and the additional control unit are arranged spaced apart from each other in the braking system. It is also feasible that the control unit and the additional control unit are designed to be different from each other. It is also feasible that in the braking system according to the present invention, the sensor channel pairs of the position sensor unit and / or the force sensor unit are each designed to be at least partially electrically separated from each other. This can further improve the operational safety of the braking system or increase the fault safety. "The control unit and the additional control unit are designed to be different from each other" can be understood as that the two control units are not only redundantly but also intentionally configured and / or equipped with different functional components.

[0015] In a braking system according to the present invention, it is also possible that the position sensor unit and / or the force sensor unit each have at least two sensor channel pairs that are arranged separately from each other, wherein a corresponding one sensor channel pair is in signal connection with the control unit for transmitting position data or force data to the control unit, and the other sensor channel pair is in signal connection with the additional control unit for transmitting position data or force data to the additional control unit. This can further improve fault safety. "The position sensor unit and / or the force sensor unit each have at least two sensor channel pairs that are arranged separately from each other" can be understood as the position sensor unit can have at least two sensor channel pairs that are arranged separately from each other, and the force sensor unit can also have at least two sensor channel pairs that are arranged separately from each other. “A corresponding sensor channel pair is in signal connection with the control unit for transmitting position data or force data to the control unit, and another sensor channel pair is in signal connection with the additional control unit for transmitting position data or force data to the additional control unit” can be understood as, a sensor channel pair of the position sensor unit can be in signal connection with the control unit for transmitting position data to the control unit, and another sensor channel pair of the position sensor unit can be in signal connection with the additional control unit for transmitting position data to the additional control unit, and a sensor channel pair of the force sensor unit can be in signal connection with the control unit for transmitting force data to the control unit, and another sensor channel pair of the force sensor unit can be in signal connection with the additional control unit for transmitting force data to the additional control unit.

[0016] In the brake system according to the invention, the sensor channel pairs of the position sensor unit and / or the force sensor unit can each be integrated on a common circuit board. As a result, the brake system can be provided in a particularly simple and compact manner.

[0017] According to an alternative design variant of the present invention, it is possible to integrate the sensor channel pairs of the position sensor unit and / or the force sensor unit on different circuit boards that are spaced apart from each other. This can increase the failsafety of the brake system against unintentional or erroneous braking expectations.

[0018] It is also possible in the braking system according to the present invention that the control unit has a preprocessing device for receiving and preprocessing position data and force data and a main control device in signal connection with the preprocessing device, the main control device is used to further process the preprocessed position data and preprocessed force data, and the additional control unit has an additional preprocessing device for receiving and preprocessing position data and force data and an additional main control device in signal connection with the additional preprocessing device, the additional main control device is used to further process the preprocessed position data and preprocessed force data. In such a design, the long and / or double connection line between the preprocessing device and the main processing device is omitted. In addition, due to the possible short signal transmission distance, digital protocols such as PSI5 that cannot be used in the case of longer transmission paths can be used between the sensor unit and the preprocessing device. In addition, material costs can be saved. By using the preprocessing device, it is only necessary to send the integrated position data and / or force data to the corresponding and / or superior control unit.

[0019] In another embodiment of the brake system according to the invention, it is possible that the pre-processing device and / or the additional pre-processing device are each configured to carry out at least one of the following processes:

[0020] - read in force data and / or position data,

[0021] - Correction of the force and / or position data read in,

[0022] - calculate different force data and / or different position data against each other,

[0023] - Comparison of different force data and / or different position data with one another.

[0024] Thus, the main data processing processes can already be carried out in the preprocessing device. Only a simple signal transmission then takes place between the preprocessing device and the main control device, which can also be implemented without problems via longer signal lines. In addition to the process steps mentioned above, the following processes can also be carried out in the preprocessing device or in the preprocessing device and the additional preprocessing device:

[0025] - filtering force data and / or position data,

[0026] - minus the offset or deviation value,

[0027] - calculating the individual signal data relative to one another, for example to form an average value of a plurality of signal data, ie, in particular an average value of a plurality of values ​​relating to force data and / or position data,

[0028] - compare different force data and / or different position data with one another for synchronous monitoring,

[0029] - diagnostic data for evaluating individual signal data, in particular force data and / or position data,

[0030] - calculation of further transmission signals and / or further transmission data for further transmission to a main control unit or an additional main control unit or a corresponding higher-level control device, in particular a control device in the form of an ECU.

