Axle brake module, brake system, motor vehicle, vehicle trailer

Abstract

The invention relates to an axle brake module (1) of a brake system (2) of a motor vehicle (3) or vehicle trailer (4), with two, in particular exactly two, actuable wheel brake devices (8,9) for decelerating the motor vehicle (3) or vehicle trailer (4), wherein each of the wheel brake devices (8,9) can be assigned to a different wheel (7) of the same axle (5,6) of the motor vehicle (3) or vehicle trailer (4), and with one, in particular exactly one, controllable brake force generator (10), wherein the brake force generator (10) is configured to pump hydraulic fluid into at least one hydraulic brake circuit (11,12) in order to generate a brake pressure at the respective wheel brake device (8,9).According to the invention, the axle brake module (1) has a common hydraulic brake circuit (11) or two hydraulic brake circuits (11, 12), each assigned to one of the wheel brake devices, each as a hydraulically closed brake circuit such that it is only assigned to the axle brake module (1).

Description

[0001] The invention relates to an axle brake module of a braking system of a motor vehicle or vehicle trailer, with two, in particular exactly two, actuable wheel brake devices for decelerating the motor vehicle or vehicle trailer, wherein each of the wheel brake devices can be assigned to a different wheel of the same axle of the motor vehicle or vehicle trailer, and with one, in particular exactly one, controllable brake force generator, wherein the brake force generator is configured to pump hydraulic fluid into at least one hydraulic brake circuit in order to generate a brake pressure at the respective wheel brake device.

[0002] Furthermore, the invention relates to a braking system with such an axle brake module, as well as a motor vehicle and a vehicle trailer, each with such a braking system. State of the art

[0003] Axle brake modules of the type mentioned above are known from the prior art. For example, German patent application DE 10 2010 044 501 A1 discloses a hydraulic brake system for a motor vehicle with at least four wheels, wherein each wheel has its own brake, and wherein two of the brakes, separately for the front and rear axles, are assigned a common electromechanical brake booster, which is connected to a hydraulic control unit designed to supply the two respective brakes with hydraulic brake fluid provided by the brake booster for selective brake force distribution independently of each other.

[0004] German patent application DE 101 18 263 A1 discloses an electronic control system for a vehicle braking system, comprising a driver request module for detecting a driver braking request and at least two brake circuit modules for controlling the wheel brakes. Each brake circuit module is assigned at least one electrically controllable brake actuator, and each brake actuator is assigned an electronic unit for performing actuator-specific control and / or sensor-specific evaluation functions. In particular, the actuators for controlling the wheel brakes are grouped together as axle modules. Each axle module comprises two brake actuators. Disclosure of the invention

[0005] The axle brake module according to the invention, with the features of claim 1, is characterized in that the axle brake module has a common hydraulic brake circuit or two hydraulic brake circuits, each assigned to one of the wheel brake devices, each as a hydraulically closed brake circuit such that it is assigned only to the axle brake module. Due to the design of the axle brake module according to the invention, a separate, independent brake circuit is assigned to the corresponding axle of the motor vehicle. The axle brake module does not require an external hydraulic connection. If several axle brake modules are provided, in particular one for each axle of the motor vehicle, these are connected to each other electrically for control purposes only, but not hydraulically. This has the advantage that the brake system can be built modularly and pre-assembled independently of the assembly of the motor vehicle.In particular, the usual filling of a vehicle-wide hydraulic brake circuit, which otherwise can only be carried out after the brake system is fully assembled, is eliminated because the axle brake modules are hydraulically closed systems and are therefore advantageously pre-filled. In this respect, the axle brake module represents an advantageous alternative to the aforementioned, already known axle brake modules, which, although they have at least one brake force generator per axle, do not explicitly form part of their own hydraulically closed brake circuit and, in particular, rely on a common brake fluid reservoir.

[0006] According to a preferred embodiment of the invention, the brake force generator comprises a controllable first actuator and a first hydraulic piston coupled to the actuator and displaceable within a brake cylinder, wherein a first piston chamber sealed by the first hydraulic piston can be fluidically coupled to the first or a first of the hydraulic brake circuits. The use of such an actuator with a hydraulic piston provides an advantageous means of reliably supplying the corresponding hydraulic brake circuit of the axle brake module with hydraulic fluid. The brake cylinder is then designed as a simple master brake cylinder.

