Brake system and method for controlling a brake system

Abstract

The invention relates to a brake system (2) for a vehicle (1), comprising: an electromechanical brake module (11.1, 11.2); a first energy storage unit (15); and an operating supply circuit (100) for connecting the first energy storage unit (15) to the brake module (11.1, 11.2). The invention proposes a second energy storage unit (25, 25.1) which is connected to the redundant supply circuit (200, 200.1), and a control module (16.1, 16.2) which is connected to the operating supply circuit (100) and to the redundant supply circuit (200, 200.1). The control module (16.1, 16.2) is designed to switch from a first switching state, in which the first energy storage unit (15) supplies energy to the brake module (11.1, 11.2) via the operating supply circuit (100), to a second switching state, in which energy is supplied via the second energy storage unit (25, 25.1) and the redundant supply circuit (200, 200.1), and the control module (16.1, 16.2) is designed to switch from a first switching state, in which the first energy storage unit (15) supplies energy to the brake module (11.1, 11.2) via the operating supply circuit (100), to a second switching state, in which energy is supplied via the second energy storage unit (25, 25.1) and the redundant supply circuit (200, 200.1). The control module (16.1, 16.2) is designed to monitor the operation of the supply circuit (100) and the first energy storage unit (15) and to switch into the second switching state in the event of a fault.

Description

Technical Field

[0001] The present invention relates to a braking system for a vehicle, in particular for a commercial vehicle, the braking system comprising: an electromechanical braking module, the braking module being configured to provide a service braking function and a parking braking function; a first energy storage unit, the first energy storage unit being configured to supply energy to the braking module; and an electrical operating supply circuit connected to the first energy storage unit, the operating supply circuit being configured to selectively connect the first energy storage unit to the braking module. Background Art

[0002] Braking systems of the type mentioned above are well known. With the increasing electrification, their importance and use in vehicles, in particular commercial vehicles, are increasing. The advantage of electromechanical braking systems is that they are not actuated pneumatically, but electrically. This has advantages, in particular in terms of installation technology, compared to pneumatic systems.

[0003] Such a braking system comprises at least one electromechanical brake module, through which a service brake function and a parking brake function are provided on at least one wheel axle. The brake module here particularly comprises an electromechanical brake actuator, which has a parking mechanism for locking the brake actuator. The parking brake function is provided by locking the brake actuator, which is also called the parking brake function. By means of the parking brake function, a stopped, parked vehicle is reliably prevented from rolling. No energy supply is required to maintain the parking brake function. However, the brake actuator is locked to provide the parking brake function only when the wheel speed approaches zero. Therefore, in order to safely stop the vehicle, a service brake function is also required, which is usually provided by an electromechanical brake actuator in an electromechanical brake module. The execution of the electromechanical brake actuator requires a continuous energy supply, which is provided by a first energy storage unit and an electrical operating supply circuit. Here, the electrical operating supply circuit connects the brake module to the first energy storage unit. Therefore, the premise for the safe use of an electromechanical brake system is always to provide a trouble-free energy supply for the brake module.

[0004] In the event of a fault in the operating state of the first energy storage unit and the electrical operating supply circuit, there is a fault in the energy supply to the brake module. A fault in the operating state refers to a state in which the voltage provided for the energy supply deviates from the rated voltage. If such an operating state fault occurs, for example due to a short circuit or damage to the supply line of the electrical operating supply circuit, the energy supply to the brake module will no longer be guaranteed. As a result, the vehicle cannot be decelerated by the service brake function and the parking mechanism cannot lock the brake actuator. Therefore, a fault or failure of the energy supply due to a fault in the operating state of the first energy storage unit and the operating supply circuit will present a potential risk to the operation of the electromechanical brake system.

[0005] An electromechanical braking system is known from WO 2021 / 122214 A1, in which, in the event of failure of the energy storage unit of a brake module of an axle, the energy supply to the axle is taken over by a redundant second energy storage unit. The redundant second energy storage unit may be, for example, the energy storage unit of the brake module of the second axle. The connection of the second redundant energy storage unit to the brake module of the first axle is also continued here via the operating supply circuit of the first axle. In addition, the situation in which a fault occurs in the operating state of the operating supply circuit of the first axle is not taken into account or detected. Therefore, if a fault occurs in the operating state of the operating supply circuit of the first axle, the service brake function and the parking brake function can no longer be maintained. Summary of the invention

[0006] The object of the present invention is therefore to overcome at least one disadvantage known from the prior art. In particular, the object of the present invention is to further improve the reliability of an electromechanical brake system of the type mentioned at the outset and to maintain the functionality of the electromechanical brake system in the event of a fault in the operating state of the first operating supply circuit and the first energy storage unit. In this respect, the functionality should at least be maintained so that the vehicle can be decelerated to the point where a safe stop of the vehicle can be achieved by providing a parking brake function.

[0007] The present invention proposes in a braking system of the type described at the beginning that the braking system includes a second energy storage unit and an electrical redundant supply circuit connected to the second energy storage unit. In addition, the braking system according to the present invention also includes a control module connected to the operating supply circuit and the electrical redundant supply circuit, and the control module is set up to switch from a first switching state to a second switching state. In the first switching state, the first energy storage unit supplies energy to the braking module via the operating supply circuit, and in the second switching state, the second energy storage unit supplies energy to the braking module via the redundant supply circuit. In addition, the control module is also set up to monitor the operating state of the operating supply circuit and the first energy storage unit in the first switching state, and switch to the second switching state in the event of a failure in the operating state. Therefore, the control module controls the energy supply and can also be called an energy control module.

[0008] The present invention is based on the following recognition, that is, the operating state of the first energy storage unit and the first operating supply circuit may fail. For this reason, the present invention proposes a control module, which is set up to monitor the operating state of the operating supply circuit and the first energy storage unit in a first switching state. Through this monitoring, the control module identifies the failure of the operating state of the first energy storage unit or the operating supply circuit, and is also set up to switch to the second operating state for this reason. In this second operating state, the control module ensures that the energy supply is continued via the redundant supply circuit and the second energy storage unit connected to the redundant supply circuit. Therefore, damage to the first operating supply circuit will no longer cause the brake actuator to fail.

[0009] If energy storage units are mentioned above and below within the scope of the present invention, energy storage units are to be understood as electrical energy storage units. Furthermore, if supply circuits are mentioned, supply circuits are to be understood as switching circuits comprising electrical lines and possibly further components such as transistors, capacitors, resistors and relays, which together form a closed system which performs the task of supplying the current energy.