[0031] In another design variant of the present invention, it is feasible that the preprocessing device and the additional preprocessing device are integrated in the brake pedal, and the main control device and the additional main control device are installed outside the brake pedal. Therefore, the brake system can be provided in a particularly space-saving manner. Only two simple signal lines need to be led out of the brake pedal to transmit signals and / or data from the preprocessing device installed in the brake pedal to the main control device installed outside the brake pedal, and the main control device is preferably designed in the form of a suitable ECU. Alternatively, of course, it is also possible to realize cable-free or wireless signal transmission or data transmission from the preprocessing device to the main control device with the aid of a transmission unit of the brake system for wireless data transmission and / or information transmission.

[0032] It is also possible that in the braking system according to the invention, the position sensor unit has at least one sensor that measures inductively and the force sensor unit has at least one sensor that measures non-inductively. With this diversity, an increased fail-safety of the braking system can be achieved. The at least one sensor that measures non-inductively can have a magnetic sensor (e.g., a Hall sensor, a TMR sensor, an AMR sensor or a GMR sensor) or a capacitive sensor. When using sensors that measure inductively, such sensors preferably share an inductive excitation on a voltage source. Nevertheless, a plurality of sensor channels can have a common voltage supply.

[0033] It may be further advantageous that, in the braking system of the present invention, the control unit and each sensor channel in signal connection with the control unit are connected to a voltage source, and the additional control unit and each sensor channel in signal connection with the additional control unit are connected to an additional voltage source. Failure safety may therefore also be improved. According to the present invention, the control unit, at least one sensor channel of the force sensor unit in signal connection with the control unit, and at least one sensor channel of the position sensor unit in signal connection with the control unit may be connected to a voltage source for voltage supply of the respective units. Accordingly, the additional control unit, at least one sensor channel of the force sensor unit in signal connection with the additional control unit, and at least one sensor channel of the position sensor unit in signal connection with the additional control unit may be connected to an additional voltage source for voltage supply of the respective units. The voltage source and the additional voltage source are preferably designed to be separate and / or spatially separated from each other.

[0034] According to another aspect of the invention, a vehicle is provided having a braking system as described above. The vehicle according to the invention thus brings the same advantages as described in detail with reference to the braking system according to the invention. The vehicle is preferably provided in the form of a motor vehicle, in particular a road vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Further measures for improving the invention are obtained from the following description of various embodiments of the invention, which are schematically shown in the drawings. All features and / or advantages, including structural details and spatial arrangements, derived from the claims, the description or the drawings may be essential to the invention either individually or in a comprehensive combination.

[0036] The figure schematically shows:

[0037] Figure 1 1 shows a block circuit diagram for describing a brake system according to a first embodiment of the present invention.

[0038] Figure 2 Shown in Figure 1 A vehicle according to a first embodiment of the brake system is shown in FIG.

[0039] Figure 3 A brake pedal is shown in a front view for illustrating a first specific embodiment of the invention.

[0040] Figure 4 A brake pedal is shown in a side view to illustrate a first specific embodiment of the invention.

[0041] Figure 5 FIG. 2 shows a block circuit diagram for describing a brake system according to a second embodiment of the present invention.

[0042] Figure 6 A brake pedal is shown in a front view for illustrating a second embodiment of the invention.

[0043] Figure 7 A block diagram is shown for describing a brake system according to a third specific embodiment of the present invention. DETAILED DESCRIPTION

[0044] Elements having the same function and mode of action are provided with the same reference symbols in the figures.

