Brake system for vehicle, in particular commercial vehicle

Abstract

The invention relates to a brake system (1) for a vehicle (100), in particular for a commercial vehicle, having a plurality of electromechanical brakes (5) for braking the vehicle (100), the brake system being designed to actuate the electromechanical brakes (5), in this way, a pressing process for applying the parking brake function (BP), the service brake function (BB) and the emergency brake function (BN) is ensured by means of the system. According to the invention, the brake system (1) has a dedicated electrical energy storage subsystem (9) for the brake system (1), which energy storage subsystem is designed to be coupled to an on-board electrical system (200) of the vehicle (100), and which energy storage subsystem is designed to be coupled to the on-board electrical system (200) of the vehicle (100). A reserve charge (qR) for applying at least one final compaction process of an emergency braking function (BN) in the brake system (1) is stored.

Description

Field of the Invention

[0001] The present invention relates to a braking system for a vehicle, in particular a commercial vehicle, the braking system having a plurality of electromechanical brakes for braking the vehicle, the braking system being configured to control the electromechanical brakes such that a pressing process for performing a parking brake function, a service brake function, and an emergency brake function is carried out by the system. Background Art

[0002] A braking system configured as described above is generally known. In the case of an emergency operation of the braking facility, the tensioned spring within the spring accumulator of the brake cylinder is unloaded, such that the spring exerts pressure on the locking mechanism of the brake by its spatial extension and the brake is thereby tensioned and locked. Thus, a protection system is integrated within the vehicle by this emergency operation (hereinafter: emergency brake function).

[0003] However, the spring tensioned within the spring accumulator for the emergency brake function is under high pressure. This makes the assembly and maintenance of such a spring accumulator a danger to the personnel performing the assembly or maintenance. Appropriate and sometimes even costly protective measures must be taken.

[0004] With increasing electrification, the significance and application of electromechanical brakes in commercial vehicles are increasing. The advantage of electromechanical brakes is that these brakes are not pneumatically operated but are electrically operated, which has particular advantages in terms of installation technology compared to pneumatic systems.

[0005] The prerequisite for using electromechanical brakes is that sufficient charge energy is always reserved for the operation of the brakes. A paralysis of the power supply used therefor is a potential risk for the operation of these brakes. In addition to the amount of charge or energy that must be compulsorily reserved, the prerequisite is also that the power instantaneously requested can be provided by the energy storage device. A battery that appears to be "out of power" is usually not out of power, sometimes only the voltage has dropped to the extent that the battery can no longer output sufficient power. Summary of the Invention

[0006] The object of the present invention is to provide an improved safety architecture for a braking system of the type described at the beginning of this text, which safety architecture overcomes the above-mentioned disadvantages as much as possible. In particular, the object of the present invention is to describe a braking system that can maintain the most important braking functions, in particular at least the emergency brake function, independently of the state of the on-vehicle electrical network.

[0007] The present invention is proposed in a braking system of the type described at the beginning of this text, the braking system having a dedicated electrical energy storage subsystem for the braking system, which energy storage subsystem is configured to be connected to the vehicle's on-board electrical network and which energy storage subsystem is configured to store a reserve charge for at least one final pressing process for applying an emergency braking function in the braking system.

[0008] The present invention is based on the recognition that the necessary energy required to press and lock the brake for the purpose of implementing the emergency braking function can be stored in electrical form. For this purpose, it is proposed that a separate energy storage subsystem is integrated in the vehicle, so that there will be sufficient energy available for this emergency braking at the moment of emergency braking independently of the vehicle's main battery or on-board electrical network. Since this energy must be permanently available in the energy storage subsystem to ensure the emergency braking function, this energy is referred to as reserve charge both above and below.

[0009] Charge should be understood here as a synonym for energy, because the existing charge, i.e., the separation of positive and negative charge carriers, can be used for doing work. The term "reserve charge" can thus be understood as the amount of a predetermined energy that can be output by the energy storage at a predetermined power for pressing and locking the brake. Since, as already mentioned at the beginning of this text in paragraph 2 on page 2, the reserve charge amount alone does not yet ensure that this charge amount can be output even at sufficient power, the present invention understands the term "reserve charge" as the combination of the charge amount and the effective power. By integrating the energy storage subsystem into the braking system, one or more energy storages are provided, which can still provide the reserve charge when there are problems with the energy supply, such as a short-circuit fault situation, in the on-board electrical network, that is, in the main voltage supply of the commercial vehicle. Thereby, commercial vehicles in general and especially the braking system become more robust in dealing with electrical fault situations.

