Brake system and method for controlling a brake system

Abstract

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

Description

[0001] Braking system and method for controlling a braking system

[0002] The present invention relates to a braking system for a vehicle, in particular for a commercial vehicle, comprising an electromechanical braking module configured to provide a service braking function and a parking braking function, a first energy storage unit configured to supply the braking module with energy, and an electrical operating supply circuit connected to the first energy storage unit, which is configured to selectively connect the first energy storage unit to the braking module.

[0003] Braking systems of the type described above are well known. Their importance and use in vehicles, especially commercial vehicles, is steadily increasing due to increasing electrification. The advantage of electromechanical braking systems is that they are actuated electrically rather than pneumatically. This offers, among other things, installation-related advantages over pneumatic systems.

[0004] Such braking systems comprise at least one electromechanical brake module, which provides a service brake function and a parking brake function on at least one wheel axle. Brake modules in particular comprise electromechanical brake actuators with a locking mechanism for locking the brake actuator. Locking the brake actuator provides a parking brake function, also known as a parking brake function. This parking brake function reliably prevents a parked vehicle from rolling away. No power supply is required to maintain the parking brake function. However, locking the brake actuator to provide the parking brake function can only occur at a wheel speed close to zero.The service brake function is therefore also required for the safe parking of a vehicle, which is usually provided by an electromechanical brake actuator in an electromechanical brake module. Actuating the electromechanical brake actuator requires a constant power supply, which is provided by the first energy storage unit and the electrical service supply circuit. The electrical service supply circuit connects the brake module to the first energy storage unit. A fail-safe power supply for the brake module is therefore always a prerequisite for the safe use of electromechanical braking systems.

[0005] A malfunction in the energy supply for the brake module occurs when there is a malfunction in the operating state of the first energy storage unit and the electrical operating supply circuit. A malfunction in the operating state refers to a condition in which the voltage provided for the energy supply deviates from a target voltage. If such a malfunction in the operating state occurs, for example due to a short circuit or damage to a supply line in the electrical operating supply circuit, the energy supply for the brake module is no longer guaranteed. As a result, the vehicle cannot be decelerated by the service brake function, and the locking mechanism cannot lock the brake actuator. A malfunction orA failure of the energy supply due to a disturbance in the operating state of both the first energy storage unit and the operating supply circuit therefore represents a potential risk for the operation of an electromechanical braking system.

[0006] WO 2021 / 122214 A1 discloses an electromechanical braking system in which, in the event of a failure of the energy storage unit of the brake modules of a wheel axle, their energy supply is taken over by a redundant second energy storage unit. This redundant second energy storage unit can, for example, be the energy storage unit of the brake modules of a second wheel axle. The connection between the second redundant energy storage unit and the brake modules of the first wheel axle continues to be established via the operating supply circuit of the first wheel axle. Furthermore, a malfunction in the operating state of the operating supply circuit of the first wheel axle is not taken into account or such a malfunction is not detected. If a malfunction in the operating state of the operating supply circuit of the first wheel axle occurs, the service brake function and the parking brake function can therefore no longer be maintained.

[0007] The invention was therefore based on the object of overcoming at least one of the disadvantages known from the prior art. In particular, the invention was based on the object of further improving the reliability of an electromechanical braking system of the type mentioned above and maintaining its functionality in the event of a malfunction in the operating state of both the first operating supply circuit and the first energy storage unit. The functionality should be maintained at least to the extent that the vehicle can be decelerated sufficiently to enable safe parking by providing the parking brake function.

[0008] In a braking system of the type described above, the invention proposes that the braking system comprise a second energy storage unit and an electrical redundancy supply circuit connected to the second energy storage unit. Furthermore, the braking system according to the invention comprises a control module connected to the operating supply circuit and the redundancy supply circuit, which control module is configured to switch from a first switching state, in which the first energy storage unit supplies the braking module with energy via the operating supply circuit, to a second switching state, in which the second energy storage unit supplies the braking module with energy via the redundancy supply circuit. The control module is further configured to monitor the operating state of the operating supply circuit and the first energy storage unit in the first switching state and to switch to the second switching state in the event of a fault in the operating state.The control module thus controls the energy supply and can also be referred to as an energy control module.

[0009] The invention is based on the realization that both a disruption of the operating state of the first energy storage unit and a disruption of the operating state of the first operating supply circuit can occur. For this reason, the invention proposes a control module that is configured to monitor the operating state of both the operating supply circuit and the first energy storage unit in a first switching state. Through this monitoring, the control module detects a disruption of the operating state of the first energy storage unit or the operating supply circuit and is further configured to switch to a second operating state as a result. In this second operating state, the control module ensures that a power supply is maintained via a redundancy supply circuit and a second energy storage unit connected to the redundancy supply circuit.Damage to the first operating supply circuit therefore no longer leads to a failure of the brake actuator.

