Method for controlling a braking system, braking system, computer program product and computer-readable storage medium

Abstract

The invention relates to a method for controlling a braking system of a vehicle, comprising: - Recording a vehicle speed, - Recording an activity intensity, - Recording a temporal change in activity intensity, - Activating a brake, whereby the brake is activated when - the detected vehicle speed is zero for a predetermined period of time, so that a debouncing standstill is detected, - from the moment the debounced standstill is detected, the intensity of the actuation increases within a time window, and - an activity intensity threshold is exceeded within the time window. Furthermore, the invention relates to a braking system, a computer program product and a computer-readable storage medium.

Description

[0001] The invention relates to a method for controlling a braking system, a braking system, a computer program product and a computer-readable storage medium.

[0002] Many vehicle users don't use the "AutoHold" function. The "AutoHold" function is an automatic braking function that maintains brake pressure when the vehicle is decelerated to a stop. This can prevent the vehicle from rolling unintentionally, for example, on an incline. However, if the vehicle is desired to roll without explicitly requesting acceleration (e.g., via the accelerator pedal), the AutoHold function is perceived as rather annoying.

[0003] Generic methods for controlling a braking system are known, for example, from DE 101 51 846 B4, DE 10 2017 119 562 A1, DE 10 2011 077 964 A1, DE 10 2022 128 077 A1, DE 199 47 025 A1 or DE 10 2017 112 834 A1.

[0004] DE 10 2017 119 562 A1 discloses an engine stop-and-start debouncing timer for motor vehicles, DE 10 2011 077 964 A1 discloses a method for controlling a gear position in an automatic or automated motor vehicle transmission, DE 10 2022 128 077 A1 discloses a method and a device for operating a vehicle when approaching a possible right-of-way point of a traffic junction and DE 199 47 025 A1 discloses a method for controlling a drive system of a vehicle.

[0005] It is therefore an object of the present invention to at least partially overcome at least one of the disadvantages described above. In particular, the object of the invention is to provide a method for controlling a braking system, a braking system, a computer program product, and a computer-readable storage medium that enable activation of an automatic braking function in a simple and intuitive manner, thus increasing driver comfort and safety against unwanted rolling.

[0006] The above object is achieved by a method, by a braking system, by a computer program product, and by a computer-readable storage medium. Further features and details of the invention emerge from the subclaims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the braking system according to the invention and / or in connection with the computer program product according to the invention and / or in connection with the computer-readable storage medium according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is always made to each other.

[0007] According to the invention, a method for controlling a braking system of a vehicle is provided, comprising: - detecting a vehicle speed, in particular by means of a speed sensor, - detecting an actuation intensity exerted by a driver on a brake input interface, in particular by an actuation sensor, - Detection of a temporal change in the intensity of activity, in particular by a control - Activating a brake, in particular via an output interface of the control system, wherein the brake is activated, in particular via an output interface of the control system, when - the detected vehicle speed is zero for a predetermined period of time, so that a debouncing standstill is detected, - once the debounced standstill is detected, the intensity of the actuation increases, and - an activity intensity threshold is exceeded within a time window.

[0008] The method can be implemented as a computer-implemented method.

[0009] The method steps can be performed at least partially simultaneously and / or sequentially, whereby the sequence of the method steps is not limited by the specified order, so that individual steps can be performed in different orders. Furthermore, individual or all steps can be performed repeatedly.

[0010] The device features described in connection with the method can also relate to a braking system according to the invention.

[0011] The vehicle can be designed as a motor vehicle. A motor vehicle can, in principle, be any type of motor-driven vehicle. The vehicle can be designed as a land vehicle, a water vehicle, or an aircraft vehicle. In particular, the vehicle can be a car or a truck. The vehicle can also have an internal combustion engine and / or an electric motor. It can also be provided that the vehicle is exclusively electrically powered.

[0012] The braking system may comprise different components depending on the vehicle type. A braking system may include a device capable of limiting the vehicle's speed. In particular, the limitation may be achieved by converting the vehicle's kinetic energy into thermal energy and / or electrical energy.