[0010] If an energy storage is mentioned above and below within the scope of the present invention, then the energy storage can respectively refer to an electrical energy storage.

[0011] The present invention is advantageously improved in such a way that the energy storage subsystem has one or more electrical energy storages, and the electrical energy storages respectively partially or completely have the reserve charge. The architecture with a single energy storage has resource advantages and can be well maintained. The architecture with multiple energy storages has advantages in terms of structural construction flexibility and can achieve that in the event of partial failure of one or some energy storages, the reserve charge can still be provided in the other energy storages that are still operating normally to minimize the risk.

[0012] In a preferred embodiment of the present invention, at least one electrical energy storage is assigned to the front axle and / or rear axle of the vehicle, and further preferably to each axle.

[0013] Alternatively or additionally, preferably at least one, several or all of the electromechanical brakes are assigned (additional) electrical energy storage devices and these are preferably integrated into the electromechanical brakes respectively.

[0014] Furthermore preferably, the energy storage device subsystem has at least one superior electrical energy storage device.

[0015] Thus, a preferred embodiment also includes an energy storage device subsystem having a plurality of energy storage devices, namely n energy storage devices each assigned to an axle and / or m energy storage devices each assigned to an electromechanical brake and / or p superior energy storage devices, where n, m and p are natural numbers respectively.

[0016] In a preferred embodiment of the present invention, the energy storage device subsystem is configured to, in addition to storing charge, also provide additional electrical energy for an emergency braking function and / or other additional consumers. Thereby, the main battery or the on-vehicle electrical network of the vehicle can be relieved and the dependence on one or several central energy storage devices is reduced. In a preferred embodiment, for example, a steering facility according to "Regelung Nr. 79 der Wirtschaftskommission der Vereinten Nationen für Europa (UNECE) - Einheitliche Bedingungen für die Genehmigung der Fahrzeuge hinsichtlich der Lenkanlage", veröffentlicht im Amtsblatt L318 / 1 am 14.12.2018 (Regulation No. 79 of the United Nations Economic Commission for Europe (UNECE) - Uniform Conditions for the Approval of Vehicles with regard to the Steering Equipment, published in the Official Gazette L318 / 1 on 14 December 2018) is provided as an additional consumer.

[0017] In a preferred embodiment of the present invention, the braking system has a brake control subsystem having a superior control module and at least one control unit for each axle of the vehicle, and the brake control subsystem is configured to send signals for actuating the electromechanical brakes to these electromechanical brakes. The control units are respectively functionally assigned to one or more axles and at the same time are topologically independent; thus they do not all have to be installed on one of the axles.

[0018] In a preferred embodiment of the present invention, the superior control module is configured to monitor the parking brake function of the braking system according to a specified function and generate an emergency operation signal in the event of a critical failure. In a variant, the control module can also be configured as a switch. As a superior functional unit, the control module is configured to control and / or monitor the parking brake function and / or the emergency braking function.

[0019] In a preferred embodiment of the present invention, at least one control unit is configured to monitor the braking system according to a specified function and preferably generate an emergency operation signal in the event of a critical failure. In addition, under normal conditions, the control unit is also configured to control the braking system, in particular the service brake function of the braking system, at the associated axle in a (fault-free) normal state.

[0020] The superior control module and / or the control unit are preferably configured to monitor, in particular independently of other systems, the connection state of the components of the braking system and / or various operating characteristic variables, such as capacity and / or voltage. A critical failure should refer here to an operating state in which, for example, due to a low charge in the energy storage or due to damaged lines, the final clamping of the electromechanical brake can no longer be ensured if not taken into account.

[0021] In a preferred embodiment of the present invention, the superior control module is integrated into the parking brake controller for the parking brake function or is configured to be driven externally.

[0022] In a preferred embodiment of the present invention, the braking system has a locking mechanism that has a locked position and a released position and is configured to hold the electromechanical brake in the locked position after reaching the desired tension or when the critical amount of energy in the electrical energy storage subsystem is below a certain level. In the locked position, the braking mechanism within the electromechanical brake is locked, so that the brake can no longer be released. In contrast, in the released position, the brake can be actuated and the service brake function can be used.

[0023] In a preferred embodiment of the present invention, the electromechanical brakes each have an electrical control module and a motor control unit.