[0010] In the scope of the present invention, an operating state fault refers to both a failure of the energy supply due to damage to the operating supply circuit or the first energy storage unit and a voltage fluctuation in the energy supply. Such an operating state fault may be caused, for example, by a short circuit or a break or damage to the supply line of the operating supply circuit.

[0011] According to a preferred embodiment, the control module is configured in the first switching state to monitor exclusively the operating state of the first energy storage unit and the operating supply circuit. The control module is thus configured to distinguish between a fault in the operating state of the first energy storage unit and a fault in the operating state of the operating supply circuit. This is advantageous with regard to repair and maintenance work.

[0012] According to another preferred embodiment, the first energy storage unit has a monitoring function, so that the energy storage unit is set up to communicate a fault in the operating process to the control module by providing a corresponding fault signal or a lack of an operating signal. The provision of the fault signal or the query of the status of the operating signal is performed, for example, continuously or cyclically.

[0013] Thus, the first switching state relates to a normal operating state, in which the energy supply to the brake module is realized in the absence of a fault via the first energy storage unit and the operating supply circuit. The second switching state relates to an emergency operating state, in which, due to a fault in the first energy storage unit or the operating supply circuit, the energy supply to the brake module is taken over by the second energy storage unit and the redundant supply circuit. The second energy storage unit is configured to supply the brake module with at least a sufficient amount of energy for decelerating the vehicle by providing a service brake function and subsequently a parking brake function.

[0014] Preferably, the control module is also configured to electrically disconnect the operating supply circuit from the brake module in the event of a fault in the operating state. The fault in the operating state may involve a fault in the operating state of the first energy storage unit or the operating supply circuit that is monitored exclusively, or may involve a fault in the operating state of the first energy storage unit and the operating supply circuit that are monitored together. By electrically disconnecting the operating supply circuit from the brake module, the brake module is protected from damage. The electrical disconnection of the operating supply circuit from the brake module also causes the first energy storage unit to be electrically disconnected from the brake module. Thus, for example, it is possible to avoid overvoltage of the brake module caused by a damaged energy storage unit.

[0015] According to a preferred embodiment, the control module is constructed as a dedicated control module relative to the brake module and is arranged spatially spaced apart from the brake module. Therefore, the control module can be arranged at an appropriate location within the brake system to provide a monitoring function for the operating supply circuit and the first energy storage unit. This control module can also cooperate with multiple brake modules of the electric brake system, so that the control module connects the multiple brake modules with the redundant supply circuit and the second energy storage unit by switching to the second switching state. By constructing the control module as a dedicated control module, the control module can be arranged between two brake modules, for example. Therefore, there is no delay in the signal transmission between the two brake modules.

[0016] Preferably, the control module is arranged in the vicinity of the brake module. By arranging the control module in the vicinity of the brake module, the paths that the corresponding control signals from the control module to the brake module must travel are reduced. Due to the arrangement of the control module in the vicinity of the brake module, the control technology connection between the control module and the brake module is less susceptible to interference. This is already justified by the fact that shorter line tracks can be laid.

[0017] According to an alternative preferred embodiment, the control module is integrated into the brake module in terms of structure and / or control technology. In the case where the control module is integrated into the brake module in terms of structure, the control module is arranged, for example, in the housing of the brake module. Integrating the control module into the brake module in terms of structure and / or control technology enables the laying of line tracks between the control module and the brake module inside the housing. Therefore, these line tracks are better protected from damage. In the case of a control technical connection between the control module and the brake module, the speed of signal transmission and signal processing is optimized. In this case, the control module preferably has anti-breakdown protection to protect against short circuits in the operating supply circuit of the brake module.

[0018] Preferably, the control module has a switching unit, which is set up for switching between a first switching state and a second switching state. More preferably, the control module also has a monitoring unit, which is set up for monitoring the operating supply circuit. By dividing the functions within the control module into switching functions and monitoring functions, the flexibility of the control module is increased. The flexibility of the control module is increased in this case because the switching unit can be arranged structurally and / or control-technically separated from the monitoring unit. Therefore, the units of the control module can be integrated into the brake system in a structurally optimized manner according to requirements and with regard to the direction of the supply circuit and the control circuit.

[0019] According to a preferred embodiment, the brake module is a first brake module, and the brake system further comprises a second brake module. In this case, the conversion unit is preferably a first conversion unit arranged in the vicinity of the first brake module, and the control module further comprises a second conversion unit arranged in the vicinity of the second brake module. By two dedicated conversion units arranged in the vicinity of the two brake modules, respectively, the influence of damage to the running supply circuit is reduced. Therefore, the overall failure safety of the brake system is further improved.

[0020] According to a preferred embodiment, the brake module, in particular the first brake module and the second brake module, has a brake actuator for providing a braking function. The brake actuator preferably includes a parking mechanism for locking the brake actuator. The control module is preferably set up to connect one brake actuator or two brake actuators to a redundant supply circuit in a second switching state, and preferably electrically disconnect the operating supply circuit. Therefore, a redundant energy supply by the second energy storage unit is directly provided to the brake actuator and a redundant connection between the brake actuator and the second energy storage unit is provided through a redundant supply circuit. By eliminating the other structural units connected in the middle, the brake module becomes more compact as a whole. In addition, by providing redundant energy supply and energy transmission directly on the brake actuator, failure of the service brake function caused by a failure of the structural unit connected in the middle is also prevented.

[0021] According to another preferred embodiment, the brake modules, in particular the first brake module and the second brake module, comprise a first brake actuator which is set up to provide a service brake function in a first switching state and a redundant brake actuator which is set up to provide a service brake function in a second switching state. The redundant brake actuator is associated with a redundant supply circuit and is preferably electrically disconnected from the operating supply circuit. The two brake actuators can be, for example, a first winding and a second winding of a coil of an electric motor, wherein the first winding is connected to the operating supply circuit and the second winding is connected to the redundant supply circuit. If the first brake actuator is damaged due to a fault in the operating state of the first energy storage unit and the operating supply circuit, the service brake function is maintained by the redundant second brake actuator.