[0007] Preferably, the brake force generator has a second hydraulic piston that is spring-elastically coupled to the first hydraulic piston and is movable within the brake cylinder. A second piston chamber, sealed by the second hydraulic piston, is fluidically coupled to a second of the hydraulic brake circuits, and each of the hydraulic brake circuits is assigned to a different wheel brake device. The use of two such coupled hydraulic pistons offers the advantage that each wheel brake device has its own dedicated hydraulic piston. The brake cylinder is then designed as a tandem master cylinder.

[0008] According to a preferred embodiment of the invention, the axle brake module has one or more hydraulic pumps in the respective hydraulic brake circuit(s), with one or more of the hydraulic pumps being assigned to each wheel brake device. The use and assignment of the respective hydraulic pump(s) provides an advantageous way to supply hydraulic fluid to each wheel brake device as needed.

[0009] The axle brake module preferably includes at least one controllable second actuator, which is assigned to the respective hydraulic pump(s). The second actuator provides an advantageous means of precisely actuating the respective hydraulic pump(s) to control a fluid flow rate.

[0010] According to a preferred embodiment of the invention, the axle brake module has inlet valves and outlet valves in the respective hydraulic brake circuit(s), with each wheel brake device being assigned one of the inlet valves and one of the outlet valves. The inlet and outlet valves provide an advantageous means of precisely controlling the hydraulic pressure at the respective wheel brake device.

[0011] Preferably, the respective hydraulic pump(s) can be fluidically connected to the respective wheel brake system via the respective outlet valve on the inlet side. This inlet-side connection of the hydraulic pump provides an advantageous way to easily reduce the hydraulic pressure as needed by controlling the hydraulic pump.

[0012] According to a preferred embodiment of the invention, the axle brake module has one or more main switching valves in the respective hydraulic brake circuit(s), with each piston chamber being assigned its respective main switching valve(s), through which the hydraulic pump can be fluidically connected to the respective piston chamber on the inlet side. The main switching valve provides an advantageous means of reliably isolating or connecting the piston chamber to the brake circuit.

[0013] The braking system of a motor vehicle or trailer with the features of claim 9 is characterized by a first axle brake module designed according to the invention, which can be assigned to, in particular, a first axle of the motor vehicle or trailer. This results in the advantages already mentioned.

[0014] The braking system preferably comprises a second axle brake module, designed according to the invention, which can be assigned to a further, in particular a second, axle of the motor vehicle or trailer and is designed differently from the first axle brake module. The use of at least one second axle brake module offers the advantage that the braking system is modularly constructed from at least two hydraulic modules per axle.

[0015] According to a preferred embodiment of the invention, the braking system comprises two electromechanical wheel brake modules, each assigned to a different wheel of a further, in particular second or third, axle of the motor vehicle or trailer, and in particular identically designed, each with a controllable actuator for generating a braking force. The use of two wheel brake modules advantageously ensures that the braking system is constructed as a hybrid of at least one hydraulic (wet) and two electromechanical (dry) modules.

[0016] Preferably, the braking system includes at least one control unit specifically designed to control the axle brake module or all brake modules, in particular axle brake module(s) and / or wheel brake modules, in a coordinated manner. Such a control unit offers the advantage of robust control of the entire braking system. If several modules are present, as described above, the control unit ensures coordinated control of all modules.

[0017] The motor vehicle with the features of claim 13 is characterized by the braking system according to the invention. The advantages already mentioned also result from this. In particular, the motor vehicle is part of a vehicle combination with at least one trailer. The trailer, in particular, has at least one further axle brake module according to the invention.

[0018] The vehicle trailer with the features of claim 14 is characterized by the braking system according to the invention. The advantages already mentioned also result from this.

[0019] Further preferred features and combinations of features will become apparent from the foregoing and from the claims. The invention will now be explained in more detail with reference to the drawings. These drawings show... Fig. 1 a first embodiment of an advantageous axle brake module, Fig. 2 a second embodiment of the axle brake module, Fig. 3 a third embodiment of the axle brake module, Fig. 4 a fourth embodiment of the axle brake module, and Fig. 5 a motor vehicle or a vehicle trailer with at least one of the axle brake modules.