[0024] In a preferred embodiment of the present invention, each respective electrical control module is configured to receive an emergency operation signal, and the motor control unit is configured to convert the emergency operation signal (converted by the respective electrical control module) into a mechanical movement within the electromechanical brake by means of reserve charge, and the mechanical movement generates a tension acting on the respective wheel.

[0025] The electric control module of the electro-mechanical brake is preferably configured to control the braking force of the brake in communication with a superior control module and / or a control unit.

[0026] The motor control unit controls the motors of the electro-mechanical brake, supplies three-phase current to these motors, and controls the rotational speed, etc. The electric control unit of the electro-mechanical brake communicates with system components outside the electro-mechanical brake. The motor control unit and the electric control unit of the electro-mechanical brake can be assembled together structurally.

[0027] In a preferred embodiment of the present invention, the electric control module of the electro-mechanical brake is configured to implement an emergency braking function when a critical system state is detected. The critical system state herein shall refer to a state where there is an impending or occurring failure of the energy storage device assigned to the electro-mechanical brake or the energy storage device assigned to the respective axle, a failure of the electric control module and / or the motor control unit of the electro-mechanical brake, or a wheel failure. The electro-mechanical brakes communicate with each other or via a superior control module or control unit of the brake control subsystem.

[0028] The foregoing invention is described above in the first aspect of the invention. The present invention in another aspect relates to a vehicle, in particular a commercial vehicle, which has an on-board electrical network and a braking system connected to the on-board electrical network.

[0029] In such a vehicle, the present invention solves the task mentioned at the beginning of this text by constructing the braking system according to any one of the foregoing preferred embodiments. The vehicle particularly has a brake control unit, which has one or more controllers, and the controllers are configured as separate controllers or integrated in terms of hardware or software. The brake control unit particularly has a service brake controller and a parking brake controller.

[0030] In a preferred embodiment, the vehicle has a superior vehicle control system, which is connected to the controller or control module in a signal-conducting manner and is configured to send control instructions or integrate the previously mentioned controller or control module into the superior vehicle control system. In addition, in a preferred embodiment, an instruction for applying the parking brake function, the service brake function, and / or the emergency braking function can be generated by the driver or a (semi-)automatic vehicle control system also known as a "virtual driver".

[0031] The present invention in the second aspect has the same advantages as the braking system according to the first aspect.

[0032] The preferred embodiments of the first aspect are also the preferred embodiments of the second aspect, and vice versa. Therefore, for the sake of avoiding repetition, reference can be made to the above description.

[0033] In a further aspect, the present invention relates to a method for controlling a brake system of a vehicle, in particular a commercial vehicle.

[0034] The invention achieves the object stated in the introduction in this method, in particular using a brake system according to one of the above-described preferred specific embodiments.

[0035] The method according to the invention comprises in particular the following steps:

[0036] - controlling a plurality of electromechanical brakes in such a way that an application process for applying a parking brake function, a service brake function and / or an emergency brake function is carried out, and

[0037] - A reserve charge is stored in a dedicated energy storage subsystem of the brake system for at least one final application process of the emergency brake function in the brake system.

[0038] The method utilizes the same advantages as the brake system of the first aspect and the vehicle of the second aspect. Preferred embodiments of the first two aspects are also preferred embodiments of the method and vice versa, so that in this respect reference is again made to the above explanations to avoid repetitions.

[0039] In a preferred embodiment of the method according to the invention, the application process for applying the emergency brake function is carried out using a reserve charge.

[0040] In another preferred embodiment of the method according to the present invention, the method according to the present invention further comprises one, more or all of the following steps:

[0041] - In addition to the charge reserve, it also provides additional electrical energy for the service brake function and / or for other additional electrical consumers;

[0042] - sending signals for actuating the electromechanical brakes to the electromechanical brakes, in particular by means of a brake control subsystem;

[0043] - in particular by means of a higher-order control module, monitoring the parking brake function of the brake system for proper functioning and generating an emergency actuation signal in the event of a critical fault;

[0044] - monitoring the brake system in particular by means of at least one control unit for proper functioning and generating an emergency actuation signal in the event of a critical fault;

[0045] - Externally control the upper control module;

[0046] - When the desired tension is reached or when the amount of energy in the electrical energy storage subsystem is below a critical level, the electromechanical brake is held in the locked position, in particular by means of a locking mechanism;