[0010] Whenever reference is made to an energy storage unit above and below within the scope of the invention, this refers to electrical energy storage units. Furthermore, when reference is made to a supply circuit, this refers to a circuit comprising electrical lines and, if appropriate, other components such as transistors, capacitors, resistors, and relays, which together form a closed system that fulfills a task, in this case, the energy supply.

[0011] In the context of the invention, a disruption of the operating state refers to both a power supply failure due to damage to the operating supply circuit or the first energy storage unit, as well as voltage fluctuations in the power supply. Such a disruption of the operating state can be caused, for example, by a short circuit or the disconnection or damage of supply lines in the operating supply circuit.

[0012] According to a preferred embodiment, the control module is configured in the first switching state to specifically monitor the operating state of the first energy storage unit and the operating supply circuit. Thus, the control module is 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.

[0013] According to a further preferred embodiment, the first energy storage unit has a monitoring function such that the energy storage unit is configured to communicate a disruption of the operating sequence to the control module by providing a corresponding disruption signal or the absence of an operating signal. The disruption signal is provided, or the status of the operating signal is queried, for example, continuously or cyclically.

[0014] The first switching state thus relates to a normal operating state in which the brake module is supplied with energy without disruption via the first energy storage unit and the operating supply circuit. The second switching state relates to an emergency operating state in which, as a result of a disruption of the first energy storage unit or the operating supply circuit, the brake module is supplied with energy by a second energy storage unit and a redundant supply circuit. The second energy storage unit is configured to supply the brake module with at least a sufficient amount of energy to decelerate a vehicle by providing a service brake function and subsequently providing a parking brake function. Preferably, the control module is further configured to electrically decouple the operating supply circuit from the brake module in the event of a disruption of the operating state.The operating state disturbance can affect both a dedicated monitored operating state disturbance of the first energy storage unit or the operating supply circuit, as well as a disturbance of the jointly monitored operating state of the first energy storage unit and the operating supply circuit. The electrical decoupling of the operating supply circuit from the brake module protects the brake module from damage. The electrical decoupling of the operating supply circuit from the brake module simultaneously electrically decouples the first energy storage unit from the brake module. This way, for example, overvoltages in the brake module caused by a defective energy storage unit can be avoided.

[0015] According to a preferred embodiment, the control module is designed as a dedicated control module relative to the brake module and is arranged at a spatial distance from the brake module. Thus, the control module can be arranged at a suitable position within the brake system to provide the monitoring function of the operating supply circuit and the first energy storage unit. Such a control module can also cooperate with a plurality of brake modules of an electric brake system such that a control module connects several brake modules to the redundancy supply circuit and the second energy storage unit by switching to the second switching state. By designing the control module as a dedicated control module, it can be arranged, for example, between two brake modules. This means that there is no delay in the signal line between the two brake modules.

[0016] Preferably, the control module is located close to the brake module. This location reduces the distance a corresponding control signal must travel from the control module to the brake module. The control connection between the control module and the brake module is less susceptible to interference due to the close location of the control module. This is due to the fact that shorter cable paths can be installed.

[0017] According to an alternative preferred embodiment, the control module is structurally and / or control-technically integrated into the brake module. If the control module is structurally integrated into the brake module, the control module is arranged, for example, in the housing of the brake module. Structural and / or control-technically integrated into the brake module enables the routing of cables between the control module and the brake module within the housing. These cables are thus better protected against damage. If the control module and brake module are connected via a control-technical connection, the speed of signal transmission and processing is optimized. In this case, the control module preferably has a breakdown fuse to protect against short circuits in the operating supply circuit of the brake module.

[0018] The control module preferably has a switching unit configured to switch between the first switching state and the second switching state. More preferably, the control module further comprises a monitoring unit configured to monitor the operating supply circuit. This division of functions within the control module into a switching function and a monitoring function increases the flexibility of the control module. The flexibility of the control module is increased insofar as the switching unit can be arranged at a distance from the monitoring unit, both structurally and in terms of control technology. The units of the control module can thus be integrated into the braking system as needed and in a structurally optimized manner with regard to the layout of the supply circuits and control circuits.

[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 switching unit is preferably a first switching unit located in the vicinity of the first brake module, and the control module further comprises a second switching unit located in the vicinity of the second brake module. By having two dedicated switching units, each located in the vicinity of one of the two brake modules, the impact of damage to the operating supply circuit is reduced. The overall reliability of the brake system is thus further increased.

[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 comprises a locking mechanism for locking the brake actuator. The control module is preferably configured to connect the brake actuator or the two brake actuators in the second switching state to the redundancy supply circuit and preferably to electrically decouple them from the operating supply circuit. Thus, a redundant energy supply is directly provided for the brake actuator by the second energy storage unit and a redundant connection of the brake actuator to the second energy storage unit is provided by the redundancy operating supply circuit. By omitting further intermediate components, the brake module becomes more compact overall.By providing the redundant power supply and power line directly at the brake actuator, failures of the service brake function due to malfunctions of intermediate components are also prevented.