[0020] Fig. 1, Fig. 2, Fig. 3 to Fig. Figures 4 show different embodiments of advantageous axle brake modules 1. Fig. Figure 1 shows a first embodiment, Fig. 2 a second embodiment, Fig. 3 a third embodiment and Fig. 4 a fourth embodiment of the axle brake module 1.

[0021] Where possible and practical, similar components are identified by the same reference symbol and described together. Differences are noted where appropriate. The axle brake modules 1 are each part of a brake system 2 of a motor vehicle 3 or trailer 4.

[0022] In the Fig. Figure 5 shows an exemplary embodiment of the motor vehicle 3 or vehicle trailer 4, wherein the motor vehicle 3 or the vehicle trailer 4 has the brake system 2 as well as a first axle 5, for example, a front axle, and a second axle 6, for example, a rear axle. However, the embodiment with two axles 5, 6 is merely exemplary; in particular, only one axle (in the case of a vehicle trailer) or a plurality of axles, for example, an additional third axle, is provided (possible for motor vehicle 3 and vehicle trailer 4). Each axle 5, 6 has two wheels 7.

[0023] The axle brake module 1 has an actuated first wheel brake device 8 and an actuated second wheel brake device 9 for decelerating the motor vehicle 3 or vehicle trailer 4. The wheel brake devices 8 and 9 are designed as conventional hydraulically actuated friction brakes and have at least two friction partners, in particular a brake pad and a brake disc. One of the friction partners, for example the brake pad, is slidably mounted in the direction of the other friction partner, for example the brake disc.

[0024] Each of the wheel brake devices 8, 9 can be assigned to a different wheel 7 of the same axle 5, 6 of the motor vehicle 3 or vehicle trailer 4, or, as in the Fig. 5 indicated, assigned.

[0025] A special feature of the respective axle brake module 1 is that it only has the two wheel brake devices 8, 9, and the axle brake module 1 is otherwise hydraulically closed, i.e., it has no hydraulic connections to other wheel brake devices.

[0026] Each axle brake module 1 further comprises a controllable brake force generator 10, in this case exactly one. The brake force generator 10 is designed to pump hydraulic fluid into at least one hydraulic brake circuit in order to generate brake pressure at the respective wheel brake device 8, 9. No mechanical actuation, for example by means of a brake pedal operated by a driver, is provided in this case. Such an actuation is provided according to further embodiments not shown.

[0027] In the Fig. 1 and Fig. 2. The axle brake module 1 has a hydraulic brake circuit 11 that is jointly assigned to the two wheel brake devices 8, 9. The hydraulic brake circuit 11 is designed as a hydraulically closed brake circuit such that it is assigned only to the axle brake module 1.

[0028] In the Fig. 3 and Fig. 4. The axle brake module 1 has a first hydraulic brake circuit 11 assigned to the first wheel brake device 8 and a second hydraulic brake circuit 12 assigned to the second wheel brake device 9. The respective hydraulic brake circuits 11 and 12 are each designed as hydraulically closed brake circuits such that each is assigned only to the axle brake module 1.

[0029] The brake force generator 10 indicates in the Fig. 1, Fig. 2, Fig. 3 to Fig. 4 each comprise a controllable first actuator 13 and a first hydraulic piston 14 coupled to the actuator 13. The actuator 13 is designed as an electric machine and is coupled to the hydraulic piston 14, for example, via a gear arrangement not shown in detail.

[0030] The actuator 13 is associated with a rotor position sensor 26 for the rotor position of a rotor shaft of the electric machine. The hydraulic piston 14 is displaceably arranged in a brake cylinder 15 and is spring-loaded on one side in the brake cylinder 15.

[0031] A first piston chamber 16, enclosed by the first hydraulic piston 14 within the brake cylinder 15, can be fluidically coupled to, or is coupled to, the first hydraulic brake circuit 11. In the figures, the corresponding coupling is indicated by a connection S1.

[0032] In the Fig. 3 and Fig. 4. The brake force generator 10 additionally has a second hydraulic piston 17 which is spring-elastically coupled to the first hydraulic piston 14. The second hydraulic piston 17 is also displaceably arranged in the brake cylinder 15 and is spring-elastically pre-tensioned on both sides in the brake cylinder 15.