[0047] - Receiving an emergency operation signal via respective electrical control modules and, in particular, converting the emergency operation signal into mechanical movement within the electromechanical brake by means of a motor control unit using stored charge;

[0048] - Implementing an emergency braking function via the electrical control module of the electromechanical brake. Description of the Drawings

[0049] The present invention will be explained in more detail below with reference to the accompanying drawings by means of preferred embodiments: In the figures:

[0050] Figure 1 A schematic view of a braking system according to a first preferred embodiment is shown;

[0051] Figure 2 A schematic view of a braking system according to a second preferred embodiment is shown;

[0052] Figure 3 A schematic view of a vehicle is shown, the vehicle having a braking system according to the second preferred embodiment.

[0053] As will be explained in more detail below, the braking system shown in Figure 2 shows an improvement of the embodiment shown in Figure 1 . This braking system is both a representation of the embodiment according to Figure 1 and an independent embodiment. Therefore, elements having the same structure and / or the same function are respectively provided with the same reference numerals in the drawings. This similarly also applies to the embodiment shown in Figure 3 , which is an improvement of the embodiment shown in Figure 2 . Detailed Description of the Invention

[0054] Figure 1 A braking system 1 for a vehicle 100, in particular for a commercial vehicle, is shown. The braking system has a plurality of electromechanical brakes 5 for braking the vehicle 100. The braking system 1 also has a dedicated electrical energy storage subsystem 9. In the embodiment shown in Figure 1 , the energy storage subsystem 9 has an electrical energy storage 9a for each of the two axles 11 of the vehicle 100. Furthermore, in the embodiment, the braking system 1 also has a braking control subsystem 13, which has a superior control module 13a and a control unit 13b for each axle 11 of the vehicle 100. The superior control module 13a is integrated into the parking brake function BP in the parking brake controller 15. In the embodiment, the electromechanical brake 5 respectively has an electric control module 13c, an electric energy storage 9b, a motor control unit 19, an electric motor 21, a locking mechanism 17 and a brake caliper 23. In addition, the axle 11 also respectively has two wheels 27 in the embodiment. The brake system 1 further has a service brake operating element 29 for the service brake function B B such as a brake switch or a brake pedal.

[0055] The superior control module 13a has a communication connection to the control unit 13b and the electric control module 13c. In addition, the brake control subsystem 13 has communication connections between the control units 13b, between the control unit 13b and the electric control module 13c, between the service brake controller 29 for the service brake function B B and the control unit 13b, and between the parking brake controller 15 for the parking brake function B P and the control unit 13b.

[0056] The energy storage subsystem 9 has a line for transferring energy or charge between the electric energy storage 9a and the electric energy storage 9b of the electromechanical brake 5. In addition, the electric energy storage 9a has lines for transferring energy or charge to the control unit 13b and the superior control module 13a. In addition, as can also be seen in Figure 1 the energy storage subsystem 9 has lines for conducting energy or charge, which are led from outside the brake system 1 and connected to the electric energy storage 9a. These lines can optionally also be assembled into a wiring harness (not shown in this embodiment).

[0057] During operation of the brake system 1, the electromechanical brakes 5 are respectively configured to apply a braking force F B to one of the wheels 27.

[0058] In the case of a critical fault detected by the superior control module 13a, the brake system 1 is configured to generate an emergency actuation signal S N which is sent to the control unit 13b and the electric control module 13c of the electromechanical brake 5. Immediately afterwards, the stored charge q of the energy storage 9b of the electromechanical brake 5 R is used for the final pressing process to apply the emergency brake function B N .

[0059] Similarly, in the case of a critical fault, an emergency actuation signal S is generated by the electric control module 13b NAnd send an emergency control signal to the upper-level control module 13a and the electrical control module 13c of the electromechanical brake 5. Immediately afterwards, the reserve charge q of the energy accumulator 9b of the electromechanical brake 5 R is used for the final pressing process to apply the emergency braking function B N .