[0013] Detecting a vehicle speed can mean measuring the vehicle speed. At least one speed sensor can be provided for the measurement, which in particular transmits its measurement data to a controller. Depending on the vehicle, the speed sensor can be designed differently, in particular as a rotational speed sensor, speedometer, satellite-based navigation system (e.g., GPS), or an air flow sensor (e.g., a pitot system).

[0014] The actuation intensity can be detected by an actuation sensor. The actuation intensity can be detected, for example, via the position of a brake actuator. The actuation sensor can be designed as a brake pressure sensor. Alternatives and additions are explained in the context of the subclaims.

[0015] Detecting a temporal change in exercise intensity can be understood as calculating the derivative with respect to time. If the exercise is detected as pressure, the detection can involve detecting the pressure gradient. This can be performed, in particular, at least by a controller or a computing unit. Accordingly, the temporal change can be positive, where the exercise intensity increases over time, neutral, where there is no change in the exercise intensity, or negative, where the exercise intensity decreases over time.

[0016] A brake can be activated by a controller, particularly via a control interface. Activation can include at least maintaining the current brake pressure, even if the application intensity has decreased or is zero. Accordingly, the activated brake can also be referred to as a parking brake. The brake can be a separate parking brake or a regular brake (also called a service brake), which the driver can use to reduce speed while driving. In particular, the brake can be designed as an electromechanical brake.

[0017] The brake is only activated when conditions are met. The detected vehicle speed must be almost zero within a predetermined period of time so that a debounced standstill is determined. In other words, the vehicle must have stopped for a predetermined period of time. This period can be between 10 ms and 1000 ms, preferably 250 to 500 ms. Furthermore, the application intensity must increase from the time the debounced standstill is determined. In other words, the driver must apply the brake more firmly after coming to a standstill. Furthermore, an application intensity threshold must be exceeded within a time window. This means that the brake must be applied so hard that the application is above a minimum value. The time window can begin after it has been determined that the application intensity has increased since the debounced standstill was determined.The verification can be performed, in particular, by storing the activation intensities in a ring buffer and comparing them with the minimum value. It can be stipulated that all three conditions must be within a total trigger time window for activation to occur.

[0018] Overall, the method according to the invention achieves the advantage of enabling activation of an automatic braking function in a simple and intuitive manner, thus increasing comfort for the driver and safety against unwanted rolling away. By recording vehicle speed, actuation intensity and their change over time, the existence of at least three conditions that must be met for the brake to be activated can be checked. Determining the debouncing standstill ensures that activation does not occur, for example, during maneuvering, where rolling of the vehicle is generally desired. The fact that activation only occurs when the actuation intensity increases and, in addition, exceeds a threshold value is intuitively grasped by the driver, so that activation can take place without great effort and without accidentally triggering it.

[0019] Within the scope of the invention, it may be advantageous for the actuation intensity threshold to be dependent on the actuation intensity at the time the debouncing standstill is detected. In other words, the actuation intensity threshold can be higher or lower, the higher or lower the actuation intensity is when the standstill is reached. Therefore, if the driver applies the brake particularly hard when stopping, a correspondingly higher actuation intensity threshold must be exceeded than if the brake is only applied lightly. The driver perceives such behavior as particularly intuitive, thus increasing the comfort of using a corresponding method.

[0020] Within the scope of the invention, it is conceivable that the actuation intensity threshold is dependent on the actuation intensity recorded to reach the debounced standstill, wherein in particular the actuation intensity threshold is proportional to the actuation intensity recorded to reach the debounced standstill. In other words, it can be provided that the actuation intensity threshold is higher or lower, the higher or lower the actuation intensity is to reach the standstill. If the driver applies the brake particularly hard to reach the standstill, in particular from a point in time at which braking is initiated, a correspondingly higher actuation intensity threshold must be exceeded than if the brake is only applied lightly. The driver perceives such behavior as particularly intuitive, so that the comfort when using a corresponding method is increased.

[0021] Within the scope of the invention, it can be provided that the actuation intensity is implemented as pressure on a brake pedal. Alternatively or additionally, at least two brake pedals or a brake lever can also be provided. The actuation intensity can be implemented as a force acting on the brake input interface. The driver's force can act directly on the brake. Alternatively or additionally, a brake booster or an electrical or optical transmission of the actuation intensity to an actuator can also be used, which then transmits a corresponding force to the brake.