[0045] Figure 1 1 shows a block diagram for explaining a brake system 10a for a vehicle 11 according to a first specific embodiment of the present invention. Figure 1 The brake system 10a shown in FIG. 1 has: Figure 3 and Figure 4 1 ; a brake pedal 12 shown in FIG. 1 ; a position sensor unit 13 for determining position data about the adjustment travel and / or pivot angle of the brake pedal 12 of the vehicle 11 ; a force sensor unit 14 for determining force data about the actuation force used to actuate the brake pedal 12 ; a control unit 15 and an additional control unit 16 . The position sensor unit 13 is in signal connection with the control unit 15 and the additional control unit 16 for transmitting position data to the control unit 15 and the additional control unit 16 . In addition, the force sensor unit 14 is in signal connection with the control unit 15 and the additional control unit 16 for transmitting force data to the control unit 15 and the additional control unit 16 . The signal connection is established in a wired manner via corresponding signal lines between the sensor units 13 , 14 and the control units 15 , 16 , respectively.

[0046] like Figure 1 As shown in , the control unit 15 and the additional control unit 16 are arranged spaced apart from each other. In addition, the control unit 15 and the additional control unit 16 are designed to be different from each other. More precisely, the position sensor unit 13 has a sensor that measures inductively, and the force sensor unit 14 has a sensor that measures non-inductively. The control unit 15 and the sensor channels 14a, 13a, 13b that are in signal connection with the control unit 15 are connected to a voltage source 21. The additional control unit 16 and the sensor channels 14b, 13c, 13d that are in signal connection with the additional control unit 16 are connected to an additional voltage source 22.

[0047] According to Figure 1In the embodiment shown in , the position sensor unit 13 has two sensor channel pairs 13a, 13b, 13c, 13d that are arranged separately from each other. Here, one sensor channel pair 13a, 13b is in signal connection with the control unit 15 for transmitting position data, and the other sensor channel pair 13c, 13d is in signal connection with the additional control unit 16 for transmitting position data. The sensor channel pairs 13a, 13b, 13c, 13d of the position sensor unit 13 are respectively designed to be separated from each other in terms of current. In addition, the position sensor unit 13 Figure 1 The sensor channel pair 13a, 13b, 13c, 13d shown in FIG. 1 is integrated on a common printed circuit board 17. The two sensor channels 14a, 14b of the force sensor unit 14 are also integrated on a common printed circuit board 18. Figure 2 A vehicle 11 in the form of a sedan is shown, which has a Figure 1 A braking system 10 a is described.

[0048] exist Figure 3 and Figure 4 1 and 2 show a brake pedal 12 in different views. The brake pedal 12 shown has a pedal arm 27 and a pedal 28. The pedal arm 27 is arranged to be pivotable about a first rotation axis 30 and a second rotation axis 31. The position sensor unit 13 is configured and arranged to determine a relative rotation or a relative rotation value of the pedal arm 27 about the first rotation axis 30. The force sensor unit 14 is configured and arranged to determine force data when the pedal arm 27 is relatively rotated and / or when a mechanism 32 not shown in detail is displaced about the second rotation axis 31. An elastic or resilient unit 29 is arranged between the pedal arm 27 and the mechanism 32. The elastic unit 29 arranged in the force flow delays the rotation about the second rotation axis 31 relative to the pedal force on the pedal 28 relative to the first rotation axis 30. The force applied to the pedal 28 is determined by the difference between the positions of the position sensor unit 13 and the force sensor unit 14 and the spring stiffness of the elastic unit 29.

[0049] Figure 5 A block diagram is shown for explaining a brake system 10b according to a second specific embodiment. Figure 5 In the brake system 10b shown in FIG. 1 , the sensor channel pairs 13a, 13b, 13c, 13d of the position sensor unit 13 are integrated on different circuit boards 19, 20 that are spaced apart from each other. More specifically, one sensor channel pair 13a, 13b is integrated on one circuit board 19, while another sensor channel pair 13c, 13d is integrated on another circuit board 20. Each sensor channel pair 13a, 13b, 13c, 13d can be understood as a sensor. Figure 6As shown in FIG. 1 , the printed circuit boards 19 , 20 with the sensor channel pairs 13 a , 13 b , 13 c , 13 d are arranged separately on opposite sides of the pedal arm 27 or of the first rotation axis 30 .