[0060] When a critical system state is detected by the electrical control module 13c within the electromechanical brake 5, the emergency braking function B is implemented N , in this critical system state, an impending or occurring failure of the energy accumulator 9b assigned to the electromechanical brake 5 or the energy accumulator 9a assigned to the respective axle 11, a failure of the electrical control module 13c and / or the motor control unit 19 of the electromechanical brake 5, or a wheel failure is imminent. The electromechanical brakes 5 communicate with each other or via the upper-level control module 13a or the control unit 13b of the brake control subsystem 13

[0061] In Figure 2 the illustrated embodiment shows a braking system 1 having an energy accumulator subsystem 9, the energy accumulator subsystem having an upper-level energy accumulator 9c, the upper-level energy accumulator having lines for conducting energy or charge to the electrical control module 13c of the electromechanical brake 5 and lines for conducting energy or charge to the upper-level control module 13a. In Figure 1 the energy accumulator 9b within the electromechanical brake 5 shown in Figure 2 is absent in the illustrated embodiment. In addition, the energy accumulator subsystem 9 here has a connection for conducting energy or charge between the energy accumulator 9a and the electrical control module 13c of the electromechanical brake 5 in each axle 11. In addition, the energy accumulator subsystem 9 has additional lines for conducting energy or charge to the upper-level energy accumulator 9c, which are led from the outside to the braking system 1

[0062] Figure 3 An embodiment is shown having a vehicle 100, the vehicle having a vehicle electrical system 200 and a braking system 1 connected to the vehicle electrical system 200, the braking system 1 acting according to Figure 2 , wherein the vehicle electrical system 200 is connected to the energy accumulators 9a and 9c via lines for conducting energy or charge. In Figure 3 a vehicle control system 201 is also shown, the vehicle control system being configured to transmit control instructions 300 to the brake control subsystem 13, in particular to the control module 13a, the control unit 13b and / or the control module 13c. As an alternative to the vehicle control system 201, a (semi-)automatic vehicle control system 203 or the driver 205 is capable of sending control instructions

[0063] It should be understood, however, that the vehicle 100 can include any one inFigure 1 and Figure 2 the braking system 2 shown in. Furthermore, the schematic illustrations are not limited to these examples. Instead, the illustrations should only disclose examples consisting of the feasible combinations given by the components of the braking system, in particular of the energy accumulator, according to the following claims.

[0064] List of reference signs (part of the description)

[0065] 1 Braking system

[0066] 5 Electro-mechanical brake

[0067] 9 Energy accumulator subsystem

[0068] 9a Electrical energy accumulator, axle

[0069] 9b Electrical energy accumulator, brake

[0070] 9c Higher-level electrical energy accumulator

[0071] 11 (Vehicle) axle

[0072] 11a (Vehicle) front axle

[0073] 11b (Vehicle) rear axle

[0074] 13 Brake control subsystem

[0075] 13a Higher-level control module of the brake control subsystem

[0076] 13b Control unit of the brake control subsystem

[0077] 13c Electrical control module, brake

[0078] 15 Parking brake controller

[0079] 17 Locking mechanism

[0080] 19 Motor control unit

[0081] 21 Electric motor

[0082] 23 Brake caliper

[0083] 27 Wheel

[0084] 29 Service brake operating element

[0085] 100 Vehicle

[0086] 200 On-board electrical system

[0087] 201 Vehicle control system

[0088] 203 (Semi-) automatic vehicle control system

[0089] 205 Driver

[0090] 300 Control Instruction

[0091] B P Parking Brake Function

[0092] B B Service Brake Function

[0093] B N Emergency Brake Function

[0094] F B Braking Force

[0095] M S Locking Position of the Locking Mechanism

[0096] M F Release Position of the Locking Mechanism

[0097] q R Reserve Charge

Claims

1. A braking system (1) for a vehicle (100), in particular for a commercial vehicle, the braking system having a plurality of electromechanical brakes (5) for braking the vehicle (100), the braking system being configured to control the electromechanical brakes (5) such that the system performs a pressing process for applying a parking brake function (B P ), a service brake function (B B ), and an emergency brake function (B N ), characterized in that, The brake system (1) has a dedicated electrical energy storage subsystem (9) for the brake system (1), which is configured to be coupled to the vehicle electrical system (200) of the vehicle (100), and which is configured to store reserve charge (q N for at least one final pressing process for applying the emergency braking function (B R ).

2. The braking system according to claim 1, characterized in that, The energy storage subsystem (9) has one or more electrical energy storage devices (9a, 9b, 9c), and the electrical energy storage devices each partially or completely have stored charge (q R ).

3. The braking system (1) according to claim 2, characterized in that, At least one electrical energy storage device (9a) is assigned to the front axle (11a) and / or the rear axle (11b) of the vehicle (100), and more preferably to each axle (11).