[0022] The redundant brake actuator is associated with a redundant supply circuit and is preferably electrically disconnected from the operating supply circuit. Thus, the second brake actuator can be protected from damage caused, for example, by overvoltages in the event of a fault in the operating state of the first energy storage unit. Furthermore, preferably, at least one of the brake actuators comprises a parking mechanism for locking the first brake actuator and / or the redundant brake actuator. It is particularly preferred that the parking mechanism is set up to lock the first brake actuator and the second brake actuator. Thus, the parking brake function is maintained even in the second operating state.

[0023] According to another preferred embodiment, the running supply circuit is a rear axle running supply circuit, and the brake module is a rear axle brake module. In this embodiment, the brake system preferably also includes a front axle, which has at least one front axle brake module, wherein the redundant supply circuit is a front axle running supply circuit associated with the front axle. The front axle running supply circuit is set up to connect the second energy storage unit with the front axle brake module. Therefore, in the second switching state, the front axle brake module and the rear axle brake module are both supplied with energy by the second energy storage unit and the connected redundant supply circuit or the front axle running supply circuit. It should be understood that the redundant supply circuit is not only set up to supply energy to the front axle brake actuator in the second switching state, but also set up to continuously supply energy to the front axle brake module. For this purpose, the redundant supply circuit has a corresponding number of supply lines. By using the front axle running supply circuit as a redundant supply circuit and using the second energy storage unit as a redundant energy storage unit, the brake system can be designed to be more compact as a whole. In particular, additional energy storage units and additional redundant supply circuits can be eliminated in addition to the front axle running supply circuit and the rear axle running supply circuit.

[0024] More preferably, the braking system further comprises an electrical control unit for controlling the braking module, in particular the first braking module and the second braking module. In this case, the operating supply circuit is set up to supply energy to the control unit in the first switching state. Therefore, a failure of the operating supply circuit or the first energy storage unit will simultaneously lead to a failure in the energy supply to the electrical control unit. Therefore, monitoring of the operating supply circuit and the first energy storage unit is simultaneously used to monitor a sufficient energy supply to the electrical control unit.

[0025] The control unit is preferably configured to monitor the operating state of the first energy storage unit and of the operating supply circuit in the first switching state and to communicate to the control module that the operating state has failed in the event of a fault in the operating state. This is indicated, for example, by providing a corresponding fault signal or in the absence of an operating signal that is provided, for example, continuously or cyclically. Preferably, the control unit has a backup power supply, in particular a dedicated energy storage device, for this purpose.

[0026] More preferably, the operating supply circuit has a dedicated supply line, which is set up to connect the first energy storage unit with the first control unit. The control module is preferably also set up to monitor the operating state of the dedicated supply line in the first switching state. For example, this monitoring can be achieved indirectly via monitoring or communication with the control unit. Therefore, the control unit is supplied with energy via a separate supply line. Therefore, a failure of the supply line for supplying the brake module does not simultaneously cause a failure in the energy supply to the control unit. In addition, the control unit can be flexibly arranged in the brake system via a dedicated supply line, and thus effectively and fully utilizes the existing structural space.

[0027] More preferably, the brake system comprises a second electric control unit for controlling the front axle brake module, and the second electric control unit is also configured to control the rear axle brake module in the second switching state. If the rear axle is equipped with a first rear axle brake module and a second rear axle brake module, the second electric control unit is configured to control the first rear axle brake module and the second rear axle brake module in the second switching state. A fault in the operating state of the operating supply circuit or the first energy storage unit may cause the first electric control unit connected to the first operating supply circuit to be affected or damaged. The second electric control unit makes it possible to reliably control the rear axle brake module even in the second switching state.

[0028] According to another preferred embodiment, the rear axle operation supply circuit also forms a second redundant supply circuit for at least one front axle brake module of the front axle. Therefore, even in the event of a failure of the front axle operation supply circuit or the second energy storage unit, a redundant energy supply is provided for the front axle brake module. The failure safety of the brake system is thus further improved. Providing a redundant energy supply for the front axle brake module is particularly advantageous in those embodiments in which the front axle brake module also has a parking mechanism. As a result, the wheels of the front axle can be decelerated in such a way that the parking mechanism of the front axle can provide a corresponding parking brake function.

[0029] According to another preferred embodiment, the control module is a first control module, and the braking system further comprises a second control module for monitoring the front axle operation supply circuit in a first switching state. The second control module is configured to switch from the first switching state to the second switching state, in which the second energy storage unit supplies energy to the front axle brake module via the front axle operation supply circuit, and in which the first energy storage unit supplies energy to the front axle brake module via the rear axle operation supply circuit and is especially connected to the front axle brake module via the second control module. The second control module is also configured to monitor the operating state of the front axle operation supply circuit and the second energy storage unit in the first switching state, and switch to the second switching state in the event of a failure in the operating state. Therefore, corresponding monitoring functions and redundant energy supply and energy transmission are provided for both the front axle and the rear axle. Therefore, the braking system has a high degree of failure safety.

[0030] In a second aspect, the invention relates to a vehicle, in particular a commercial vehicle, having a rear axle with two rear wheels, a front axle with two front wheels, and a braking system according to the first aspect of the invention for providing a service braking function and a parking braking function on the rear axle and / or the front axle.

[0031] The vehicle enjoys the same advantages as the brake system of the first aspect.Preferred embodiments of the first aspect are at the same time preferred embodiments of the vehicle and vice versa, so that in this respect reference is made to the above statements to avoid repetitions.

[0032] In a third aspect, the present invention relates to a method for controlling an electromechanical brake system of a vehicle, in particular a commercial vehicle. In particular, according to the third aspect, the present invention relates to a method for controlling an electromechanical brake system according to the first aspect of the present invention. The method comprises the following steps:

[0033] a) Provide service brake function and parking brake function through the brake module,

[0034] b) supplying energy to the brake module via a first energy storage unit which is connected to the brake module by means of an electrical operating supply circuit,

[0035] c) monitoring the operating state of the electrical operating supply circuit and of the first energy storage unit in the first switching state,

[0036] d) switching from the first switching state to the second switching state in the event of a fault in the operating state,

[0037] e) In the second switching state, the brake module is supplied with energy by means of a second energy storage unit which is connected to the brake module via a redundant supply circuit.

[0038] The method enjoys the same advantages as the braking system of the first aspect. Preferred embodiments of the first aspect are at the same time preferred embodiments of the method and vice versa, so that in this respect reference is made to the above statements to avoid repetitions.