[0050] Figure 7 A block circuit diagram for explaining a braking system 10c according to a third embodiment is shown. In the embodiment shown, the control unit 15 has a preprocessing device 23 for receiving and preprocessing position data and force data and a main control device 24 in signal connection with the preprocessing device 23, which is used to further process the preprocessed position data and preprocessed force data. In addition, the additional control unit 16 has an additional preprocessing device 25 for receiving and preprocessing position data and force data and an additional main control device 26 in signal connection with the additional preprocessing device 25, which is used to further process the preprocessed position data and preprocessed force data. The preprocessing device 23 and the additional preprocessing device 24 are respectively configured to implement the following processes:

[0051] - read in force and position data,

[0052] - Correction of the force and position data read in,

[0053] - Calculate different force data and different position data against each other,

[0054] ——Compare different force data and different position data with each other.

[0055] Furthermore, the preprocessing device 23 and the additional preprocessing device 25 are integrated in the brake pedal 12 , and the main control device 24 and the additional main control device 26 are installed outside the brake pedal 12 .

[0056] In order to detect electrical and mechanical faults in the brake system, the pedal force and the pedal travel can be determined. The information about the pedal travel can be determined directly from the sensor channels 14a, 14b of the force sensor unit 14. In order to determine the pedal force or the actuating force for actuating the brake pedal 12, the sensor channels 14a, 14b of the force sensor unit 14 must first be calculated with a transfer function, which is determined by a mechanism 32 not mentioned in detail, so that the sensor channels 14a, 14b are virtually located on the first rotation axis 30. Subsequently, the associated signal of the force sensor unit 14 can be subtracted from the signal of the position sensor unit 13, so that the result can then be calculated with the stiffness of the elastic unit 29 and the pedal force is obtained. If there is a prestress on the brake pedal 12 or the elastic unit 29, this prestress must be additionally taken into account. Otherwise, only the pedal force change can be determined, but not the absolutely existing force.

[0057] In addition to the embodiments shown, the present invention also allows other design principles. That is, the present invention should not be considered to be limited to the embodiments described with reference to the drawings.