4. The braking system according to claim 2 or 3, characterized in that, At least one, several or all of the electromechanical brakes (5) are assigned an electrical energy storage device (9b), and preferably, the electrical energy storage devices are integrated into the electromechanical brakes (5) respectively.

5. The braking system according to any one of claims 2 to 4, characterized in that, The energy storage subsystem (9) has at least one superior electrical energy storage device (9c).

6. The braking system (1) according to any one of the preceding claims, characterized in that, The accumulator subsystem (9) is designed to provide additional electrical energy for the service brake function and / or other additional consumers, in addition to the reserve charge (q R ).

7. The braking system (1) according to any one of claims 1 to 3, characterized in that, The braking system (1) has a brake control subsystem (13), which has a superior control module (13a) and at least one control unit (13b) for each axle (11) of the vehicle (100), and the brake control subsystem (13) is configured to send a signal (S) for actuating the electromechanical brakes (5) to these electromechanical brakes.

8. The braking system (1) according to claim 7, characterized in that, The control module (13a) of the superior is set up to monitor the parking brake function (B) of the braking system (1) according to the specified function P and to generate an emergency operation signal (S N ) in the event of a critical fault.

9. The braking system (1) according to claim 7 or 8, characterized in that, The at least one control unit (13b) is set up to monitor the braking system according to the specified functions and to generate an emergency actuation signal (S N ) in the event of a critical fault.

10. The braking system (1) according to any one of claims 7 to 9, characterized in that, The control module (13a) of the superior is integrated into the parking brake controller (15) for the parking brake function (B P ), or is configured for external actuation.

11. The braking system (1) according to any one of the preceding claims, characterized in that, The braking system (1) has a locking mechanism (17), which has a locking position (M S ) and a release position (M F ) and is configured to hold the electromechanical brake (5) in the locking position after a desired tensioning force has been reached or when less than a critical amount of energy in the electrical energy storage subsystem (9).

12. The braking system (1) according to any one of the preceding claims, characterized in that, The electromechanical brakes (5) each have an electrical control module (13c) and a motor control unit (19).

13. The braking system (1) according to claim 12, characterized in that, Respective electrical control modules (13c) are configured to receive the emergency actuation signal (S N ), and the motor control unit (19) is configured to convert the emergency actuation signal (S R ) into mechanical movement within the electromechanical brake (5) by means of the stored charge (q N ), and to generate a tension force acting on the respective wheels by means of the mechanical movement.

14. The braking system (1) according to claim 12 or 13, characterized in that, The electric control module (13c) of the electromechanical brake (5) is set up to carry out the emergency braking function (B N ) when a critical system state is detected.

15. A vehicle (100), in particular a commercial vehicle, having an on-board electrical system (200) and a braking system (1) connected to the on-board electrical system (200), characterized in that, The braking system (1) is constructed according to any one of the preceding claims.

16. A method for controlling a braking system (1) of a vehicle (100), in particular a commercial vehicle, more particularly a braking system (1) according to any one of claims 1 to 14, the method comprising: - Control a plurality of electromechanical brakes (5) such that a pressing process for implementing a parking brake function (B P ), a service brake function (B B ), and / or an emergency brake function (B N ) is carried out, and - Store a reserve charge (q R ) for at least one final pressing process for applying an emergency braking function (B) in the dedicated energy storage subsystem (9) of the braking system (1). N R ​​ 17. The method according to claim 15, wherein In the case of using the reserve charge (q R ), a pressing process for applying the emergency braking function (B N ) is carried out.

18. The method according to claim 16 or 17, The method includes one, several or all of the following steps: - In addition to the reserve charge (q R ), additional electrical energy is provided for the service brake function (B B ) and / or for other additional consumers; - Sending a signal (S) for actuating the electromechanical brakes (5) to these electromechanical brakes; - Monitor the parking brake function (B) of the brake system (1) in accordance with the specified function and generate an emergency actuation signal (S P ) in the event of a critical fault; N ​ - Monitor the braking system according to the specified functions and generate an emergency control signal (S N ) in the event of a critical fault; - Externally controlling the superior control module (13a); - Keeping the electromechanical brakes (5) in the blocked position after reaching the desired tension force or when the amount of energy in the electrical energy storage subsystem (9) is below a critical amount; - receiving the emergency actuation signal (S N ) and converting the emergency actuation signal (S R ) into a mechanical movement within the electromechanical brake (5) by means of the stored charge (q N ); - Implement the emergency braking function (B N )

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