[0039] According to a preferred embodiment, the method further comprises one, more or all of the following steps:

[0040] f) monitoring the operating state of the first energy storage unit exclusively in the first switching state,

[0041] g) In the second switching state, the operating supply circuit is electrically disconnected from the brake module.

[0042] h) In the second switching state, the operating supply circuit is electrically disconnected from the brake actuator,

[0043] i) connects the brake actuator to the redundant supply circuit in the second switching state,

[0044] j) controlling the braking module by means of at least one control unit,

[0045] k) Supplying energy to the control unit via a first energy storage unit which is connected to the control unit via a dedicated supply line.

[0046] By monitoring the operating state of the first energy storage unit exclusively in the first switching state, fault location can be achieved. Therefore, the control module is set up to distinguish between the fault of the operating state of the first energy storage unit and the fault of the operating state of the operating supply circuit. This is advantageous in terms of repair and maintenance work. By electrically disconnecting the operating supply circuit from the brake module or the brake actuator in the event of a fault in the operating state, they can be protected from damage caused by, for example, overvoltage. In the second switching state, the brake actuator is connected to the redundant supply circuit, so that even in the event of a fault in the operating state of the operating supply circuit or the first energy storage unit, the operation of the brake actuator is ensured, thereby ensuring the provision of the service brake function. By supplying energy to the control unit from the first energy storage unit, an additional dedicated energy storage unit for supplying the control unit can be eliminated. Therefore, the monitoring of the operating supply circuit and the first energy storage unit is simultaneously used to monitor the sufficient energy supply to the electric control unit. By connecting the control unit with the dedicated supply line of the operating supply circuit, a fault in the supply line for supplying the brake module does not simultaneously cause a fault in the energy supply to the control unit. In addition, the control unit can be flexibly arranged on the brake system via a dedicated supply line, and thus effectively and fully utilize the existing construction space, thereby further improving the safety of the brake system. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Now, the following describes the embodiments of the present invention with the aid of the accompanying drawings. These drawings do not necessarily show the embodiments to scale, but the drawings used for explanation can be implemented in a schematic and / or slightly distorted form. In terms of supplementing the teachings that can be directly understood from the drawings, reference can be made to the relevant prior art. It should be noted here that various modifications and changes can be made to the form and details of the embodiments without departing from the overall idea of ​​the present invention. The features of the present invention disclosed in the specification, drawings and claims can be important for the improvement of the present invention not only individually but also in any combination. In addition, all combinations consisting of at least two features in the features disclosed in the specification, drawings and / or claims fall within the scope of the present invention. The overall idea of ​​the present invention is not limited to the precise form or details of the preferred embodiments shown and described below, or to the subject matter that will be restricted compared to the subject matter claimed in the claims. In the case of describing the size range, the numerical values ​​within the boundaries should also be disclosed and used arbitrarily and claimed as boundary values. For simplicity, the same figure marks are used for consistent or similar parts or parts with consistent or similar functions.

[0048] Further advantages, features and details of the invention are apparent from the following description of preferred embodiments and with reference to the accompanying drawings, in which:

[0049] Figure 1 : schematically shows a vehicle according to a first embodiment;

[0050] Figure 2 : schematically shows a vehicle according to a second embodiment;

[0051] Figure 3 : schematically shows a vehicle according to a third embodiment;

[0052] Figure 4 : schematically shows a vehicle according to a fourth embodiment;

[0053] Figure 5 : schematically shows a vehicle according to a fifth embodiment;

[0054] Figure 6 : schematically shows a method for operating a brake system according to a first embodiment;

[0055] Figure 7 : schematically shows a method for operating a brake system according to a second embodiment in a first switching state;

[0056] Figure 8 : Schematically shows the switching state according to Figure 6 a method. DETAILED DESCRIPTION

[0057] according to Figure 1 The braking system 2 is part of the vehicle 1. The vehicle 1 further comprises two rear wheels 10.1, 10.2, which are mounted on the end sides of the rear axle 3 of the vehicle 1. The vehicle 1 further comprises two front wheels 20.1, 20.2, which are mounted on the end sides of the front axle 4.

[0058] according to Figure 1 The brake system 2 includes an electromechanical first rear axle brake module 11.1 and an electromechanical second rear axle brake module 11.2. The first rear axle brake module 11.1 is associated with the first rear wheel 10.1. The first rear axle brake module 11.1 includes a rear axle brake actuator 12.1 and a first actuator control unit 14.1 for controlling the first rear axle brake actuator 12.1. Preferably, the first actuator control unit 14.1 is connected to the rear axle wheel speed sensor 13.1. In addition, the first rear axle brake actuator 12.1 also includes a parking mechanism, which is configured to provide a parking brake function by locking the rear axle brake actuator 12.1. The second rear axle brake module 11.2 is associated with the second rear wheel 10.2. Corresponding to the first rear axle brake module 11.1, the second rear axle brake module 11.2 also includes a rear axle brake actuator 12.2, preferably also includes a rear axle wheel speed sensor 13.2 and a second actuator control unit 14.2. The rear axle brake actuators 12 . 1 , 12 . 2 can also preferably have a parking brake actuator (not shown).

[0059] Furthermore, the brake system 2 comprises a first energy storage unit 15, which is configured to supply energy to the first rear axle brake module 11.1 and the second rear axle brake module 11.2. An electrical operation supply circuit 100 is connected to the first energy storage unit 15. In the present case, the electrical operation supply circuit 100 is a rear axle operation supply circuit for supplying the brake modules 11.1 and 11.2 of the rear axle 3.

[0060] The energy storage unit 15 is a first energy storage unit, and the brake system 2 further comprises a second energy storage unit 25.1 and an electrically redundant supply circuit 200.1 connected to the second energy storage unit 25.1.

[0061] In addition, the brake system 2 includes a control module connected to the operating supply circuit 100 and the redundant supply circuit 200.1. In the embodiment shown, the control module is two control modules 16.1 and 16.2, which can also be formed by a combined control module. The first control module 16.1 is matched with the first rear axle brake module 11.1 and is particularly structurally integrated into the first rear axle brake module. The second control module 16.2 is matched with the second rear axle brake module 11.2 and is particularly structurally integrated into the second rear axle brake module. The control modules 16.1 and 16.2 are respectively set up to switch from a first switching state to a second switching state. In the first switching state, the first energy storage unit 15 supplies energy to the rear axle brake modules 11.1 and 11.2 via the operating supply circuit 100. In the second switching state, the second energy storage unit 25.1 supplies energy to the rear axle brake modules 11.1 and 11.2 via the redundant supply circuit 200.1. The control modules 16 . 1 , 16 . 2 are also designed to monitor the operating state of the operating supply circuit 100 and the first energy storage unit 15 in the first switching state and to switch to the second switching state in the event of a fault in the operating state.