[0033] A second piston chamber 18, enclosed by the second hydraulic piston 17, can be fluidically coupled to, or is coupled to, the second hydraulic brake circuit 12. In the figures, the corresponding coupling is indicated by a connection S2.

[0034] The respective axle brake module 1 further comprises a reservoir 19 for hydraulic fluid. The reservoir 19 has at least a first chamber 20, as well as, in the Fig. 3 and Fig. 4, an additional second chamber 21, wherein the second chamber 21 is fluidically separated from the first chamber 20, at least in part, for example by a separating web.

[0035] The reservoir 19 is fluidically connected to the respective piston chamber 16, 18 via at least one hydraulic line 22, 23. A check valve 24, 25 is arranged in each of the respective hydraulic lines 22, 23.

[0036] Specifically, the first piston chamber 16 is / are connected by a first hydraulic line 22 with a first check valve 24 to the first chamber 20, and, in the Fig. 3 and Fig. 4, the second piston chamber 18 can be connected / connected to the second chamber 21 via a second hydraulic line 23 with a second check valve 25.

[0037] Furthermore, the axle brake module 1 has a first hydraulic pump 27 in the first hydraulic brake circuit 11, as well as, in the Fig. 2, Fig. 3 to Fig. 4, an additional second hydraulic pump 28 in the first hydraulic brake circuit 11 ( Fig. 2) or in the second hydraulic brake circuit 12 ( Fig. 3 and Fig. 4) on.

[0038] In the Fig. The first hydraulic pump 27 is jointly assigned to the wheel brake devices 8, 9, in the Fig. 2, Fig. 3 to Fig. 4 is assigned to the first wheel brake device 8 the first hydraulic pump 27 and to the second wheel brake device 9 the second hydraulic pump 28.

[0039] The axle brake module 1 has at least one controllable second actuator 29, which is connected to the first hydraulic pump 27 ( Fig. 1) or the first and second hydraulic pumps 27, 28 together ( Fig. 2, Fig. 3 to Fig. 4) is assigned. The actuator 29 is designed as an electric machine and is coupled to the hydraulic pump(s) 27, 28, for example via a gear arrangement not shown in detail. In particular, a respective impeller of the respective hydraulic pump 27, 28 is non-rotatably connected to a rotor shaft of the machine.

[0040] Furthermore, the axle brake module 1 has two inlet valves 30, 31 and two outlet valves 32, 33. Each of the inlet valves 30, 31 is associated with a check valve 34, 35, which is hydraulically connected in parallel. In each of the hydraulic brake circuits 11, 12, at least one of the inlet valves 30, 31 and one of the outlet valves 32, 33 is arranged.

[0041] Each of the wheel brake devices 8, 9 is assigned exactly one of the inlet valves 30, 31 and one of the outlet valves 32, 33. The first wheel brake device 8 is assigned a first inlet valve 30 with a first check valve 34 and a first outlet valve 32, and the second wheel brake device 9 is assigned a second inlet valve 31 with a second check valve 35 and a second outlet valve 33.

[0042] The first inlet valve 30 with the first check valve 34 and the first outlet valve 32 are each arranged in the first hydraulic brake circuit 11. The second inlet valve 31 with the second check valve 35 and the second outlet valve 33 are accordingly also located in the first hydraulic brake circuit 11 ( Fig. 1 and Fig. 2) or arranged in the second hydraulic brake circuit 12 ( Fig. 3 and Fig. 4).

[0043] The hydraulic pumps 27, 28 each serve as return pumps to pump excess hydraulic fluid, for example for modulating a hydraulic brake pressure, especially after the end of a braking process, back towards the respective piston chamber 16, 18 and finally into the respective chamber 20, 21 of the reservoir 19.

[0044] For this purpose, the respective hydraulic pump 27, 28 can be connected or is connected on the input side via the respective outlet valve 32, 33 to the respective wheel brake device 8, 9 in terms of flow technology.

[0045] Between the inlet side of the respective hydraulic pump 27, 28 and the respective outlet valve 32, 33, a cylinder 36, 37 with a spring-loaded piston 38, 39 that can be moved therein is also arranged to form an additional receiving chamber for hydraulic fluid if required. Thus, a first cylinder 36 with a first piston 38 is located on the inlet side of the first hydraulic pump 27, as well as, in the Fig. 2, Fig. 3 to Fig. 4, a second cylinder 37 with a second piston 39 arranged on the input side of the second hydraulic pump 28.