[0022] It is also conceivable that the procedure is only activated when a vehicle's autohold function is deactivated. Since the functions partially overlap in their functionality, it is advantageous from the driver's perspective if the procedure can only be activated when a regular autohold function is deactivated.

[0023] It is also conceivable that when the brake is activated, a notification is given to the driver, with the notification being provided at least visually, acoustically, or haptically. The notification can be provided visually, for example, on a display. An acoustic notification can also be given via a loudspeaker. Furthermore, at least one steering wheel, a brake input interface, or another component with which the driver is regularly in contact can be briefly vibrated.

[0024] Within the scope of the invention, it is optionally possible for a detection of an acceleration request to be provided, with the brake being deactivated at least when an acceleration request, in particular one greater than an acceleration request threshold, is detected. It can be provided that deactivation only occurs when sufficient engine power is available to prevent the vehicle from rolling back. It can also be provided that the brake is not activated if an acceleration request is detected.

[0025] The above object is further achieved by a braking system according to the invention for braking the vehicle, which is configured to carry out a method according to one of the preceding claims. The braking system can further comprise a speed sensor for detecting a vehicle speed, an actuation sensor for detecting an actuation intensity applied by a driver to a brake input interface, a controller for detecting a temporal change in the actuation intensity, and an activatable brake designed to decelerate the vehicle. It can be provided that the controller is further configured to check for the presence of conditions for activating the brake.

[0026] This results in the same advantages with regard to a braking system according to the invention as have already been described with regard to a method according to the invention.

[0027] The above object can also be achieved by a vehicle having a braking system according to the invention. This results in the same advantages with respect to a vehicle according to the invention as have already been described with respect to a method according to the invention and / or a braking system according to the invention.

[0028] The above object is further achieved by a computer program product according to the invention, comprising instructions which, when the program is executed by a computer, cause the computer to carry out a method according to the invention.

[0029] This results in the same advantages with regard to a computer program product according to the invention as have already been described with regard to a method according to the invention and / or a vehicle according to the invention.

[0030] Computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out a method according to the invention.

[0031] This results in the same advantages with regard to a computer-readable storage medium according to the invention as have already been described with regard to a method according to the invention and / or a vehicle according to the invention and / or a computer program product according to the invention.

[0032] Further advantages, features, and details of the invention will become apparent from the following description, in which several embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. Fig. 1 two graphs showing the speed and intensity of exercise over time, where three conditions are met, Fig. 2 two graphs showing the speed and the intensity of the actuation over time, with a change in the intensity of the actuation still occurring during the debouncing of the standstill, Fig. 3 two graphs showing the speed and the exercise intensity over time, where the exercise intensity does not exceed the exercise intensity threshold, and Fig. 4 Two graphs showing the speed and the intensity of the exercise over time, with the standstill being left prematurely.

[0033] The Fig. Figure 1 shows the vehicle speed and an actuation intensity over time. A method according to the invention for controlling a braking system of a vehicle, comprising: - detecting a vehicle speed, in particular by means of a speed sensor, - detecting an actuation intensity exerted by a driver on a brake input interface, in particular by an actuation sensor, - Detection of a temporal change in the intensity of activity, in particular by a control - Activating a brake, in particular via an output interface of the control system, wherein the brake is activated, in particular via an output interface of the control system, when - the detected vehicle speed is almost zero for a predetermined period of time, so that a debouncing standstill is detected, - once the debounced standstill is detected, the intensity of the actuation increases, and - within a time window, an activity intensity threshold is exceeded.

[0034] In the Fig. In the situation shown in Figure 1, the three conditions are met. First, the debouncing standstill is determined. For this, the speed v (shown in the upper graph) must be determined from a standstill time t StSt within the predetermined period until t stby be almost zero, which is the case here. The time t stby , at which the debounced standstill was determined, is in the Fig. 1 marked with a one in a circle.

[0035] Then, it is checked whether the exercise intensity p increases within a time window (lower graph). The exercise intensity p is represented here as pressure, for example. This is the case from time t1 onwards. At this time, the exercise intensity p1, which is greater than p StSt , the intensity of the activity at the standstill time t StSt .