[0062] The operating supply circuit 100 comprises a first supply line 110 for connecting the first energy storage unit 15 to the first rear axle brake module 11.1. Furthermore, the operating supply circuit 100 comprises a second supply line 120 for connecting the first energy storage unit 15 to the second rear axle brake module 11.2.

[0063] Preferably, the operation supply circuit 100 also includes a dedicated supply line 130 for supplying energy to a control unit 19 of the brake system 2 via the first energy storage unit 15. The control unit 19 is a first control unit, which is associated with the first rear axle brake module 11.1 and the second rear axle brake module 11.2. The control unit 19 is configured to control the first rear axle brake module 11.1 and the second rear axle brake module 11.2.

[0064] The redundant supply circuit 200.1 comprises a first redundant supply line 210 for connecting the first energy storage unit 15 with the first rear axle brake module 11.1. In addition, the redundant supply circuit 200.1 comprises a second redundant supply line 220 for connecting the first energy storage unit 15 with the second rear axle brake module 11.2.

[0065] Preferably, the brake system 2 further comprises a first front axle brake module 21.1 and a second front axle brake module 21.2.

[0066] The first front axle brake module 21.2 includes a front axle brake actuator 22.1 and a first actuator control unit 24.1 for controlling the first front axle brake actuator 22.1. The first front axle brake module 21.1 is associated with the first front wheel 20.1. Preferably, the first actuator control unit 24.1 is connected to the front axle wheel speed sensor 23.1. The front axle brake actuator 22.1 also includes a parking mechanism, which is set up to provide a parking brake function by locking the front axle brake actuator 22.1. The second front axle brake module 21.2 is associated with the second front wheel 20.2. Corresponding to the first front axle brake module 21.1, the second front axle brake module 21.2 also includes a front axle brake actuator 22.2, preferably also a front axle wheel speed sensor 23.2 and a second actuator control unit 24.2. The front axle brake actuators 22.1 and 22.2 may also preferably have a parking brake actuator (not shown).

[0067] In addition, the brake system 2 also includes a third energy storage unit 25.2, which is configured to supply energy to the first front axle brake module 21.1 and the second front axle brake module 21.2. An electrical second operation supply circuit 200.2 is connected to the second energy storage unit 25.2. The electrical second operation supply circuit 200.2 is currently a front axle operation supply circuit for supplying the brake modules 21.2, 21.2 of the front axle 4.

[0068] The first control unit 19 is connected to the rear axle brake modules 11.1, 11.2 via a first control circuit 300. The first control circuit 300 has a first control line 301 for connecting to the first rear axle brake module 11.1. In addition, the first control circuit 300 also has a second control line 302 for connecting to the second rear axle brake module 11.2. In addition, the first control circuit 300 also includes a control connection line 304, via which the first control unit 19 for the rear axle is connected to the second control unit 29.

[0069] The second control unit 29 is associated with the first front axle brake module 21.1 and the second front axle brake module 21.2. The second control unit 29 is configured to control the first front axle brake module 21.1 and the second front axle brake module 21.2. The second control unit 29 is connected to the front axle brake modules 21.1 and 21.2 via a second control loop 400.

[0070] The control unit 19 for the rear axle 3 is connected to a parking brake control unit 30. The parking brake control unit 30 is designed to provide control signals for parking the brake actuators 12.1, 12.2, in order to provide a parking brake function.

[0071] In addition, the brake system 2 includes an operating element 40, which is connected to the first control unit 19 and the second control unit 29 in terms of control technology. The operating element 40 is configured to indicate a braking request. The control units 19, 29 are configured to provide corresponding braking signals to the brake modules 11.1, 11.2, 21.1, 21.2 via the control circuits 300, 400 based on the braking request.

[0072] Preferably, the second control unit 29 is configured to provide a redundant control connection to the rear axle brake modules 11.1, 11.2 via the third control loop 500. By means of this control connection via control lines 501, 502, the second control unit 29 is configured to control the rear axle brake modules 11.1, 11.2. Thus, in the event of a failure of the first energy storage unit 15, the control of the brake modules 11.1, 11.2 can still be maintained by the second control unit 29.

[0073] Preferably, the first control unit 19 is configured to provide a redundant control connection to the front axle brake modules 21.1, 21.2 via the fourth control loop 600. By means of this control connection via the control lines 601, 602, the first control unit 19 is configured to control the front axle brake modules 21.1, 21.2. Thus, in the event of a failure of the second energy storage unit 25.1, the control of the brake modules 21.1, 21.2 can still continue to be maintained by the first control unit 19.

[0074] Figure 2 A second embodiment of a brake system 2 according to the invention is shown. Figure 2 The difference between the brake system 2 is only in the construction and arrangement of the first control module 16.1 and the second control module 16.2. In order to avoid repetition, reference is made to Figure 1 Detailed description of the brake system 2 of the exemplary embodiment shown in FIG. Identical or similar components are provided with the same reference numerals in the present case.

[0075] The first control module 16.1 is designed as a dedicated control module for the first rear axle brake module 11.1 and is arranged spatially spaced apart from the first rear axle brake module 11.1. The second control module 16.2 is also designed as a dedicated control module for the second rear axle brake module 11.2 and is arranged spatially spaced apart from the second rear axle brake module 11.2. The two control modules 16.1 and 16.2 are arranged in the vicinity of the respective rear axle brake modules 11.1 and 11.2, respectively.

[0076] It will be appreciated that only one control module may also be provided for the first rear axle brake module 11 . 1 and the second rear axle brake module 11 . 2 .

[0077] In the embodiment shown, the first control module 16 . 1 comprises a first switching unit 17 . 1 which is configured to switch between a first switching state and a second switching state. Furthermore, the first control module 16 . 1 comprises a first monitoring unit 18 . 1 which is configured to monitor the operating supply circuit 15 .

[0078] The second control module 16 . 2 comprises a second switch unit 17 . 2 and a second monitoring unit 18 . 2 in a corresponding manner.