[0046] In the Fig. 2. Between each cylinder 36, 37 and the inlet side of each hydraulic pump 27, 28, a further check valve 40, 41 is arranged. Specifically, a further first check valve 40 is arranged between the first cylinder 36 and the first hydraulic pump 27, and a further second check valve 41 is arranged between the second cylinder 37 and the second hydraulic pump 28.

[0047] Each hydraulic pump 27, 28 is also equipped with a further check valve 42, 43 on its outlet side. Specifically, a third check valve 42 is located on the outlet side of the first hydraulic pump 27, and a fourth check valve 43 is located on the outlet side of the second hydraulic pump 28.

[0048] Furthermore, in the first hydraulic brake circuit 11 in the Fig. 2. A pressure sensor 44 is arranged upstream of the respective hydraulic pumps 27, 28 and the check valves 42, 43. In the Fig. 2 The axle brake module 1 also has a first and a second main switching valve 45, 46 as well as a first and a second changeover valve 47, 48 in the hydraulic brake circuit 11. The main switching valves 45, 46 and the changeover valves 47, 48 are assigned to the piston chamber 16.

[0049] The first hydraulic pump 27 is fluidically connected to the piston chamber 16 on its inlet side via the first main switching valve 45, which is arranged between the hydraulic pump 27 and the further first check valve 40. The second hydraulic pump 28 is fluidically connected to the piston chamber 16 on its inlet side via the second main switching valve 46, which is arranged between the hydraulic pump 28 and the further second check valve 41.

[0050] The first hydraulic pump 27 and the first inlet valve 30 are fluidically connected to the piston chamber 16 via the first switching valve 46 on the outlet side. The second hydraulic pump 28 and the second inlet valve 31 are fluidically connected to the piston chamber 16 via the second switching valve 48 on the outlet side.

[0051] In the Fig. 4 corresponds to the structure of the first hydraulic brake circuit 11 of that of the Fig. 3. The design of the second hydraulic brake circuit 12, however, has some special features. The arrangement of the second hydraulic pump 28 is modified such that both the second inlet valve 31 with the second check valve 35 and the second outlet valve 33 are assigned to its output side. The second hydraulic pump 28 can therefore be selectively connected to the second piston chamber 18 via either of the aforementioned valves.

[0052] A check valve 49 is arranged between the second piston chamber 18 and the second piston 37 and the second exhaust valve 33, and a pressure sensor 44 is arranged between the check valve 49 and the second piston chamber 18, analogous to the Fig. 2.

[0053] In summary, the following are achieved through the Fig. 1 Axle brake module 1 shown is a single-channel anti-lock braking system (ABS) through which in the Fig. 2 Axle brake module 1 shown provides additional stability control (ESP) through which in the Fig. 3 Axle brake module 1 shown is a two-channel anti-lock braking system (ABS), and through the in the Fig. 4 Axle brake module 1 shown implements a hybrid ABS and ESP functionality with an advantageously reduced number of components.

[0054] Finally, in the Fig. Figure 5, as indicated at the beginning, schematically represents a motor vehicle 3 or vehicle trailer 4. The brake system 2 installed therein has at least one of the features described above. Fig. 1, Fig. 2, Fig. 3 to Fig. 4 shown, axle brake modules 1 on at least one of axles 5, 6.

[0055] Due to their hydraulically closed design and limitation to exactly one axle, the axle brake modules 1 are part of an advantageous modular system for the brake system 2. For example, the brake system 2 has a first axle brake module 1 assigned to the first axle 5.

[0056] In addition, the brake system 2, as indicated by dashed outlines, has in particular a second axle brake module 1 assigned to the second axle 6, or two electromechanical wheel brake modules 50 each assigned to one of the wheels 7 of the second axle 6.

[0057] The axle brake modules 1 can be identical or different. The wheel brake modules 50 can also be identical or different and each has a controllable actuator for generating a braking force.