[0058] Reference numerals list

[0059] 10a, 10b, 10c Braking system

[0060] 11 Vehicles

[0061] 12Brake pedal

[0062] 13 Position sensor unit

[0063] 13a, 13b, 13c, 13d sensor channels

[0064] 14 force sensor units

[0065] 14a, 14b sensor channels

[0066] 15Control Unit

[0067] 16 Additional control units

[0068] 17 Circuit Board

[0069] 18 Circuit Board

[0070] 19 Circuit Board

[0071] 20 Circuit Boards

[0072] 21 Voltage Source

[0073] 22 Additional voltage source

[0074] 23 Pre-processing device

[0075] 24 Main control devices

[0076] 25 additional pre-processing devices

[0077] 26 Additional main control devices

[0078] 27 Pedal Arm

[0079] 28 pedaling

[0080] 29 elastic units

[0081] 30 Rotation axis

[0082] 31 Rotation axis

[0083] 32 Institutions

Claims

1. A braking system (10a; 10b; 10c) for a vehicle (11), the braking system comprising: a brake pedal (12); a position sensor unit (13), the position sensor unit being used to determine position data about an adjustment travel and / or a pivot angle of a brake pedal (12) of the vehicle (11); a force sensor unit (14), the force sensor unit being used to determine force data about an actuating force used to actuate the brake pedal (12); a control unit (15) and an additional control unit (16), wherein: The position sensor unit (13) is in signal connection with the control unit (15) and the additional control unit (16) for transmitting position data to the control unit (15) and the additional control unit (16), and the force sensor unit (14) is in signal connection with the control unit (15) and the additional control unit (16) for transmitting force data to the control unit (15) and the additional control unit (16), the position sensor unit (13) and / or the force sensor unit (14) respectively having at least two sensor channel pairs (13a, 13b, 13c, 13d) arranged separately from each other, one sensor channel pair is in signal connection with the control unit (15) for transmitting position data or force data to the control unit (15), and the other sensor channel pair is in signal connection with the additional control unit (16) for transmitting position data or force data to the additional control unit (16), The brake pedal (12) comprises a pedal arm (27) and a stepping pedal (28), the sensor channel pairs (13a, 13b, 13c, 13d) of the position sensor unit (13) are respectively integrated on different circuit boards (19, 20) spaced apart from each other, and the circuit boards (19, 20) having the sensor channel pairs (13a, 13b, 13c, 13d) are individually arranged on opposite sides of the pedal arm (27); The control unit (15) and each sensor channel in signal connection with the control unit (15) are connected to a voltage source (21), and the additional control unit (16) and each sensor channel in signal connection with the additional control unit (16) are connected to an additional voltage source (22), the voltage source and the additional voltage source are designed separately, and the sensor channel pairs (13a, 13b, 13c, 13d) of the position sensor unit (13) are designed to be electrically separated from each other.

2. The braking system (10a; 10b; 10c) according to claim 1, characterized in that The control unit (15) and the additional control unit (16) are arranged spaced apart from each other.

3. The braking system (10a; 10b; 10c) according to claim 1 or 2, characterized in that: The control unit (15) and the additional control unit (16) are designed to be different from each other.

4. The braking system (10a; 10b; 10c) according to claim 1 or 2, characterized in that The sensor channel pairs of the force sensor unit (14) are each designed to be at least partially galvanically separated from one another.

5. The braking system (10a; 10b; 10c) according to claim 1 or 2, characterized in that: The sensor channel pairs of the force sensor unit (14) are respectively integrated on a common circuit board.

6. The braking system (10a; 10b; 10c) according to claim 1 or 2, characterized in that: The sensor channel pairs of the force sensor unit (14) are respectively integrated on different circuit boards that are spaced apart from each other.

7. The braking system (10a; 10b; 10c) according to claim 1 or 2, characterized in that The control unit (15) has a preprocessing device (23) for receiving and preprocessing position data and force data and a main control device (24) in signal connection with the preprocessing device (23), and the main control device is used to further process the preprocessed position data and the preprocessed force data, and the additional control unit (16) has an additional preprocessing device (25) for receiving and preprocessing position data and force data and an additional main control device (26) in signal connection with the additional preprocessing device (25), and the additional main control device is used to further process the preprocessed position data and the preprocessed force data.

8. The braking system (10a; 10b; 10c) according to claim 7, characterized in that The pre-processing device (23) and the additional pre-processing device (25) are integrated in the brake pedal (12), and the main control device (24) and the additional main control device (26) are installed outside the brake pedal (12).

9. The braking system (10a; 10b; 10c) according to claim 8, characterized in that From the brake pedal (12), only a signal line for transmitting signals and / or data from a preprocessing device (23) installed in the brake pedal (12) to a main control device (24) installed outside the brake pedal (12) and a signal line for transmitting signals and / or data from an additional preprocessing device (25) installed in the brake pedal (12) to an additional main control device (26) installed outside the brake pedal (12) need to be led out.

10. The brake system (10a; 10b; 10c) according to claim 7, characterized in that The pre-processing device (23) and / or the additional pre-processing device (25) are respectively configured to implement at least one of the following processes: - read in force data and / or position data, - Correction of the force and / or position data read in, - calculate different force data and / or different position data against each other, - Comparison of different force data and / or different position data with one another.

11. The brake system (10a; 10b; 10c) according to claim 1 or 2, characterized in that The position sensor unit (13) has at least one sensor that measures inductively, and the force sensor unit (14) has at least one sensor that measures non-inductively.

12. A vehicle (11) having a brake system (10a; 10b; 10c) according to any one of claims 1 to 11.

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