[0079] Figure 3 A third embodiment of a brake system 2 according to the invention is shown. Figure 3 The brake system 2 is the same as the front Figure 2 The brake systems shown in FIG. 1 differ in the manner in which the redundant supply circuit 200 is constructed. Figure 2 Detailed description of the brake system 2 of the exemplary embodiment shown in FIG. Identical or similar components are provided with the same reference numerals in the present case.

[0080] The redundant supply circuit 200 is a front axle operation supply circuit 200 associated with the front axle 4 and the brake modules 21.1 and 21.2 of the front axle. The redundant supply circuit 200 or the front axle operation supply circuit 200 is configured to provide a redundant energy supply for the rear axle brake modules 11.1 and 11.2 through a connection with the second energy storage unit 25, and to provide a connection between the front axle brake modules 21.1 and 21.2 and the second energy storage unit 25. Therefore, the redundant supply circuit 200 or the front axle operation supply circuit 200 can be eliminated. Figure 2 The third energy source provided in the embodiment.

[0081] exist Figure 3 The brake system 2 shown in FIG. Figure 2 The brake system shown in FIG. 1 also differs in that it has a CAN bus connection 50 for connecting the first control unit 19 and the second control unit 29 to a central control unit (not shown) of the vehicle 1 in terms of control technology. The CAN bus connection 50 also establishes a connection between the steering angle sensor 60 and the control units 19, 29, for example.

[0082] Figure 4 A fourth embodiment of a brake system 2 according to the invention is shown. Figure 4 The braking system 2 is the same as the aforementioned Figure 1 The brake systems shown in FIG. 1 differ in the design of the rear axle brake modules 11.1, 11.2. Figure 1Detailed description of the brake system 2 of the exemplary embodiment shown in FIG. Identical or similar components are provided with the same reference numerals.

[0083] The first rear axle brake module 11.1 has a first rear axle brake actuator 12.1, which is connected to the first energy storage unit 15 via the operating supply circuit 100 and in particular the first supply line 110 of the operating supply circuit. The second rear axle brake module 11.2 has a second rear axle brake actuator 12.2, which is connected to the first energy storage unit 15 via the second supply line 120 of the first operating supply circuit 100.

[0084] Furthermore, the first rear axle brake module 11 . 1 also comprises a third rear axle brake actuator 12 . 3 which is configured to provide a service brake function in the second switching state. The third rear axle brake actuator 12 . 3 is connected to the second energy storage unit 25 via a first redundant supply line 210 of the redundant supply circuit 200 .

[0085] Furthermore, the second rear axle brake module 11 . 2 also comprises a fourth rear axle brake actuator 12 . 4 which is configured to provide a service brake function in the second switching state. The fourth rear axle brake actuator 12 . 4 is connected to the second energy storage unit 25 via a second redundant supply line 220 of the redundant supply circuit 200 .

[0086] Alternatively, the third and fourth rear-axle brake actuators 12 . 3 , 12 . 4 can also each be equipped with their own redundant actuator control, which is supplied with energy from the second energy storage unit 25 by the redundant supply circuit 200 .

[0087] exist Figure 6 for controlling an electromechanical brake system 2 (see Figures 1 to 5 ) method 1000 comprises in a first step 1100: by means of a braking module 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) Provides service brake function F B and parking brake function F F The method 1000 comprises, in a second step 1200, using a first energy storage unit 15 (see Figures 1 to 5 ) to brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) supplies energy, the first energy storage unit being connected to the brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) connection. In addition, the method comprises in a third step 1300: by controlling modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) In the first switching state of the control module, the operating state of the electrical operating supply circuit 100 and the first energy storage unit 15 is monitored.

[0088] In a fourth step 1400, by means of control modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) recognizes that a fault has occurred in the operating state, the control module switches from the first switching state to the second switching state. In a fifth step 1500, in the second switching state, the second energy storage unit 25 connected to the brake modules 11.1, 11.2, 21.1, 21.2 via the redundant supply circuit 200 supplies the brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) supply energy.

[0089] In a sixth step 1600, in the case of no fault in the operating state, the control modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) holds the first energy storage unit 15 (see Figures 1 to 5 ) via the operating supply circuit 100 (see Figures 1 to 5 ) connection with the brake module.

[0090] When there is no fault in the running state, the third step 1300 is repeated until a fault in the running state is detected.

[0091] Figure 7 A method for controlling an electromechanical brake system 2 (see Figures 1 to 5 ) is a second embodiment of the method 2000. The method 2000 comprises in a first step 2100: by means of the brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) Provides service brake function F B and parking brake function F F The method 2000 comprises in a second step 2200: by means of an electrical operating supply circuit 100 and a braking module 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) connected to the first energy storage unit 15 (see Figures 1 to 5 ) supplies energy to the brake modules 11.1, 11.2, 21.1, 21.2. In addition, the method comprises in a third step 2300: controlling the brake modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) In the first switching state, the operating state of the electrical operating supply circuit 100 and the energy storage unit 15 is exclusively monitored.

[0092] In a fourth step 2400, by means of control modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) When a fault occurs in the operating state, the control module switches from the first switching state to the second switching state. Control modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) switching to the second switching state includes: braking modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 )'s brake actuator 12 is connected to the redundant supply circuit 200.

[0093] In a fifth step 2500, in the second switching state, the redundant supply circuit 200 is connected to the brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) supplies energy to the braking module.

[0094] In the case that there is no fault in the running state, the third step 2300 is repeated until a fault in the running state is detected.

[0095] Figure 8 A method for controlling an electromechanical brake system 2 (see Figures 1 to 5 ) is a third embodiment of a method 3000. The method 3000 comprises in a first step 3100: by means of a braking module 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) Provides service brake function F B and parking brake function F F The method 3000 comprises, in a second step 3200, supplying energy to the braking modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ), brake actuator 12 and for brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) is supplied with energy by the control unit 19. The first energy storage unit 15 is connected to the brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 ) connection. In addition, the method comprises in a third step 2300: by controlling modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) in control modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) monitors the operating states of the electrical operating supply circuit 100, the first energy storage unit 15 and the control unit 19 in the first switching state. The control unit 19 is configured to control at least one brake actuator 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5), as referenced Figures 1 to 5 described.

[0096] In a fourth step 3400, by means of control modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) When a fault occurs in the operating state, the control module switches from the first switching state to the second switching state. Control modules 16.1, 16.2, 26.1, 26.2 (see Figures 1 to 5 ) switching to the second switching state includes: braking modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 )'s brake actuator 12 is connected to the redundant supply circuit 200.