[0058] In order to control the corresponding brake modules 1, 50 in a coordinated manner, the brake system 2 finally has at least one control unit 51 which can be connected or is connected to the respective brake modules 1, 50 via communication technology. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2010 044 501 A1

[0003] DE 101 18 263 A1

[0004]

Claims

[1] Axle brake module (1) of a braking system (2) of a motor vehicle (3) or vehicle trailer (4), - with two, in particular exactly two, operable wheel brake devices (8,9) for decelerating the motor vehicle (3) or vehicle trailer (4), - wherein each of the wheel brake devices (8,9) can be assigned to a different wheel (7) of the same axle (5,6) of the motor vehicle (3) or vehicle trailer (4), and - with one, in particular exactly one, controllable brake force generator (10), - wherein the brake force generator (10) is designed to pump hydraulic fluid into at least one hydraulic brake circuit (11, 12) in order to generate a brake pressure at the respective wheel brake device (8, 9), characterized by, that the axle brake module (1) has a common hydraulic brake circuit (11) or two hydraulic brake circuits (11,12), each assigned to one of the wheel brake devices, each as a hydraulically closed brake circuit such that it is assigned only to the axle brake module (1). [2] Axle brake module according to claim 1, characterized by , that the brake force generator (10) has a controllable first actuator (13) and a first hydraulic piston (14) coupled to the actuator (13) and displaceable in a brake cylinder (15), wherein a first piston chamber (16) enclosed by the first hydraulic piston (14) is fluidically coupled / connected to the or a first of the hydraulic brake circuits (11). [3] Axle brake module according to claim 2, characterized by, that the brake force generator (10) has a second hydraulic piston (17) which is spring-elastically coupled to the first hydraulic piston (14) and which is displaceable in the brake cylinder (15), that a second piston chamber (18) enclosed by the second hydraulic piston (17) is fluidly coupled / connected to a second of the hydraulic brake circuits (12), and that each of the hydraulic brake circuits (11,12) is assigned to one of the other wheel brake devices (8,9). [4] Axle brake module according to one of the preceding claims, characterized by , that the axle brake module (1) has one or each hydraulic pump (27,28) in the respective hydraulic brake circuit (11,12), wherein the wheel brake devices (8,9) are each assigned one or each of the hydraulic pumps (27,28). [5] Axle brake module according to claim 4, characterized by, that the axle brake module (1) has at least one controllable second actuator (29) which is jointly assigned to the respective hydraulic pump (27,28) or hydraulic pumps (27,28). [6] Axle brake module according to one of the preceding claims, characterized by , that the axle brake module (1) has inlet valves (30,31) and outlet valves (32,33) in the respective hydraulic brake circuit (11,12), wherein each of the wheel brake devices (8,9) is assigned one of the inlet valves (30,31) and one of the outlet valves (32,33). [7] Axle brake module according to one of claims 4 to 6, characterized by , that the respective hydraulic pump (27,28) can be connected / connected on the inlet side via the respective outlet valve (32,33) to the respective wheel brake device (8,9) in terms of flow technology. [8] Axle brake module according to one of claims 4 to 7, characterized by, that the axle brake module (1) has one or each main switching valve (45,46) in the respective hydraulic brake circuit (11,12), wherein the respective main switching valve (45,46) is assigned to the respective piston chamber (16,18), through which the hydraulic pump (27,28) can be / is connected to the respective piston chamber (16,18) on the input side in terms of flow technology. [9] Braking system (2) of a motor vehicle (3) or vehicle trailer (4), characterized by a first axle brake module (1) that can be assigned to / assigned to one, in particular a first, axle (5,6) of the motor vehicle (3) or vehicle trailer (4) according to one of the preceding claims. [10] Brake system according to claim 9, characterized bya second axle brake module (1) that can be assigned to / associated with a further, in particular second, axle (5,6) of the motor vehicle (3) or vehicle trailer (4), in particular designed differently from the first axle brake module (1) according to one of the preceding claims. [11] Brake system according to one of the preceding claims 9 and 10, characterized by two electromechanical wheel brake modules (50) each assignable / assigned to a different wheel (7) of a further, in particular second or third, axle (5,6) of the motor vehicle (3) or vehicle trailer (4), in particular identically designed, each with a controllable actuator for generating a braking force. [12] Brake system according to one of claims 9 to 11, characterized by at least one control unit (51) which is specially designed to control the axle brake module (1) or all brake modules (1,50) in a coordinating manner. [13] Motor vehicle (3), characterized bya braking system (2) according to one of claims 9 to 12. [14] Vehicle trailers (4), characterized by a braking system (2) according to one of claims 9 to 12.

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