[0036] Finally, the third condition, whether an activity intensity threshold is exceeded within a time window, is checked. This is the case at the point in the lower graph marked with a three in a circle, which is before time t2, which corresponds to the end of the time window. As a result, according to the example in Fig. 1 all three conditions are met, so the brake is activated.

[0037] In the Fig. Figure 2 shows two graphs that represent the speed and the actuation intensity over time, with a change in the actuation intensity occurring during the debouncing from standstill. This leads to the brake (at least until the time t shown) being released. stby ) is not activated.

[0038] The Fig. Figure 3 shows two graphs depicting the speed and the actuation intensity over time, where the actuation intensity does not exceed the actuation intensity threshold. In other words, a debounced standstill was detected and the actuation intensity also increased (by Δp) since the debounced standstill was detected. However, the actuation intensity threshold Δp Akt not exceeded, so that one of three conditions for activating the brake is not met.

[0039] Another scenario is in the Fig. 4 shows two graphs representing the speed v and the actuation intensity p over time, where the standstill was left prematurely. This means that a debouncing standstill was reached at time t stbywas detected, but this vehicle state was left again and the journey was resumed before the other two conditions were met.

[0040] In the following figures, identical reference numerals are used for the same technical features, even for different embodiments. List of reference symbols t time t StSt Time of standstill of the vehicle t stby Time when the debouncing standstill of the vehicle was detected t1 Time at which the actuation intensity increases after the debouncing standstill of the vehicle has been detected and start of the time window in which the actuation intensity must exceed the actuation intensity threshold for the brake to be activated t2 End of the time window t reactTime window in which the activation conditions must be met in order for the brake to be activated p1 P StSt Intensity of operation at the time when the vehicle comes to a standstill Δp Activity intensity delta after which the activity intensity increases Δp akt a minimum activity intensity delta necessary for activation v Speed ​​of the vehicle

Claims

[1] Method for controlling a braking system of a vehicle, comprising: - Recording a vehicle speed, - Recording an activity intensity, - Recording a temporal change in activity intensity, - activating a brake, The brake is activated when - the detected vehicle speed is zero for a predetermined period of time, so that a debouncing standstill is detected, - once the debounced standstill is detected, the intensity of the actuation increases, and - an activity intensity threshold is exceeded within the time window, wherein the method steps can be carried out at least partially simultaneously and / or sequentially, wherein the order of the method steps is not limited by the specified order, so that individual steps can be carried out in different orders, wherein individual or all steps can be carried out repeatedly. [2] Method according to claim 1, characterized by that the actuation intensity threshold depends on the actuation intensity at the time of detecting the debouncing standstill. [3] Method according to claim 1 or 2, characterized by that the actuation intensity threshold depends on the actuation intensity which was recorded to reach the debounced standstill, wherein in particular the actuation intensity threshold is proportional to the actuation intensity which was recorded to reach the debounced standstill. [4] Method according to one of the preceding claims, characterized by that the actuation intensity is implemented as pressure on a brake pedal. [5] Method according to one of the preceding claims, characterized by that the procedure is only activated if an autohold function of the vehicle is deactivated. [6] Method according to one of the preceding claims, characterized by that when the brake is activated, a warning is given to the driver. [7] Method according to claim 6, characterized by that the indication is at least optical, acoustic or haptic. [8] Method according to one of the preceding claims, characterized by that a detection of an acceleration request is provided, wherein a deactivation of the brake occurs at least when an acceleration request is detected. [9] Method according to claim 8, characterized by that the acceleration request is greater than an acceleration request threshold. [10] Vehicle comprising at least one braking system for braking the vehicle, and a control unit which is arranged to carry out a method according to one of the preceding claims. [11] Computer program product comprising instructions which, when the program is executed by a control unit of a vehicle according to claim 10, cause the control unit of a vehicle to carry out a method according to one of claims 1 to 9. [12] A computer-readable storage medium comprising instructions which, when executed by a control unit of a vehicle according to claim 10, cause it to carry out a method according to any one of claims 1 to 9.

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