[0097] In a fifth step 3500, in this second switching state, the brake modules 11.1, 11.2, 21.1, 21.2 are supplied with energy by the second energy storage unit 25 connected to the brake modules 11.1, 11.2, 21.1, 21.2 via the redundant supply circuit 200 (see Figures 1 to 5 ) supply energy.

[0098] In the case that there is no fault in the running state, the third step 3300 is repeated until a fault in the running state is detected.

[0099] Furthermore, the method 300 comprises in a sixth step 3600: in the second switching state, the operating supply circuit 100 is connected to the brake modules 11.1, 11.2, 21.1, 21.2 (see Figures 1 to 5 Preferably, the method 300 further comprises, in the seventh step 3700 , electrically disconnecting the brake actuator 12 from the operation supply circuit 100 .

[0100] List of reference numerals (part of the description)

[0101] 1 Vehicle

[0102] 2Brake system

[0103] 3 Rear axle

[0104] 4Front axle

[0105] 10.1, 10.2 wheels

[0106] 11.1, 11.2 Electromechanical (rear axle) brake module

[0107] 12.1, 12.2, 12.3, 12.4 (rear axle) brake actuator

[0108] 13.1, 13.2 (rear axle) wheel speed sensor

[0109] 14.1, 14.2 Actuator control unit

[0110] 15First Energy Storage Unit

[0111] 16.1, 16.2 (rear axle) control module

[0112] 17.1, 17.2 (rear axle) conversion unit

[0113] 18 (Rear Axle) Monitoring Unit

[0114] 19 (Rear axle) control unit

[0115] 100 (rear axle) running supply circuit

[0116] 110 First supply line of the first operating supply circuit

[0117] 120 Second supply line of the first operation supply circuit

[0118] 130 Dedicated supply line for the first operation supply circuit

[0119] 20.1, 20.2 wheels

[0120] 21.1, 21.2 Electromechanical (rear axle) brake module

[0121] 22.1, 22.2 (front axle) brake actuator

[0122] 23.1, 23.2 (front axle) wheel speed sensor

[0123] 24.1, 24.2 (front axle) actuator control unit

[0124] 25.25.1 Second Energy Storage Unit

[0125] 25.2 The Third Energy Storage Unit

[0126] 26.1, 26.2 (front axle) control module

[0127] 27.1, 27.2 (front axle) conversion unit

[0128] 28 (front axle) monitoring unit

[0129] 29 (front axle) control unit

[0130] 30 Parking brake control unit

[0131] 40 operating elements

[0132] 50CAN bus connection

[0133] 60° Steering Angle Sensor

[0134] 200, 200.1 Redundant supply circuit

[0135] 200.2 Front axle running supply circuit

[0136] 210 First redundant supply line

[0137] 220 Second redundant supply line

[0138] 230 Second operating supply circuit / first supply line of redundant supply circuit

[0139] 240 Second supply line of the second operating supply circuit / redundant supply circuit

[0140] 250 Dedicated supply line for second operation supply circuit / redundant supply circuit

[0141] 300 First control loop

[0142] 301 first control circuit of the first control loop

[0143] 302 Second control circuit of the first control loop

[0144] 304 control connection line

[0145] 400 Second control loop

[0146] 401 The first control circuit of the second control loop

[0147] 402 Second control circuit of the second control loop

[0148] 500 Third control loop

[0149] 501 The first control circuit of the third control loop

[0150] 502 The second control circuit of the third control loop

[0151] 600 Fourth control loop

[0152] 601 The first control circuit of the fourth control loop

[0153] 602 The second control circuit of the fourth control loop

[0154] 1000, 2000, 3000 First step

[0155] 1100, 2100, 3100 provide service brake function and parking brake function

[0156] 1200, 2200, 2300 supply energy through running supply circuit

[0157] 1300, 2300, 3300 (dedicated) monitoring operation supply circuit

[0158] 1400, 2400, 3400 Switch from the first operating state to the second operating state

[0159] 1500, 2500, 3500 energy supply via redundant supply circuit

[0160] 3600 Disconnect the brake module

[0161] 3700 Disconnect the brake actuator electrically

[0162] F F Parking brake function

[0163] F B Service brake function

Claims

1. A braking system (2) for a vehicle (1), in particular a commercial vehicle, comprising: - an electromechanical brake module (11.1, 11.2) which is configured to provide a service brake function (F B ) and parking brake function (F F ); - a first energy storage unit (15) which is designed to supply energy to the brake modules (11.1, 11.2); as well as - an electrical operating supply circuit (100) connected to the first energy storage unit (15), the operating supply circuit being designed to selectively connect the first energy storage unit (15) to the braking modules (11.1, 11.2), It is characterized by having - a second energy storage unit (25, 25.1) and an electrical redundant supply circuit (200, 200.1) connected to the second energy storage unit, - A control module (16.1, 16.2) connected to the operating supply circuit (100) and the redundant supply circuit (200, 200.1), the control module being configured to switch from a first switching state to a second switching state, in which the first energy storage unit (15) supplies energy to the braking modules (11.1, 11.2) via the operating supply circuit (100), and in which the second energy storage unit (25, 25.1) supplies energy to the braking modules (11.1, 11.2) via the redundant supply circuit (200, 200.1), wherein the control module (16.1, 16.2) is further configured to monitor the operating state of the operating supply circuit (100) and the first energy storage unit (15) in the first switching state, and to switch to the second switching state in the event of a fault in the operating state.

2. The brake system (2) according to claim 1, in, The control module (16.1, 16.2) is designed in a first switching state to monitor exclusively the operating state of the first energy storage unit (15) and of the operating supply circuit (100).

3. The brake system (2) according to claim 1 or 2, in, The control module (16.1, 16.2) is also configured to electrically disconnect the operating supply circuit (100) from the brake module (11.1, 11.2) in the event of a fault in the operating state.

4. A braking system (2) according to any one of the preceding claims, in, The control module (16.1, 16.2) is constructed as a dedicated control module (16.1, 16.2) relative to the brake module (11.1, 16.2) and is arranged spatially spaced apart from the brake module (11.1, 11.2), in particular, the control module (16.1, 16.2) is arranged in a vicinity of the brake module (11.1, 11.2).

5. The brake system (2) according to any one of claims 1 to 5, in, The control module (16.1, 16.2) is structurally and / or control-technically integrated into the brake module (11.1, 11.2).

6. Braking system (2) according to any one of the preceding claims, in, The control module (16.1, 16.2) has a switching unit (17.1, 17.2) which is designed to switch between the first switching state and the second switching state, and the control module has a monitoring unit (18.1, 18.2) which is designed to monitor the operating supply circuit (100).

7. The brake system (2) according to claim 6, in, The brake module (11.1) is a first brake module (11.1), and the brake system (2) also has a second brake module (11.2), and The conversion unit (17.1) is a first conversion unit (17.1) arranged in a vicinity of the first brake module (11.1), and the control module (16.1, 16.2) also has a second conversion unit (17.2) arranged in a vicinity of the second brake module (11.2).

8. Braking system (2) according to any one of the preceding claims, in, The brake modules (11.1, 11.2), in particular the first brake module (11.1, 11.2) and the second brake module (11.2), have a function for providing the service brake function (F B ), the brake actuator having a parking mechanism for locking the brake actuator (12, 12.1, 12.2), and The control module (16.1, 16.2) is designed to connect the brake actuator (12, 12.1, 12.2) to the redundant supply circuit (200, 200.1) and preferably disconnect it from the operating supply circuit (100) in a second switching state.

9. The brake system (2) according to any one of claims 1 to 7, in, The braking module (11.1, 11.2) comprises: - a first brake actuator (12.1, 12.2), which is configured to provide the service brake function in a first switching state (F B ); - a redundant brake actuator (12.3, 12.4) which is designed to provide the service brake function in a second switching state (F B ), wherein the redundant brake actuator (12.3, 12.4) is associated with the redundant supply circuit (200, 200.1) and is preferably disconnected from the operating supply circuit (100); and - at least one parking mechanism (12.1, 12.2, 12.3, 12.4) for locking the first brake actuator (12.1, 12.2) and / or the redundant brake actuator (12.3, 12.4).

10. The brake system (2) according to any one of claims 1 to 7, in, The operating supply circuit (100) is a rear axle operating supply circuit (100), and the brake modules (11.1, 11.2) are rear axle brake modules (11.1, 11.2), and the brake system (2) also has a front axle (4) equipped with at least one front axle brake module (21.1, 21.1), and The redundant supply circuit (200) is a front axle operation supply circuit (200) associated with the front axle (4), and the front axle operation supply circuit is configured to connect the second energy storage unit (25) to the front axle brake module (21, 21.1, 11.2).

11. The braking system (2) according to any one of the preceding claims, further comprising: - an electrical control unit (19) for controlling the brake modules (11.1, 11.2, 21.1, 21.2), in particular the first brake module (11.1) and the second brake module (11.2), Therein, the operating supply circuit (100) is configured to supply energy to the control unit (19) in a first switching state.

12. The brake system (2) according to claim 11, in, The operating supply circuit (100) has a dedicated supply line (130), which is configured to connect the first energy storage unit (15) to the first control unit (19), and wherein the control modules (16.1, 16.2) are also configured to monitor the operating state of the dedicated supply line (130) in a first switching state.

13. The braking system (2) according to any one of claims 10 to 12, further comprising: - a second electrical control unit (29) for controlling the front axle brake modules (21.1, 21.2), the second electrical control unit also being configured to control the rear axle brake modules (11.1, 11.2) in a second switching state.

14. Braking system (2) according to any one of the preceding claims, in, The rear axle operating supply circuit (100) also forms a second redundant supply circuit (100) for at least one front axle brake module (21.1, 21.2) of the front axle (4).

15. The brake system (2) according to claim 14, in, The control module (16.1, 16.2) is a first control module (16.1, 16.2), and the brake system (2) further comprises a second control module (26.1, 26.2) for monitoring the front axle operation supply circuit (200, 200.2), the second control module being configured to switch from a first switching state to a second switching state, in which the second energy storage unit (25, 25.1) supplies energy to the front axle brake module (21.1, 21.2) via the front axle operation supply circuit (200, 200.2). 1.2) supplies energy, in the second switching state, the first energy storage unit (15) supplies energy to the front axle brake module (21.1, 21.2) via the rear axle operating supply circuit (100), wherein the second control module (226.1, 26.2) is also configured to monitor the operating state of the front axle operating supply circuit (200, 200.2) and the second energy storage unit (25, 25.1) in the first switching state, and switch to the second switching state in the event of a fault in the operating state.

16. Vehicle (1), in particular a commercial vehicle, comprising: - rear axle (3) with two rear wheels (10.1, 10.2), - a front axle (4) with two front wheels (20.1, 20.2), and - a braking system (2) according to any one of the preceding claims, for providing a service braking function (F) on the rear axle (3) and / or the front axle (4) B ) and parking brake function (F F ).

17. A method for controlling an electromechanical brake system (2) of a vehicle (1), in particular a commercial vehicle, the method comprising the following steps: a) Provide (1100) service brake function (F) via brake module (11.1, 11.2, 21) B ) and parking brake function (F F ), b) supplying (1200) energy to the brake modules (11.1, 11.2) via a first energy storage unit (15) connected to the brake modules (11.1, 11.2) via an electrical operating supply circuit (100); c) monitoring (1300) the operating state of the electrical operating supply circuit (100) and of the first energy storage unit (15) in a first switching state, d) switching ( 1400 ) from the first switching state to the second switching state in the event of a fault in the operating state, e) supplying (1500) energy to the brake modules (11.1, 11.2) in a second switching state via a second energy storage unit (25, 25.1) connected to the brake modules (11.1, 11.2) via a redundant supply circuit (200).

18. The method according to claim 17, in, The method further comprises one, more or all of the following steps: f) exclusively monitoring (1300) the operating state of the first energy storage unit (15) in a first switching state, g) electrically disconnecting (1700) the operating supply circuit (100) from the brake modules (11.1, 11.2) in a second switching state, h) in a second switching state, electrically disconnecting (1700) the operating supply circuit (100) from a brake actuator (12.1, 12.2) for providing a service brake function, i) connecting the brake actuator to the redundant supply circuit (200) in a second switching state, j) controlling the braking module (11.1, 11.2) by means of at least one control unit (19, 29), k) supplying (1200) energy to the control unit (19) via a first energy storage unit (15) connected to the control unit (19) via a dedicated supply line; 1) In a first switching state, an operating state of the control unit (19) and of the dedicated supply line is monitored (1300).

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