[0021] According to a further preferred embodiment, the brake module, in particular the first brake module and the second brake module, comprises a first brake actuator configured to provide a service brake function in the first switching state, and a redundant brake actuator configured to provide a service brake function in the second switching state. The redundant brake actuator is assigned to the redundancy supply circuit and is preferably electrically decoupled from the service supply circuit. The two brake actuators can be, for example, first windings and second windings of a coil of an electric motor, wherein the first windings are connected to the service supply circuit and the second windings are connected to the redundancy supply circuit.If the first brake actuator is damaged due to a malfunction of 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 assigned to the redundancy supply circuit and is preferably electrically decoupled from the operating supply circuit. Thus, the second brake actuator is protected from damage, for example, due to an overvoltage in the event of a disruption of the operating state of the first energy storage unit. Furthermore, preferably at least one of the brake actuators comprises a locking mechanism for locking the first brake actuator and / or the redundant brake actuator. Particularly preferably, the locking mechanism is configured to lock the first brake actuator and the second brake actuator. Thus, a parking brake function is maintained even in the second operating state.

[0023] According to a further preferred embodiment, the operating supply circuit is a rear-axle operating supply circuit, and the brake module is a rear-axle brake module. In this embodiment, the braking system preferably further comprises a front axle with at least one front-axle brake module, wherein the redundancy supply circuit is a front-axle operating supply circuit assigned to the front axle. The front-axle operating supply circuit is configured to connect the second energy storage unit to the front-axle brake module. Thus, in the second switching state, both the front-axle brake module and the rear-axle brake module are supplied with energy by the second energy storage unit and the connected redundancy supply circuit or front-axle operating supply circuit.It should be understood that the redundancy supply circuit is configured both to supply the front axle brake actuator with energy in the second switching state and to continuously supply the front axle brake module with energy. The redundancy supply circuit has a corresponding number of supply lines for this purpose. By using the front axle operating supply circuit as a redundancy supply circuit and the second energy storage unit as a redundant energy storage unit, the braking system can be designed more compactly overall. In particular, an additional energy storage unit and an additional redundancy supply circuit, in addition to the front axle operating supply circuit and the rear axle operating supply circuit, can be dispensed with.

[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 configured to supply the control unit with energy in the first switching state. Thus, a malfunction of the operating supply circuit or the first energy storage unit simultaneously leads to a malfunction of the energy supply to the electrical control unit. Monitoring the operating supply circuit and the first energy storage unit thus simultaneously serves 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 the operating supply circuit in the first switching state and, in the event of a malfunction in the operating state, to communicate a malfunction in the operating state to the control module. This occurs, for example, by providing a corresponding malfunction signal or in the absence of an operating signal, which is provided, for example, continuously or cyclically. The control unit preferably has an emergency power supply for this purpose, in particular its own energy storage device.

[0026] Further preferably, the operating supply circuit has a dedicated supply line configured to connect the first energy storage unit to the first control unit. The control module is preferably further configured to monitor the operating state of the dedicated supply line in the first switching state. For example, such monitoring can be carried out indirectly via monitoring or communication with the control unit. Thus, the control unit is supplied with energy via a separate supply line. A malfunction of a supply line supplying the brake module does not simultaneously cause a malfunction of the energy supply to the control unit. Furthermore, the dedicated supply line allows the control unit to be arranged flexibly in the braking system, thus enabling efficient use of available installation space.

[0027] The braking system further preferably comprises a second electrical control unit for controlling the front axle brake module, which is further configured to control the rear axle brake module in the second switching state. If a first rear axle brake module and a second rear axle brake module are assigned to the rear axle, the second electrical control unit is configured to control both the first rear axle brake module and the second rear axle brake module in the second switching state. A malfunction in the operating state of the operating supply circuit or the first energy storage unit can lead to an impairment of or damage to the first electrical control unit connected to the first operating supply circuit. The second electrical control unit can thus continue to reliably control the rear axle brake module in the second switching state.

[0028] According to a further preferred embodiment, the rear axle operating supply circuit further forms a second redundant supply circuit for the at least one front axle brake module of the front axle. Thus, even in the event of a malfunction of the front axle operating supply circuit or the second energy storage unit, a redundant energy supply is provided for the front axle brake modules. The reliability of the braking system is thus further increased. The provision of a redundant energy supply for the front axle brake modules is particularly advantageous in embodiments in which the front axle brake modules also have a locking mechanism. The wheels of the front axle can thus be decelerated in such a way that the locking mechanism of the front axle can provide a corresponding parking brake function.

[0029] According to a further 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 operating supply circuit in a first switching state. The second control module is configured to switch from a first switching state, in which the second energy storage unit supplies the front axle brake module with energy via the front axle operating supply circuit, to a second switching state. In the second switching state, the first energy storage unit supplies the front axle brake module with energy via the rear axle operating supply circuit and is connected thereto, in particular, by the second control module.The second control module is further configured to monitor the operating state of the front axle operating supply circuit and the second energy storage unit in the first switching state and to switch to the second switching state in the event of a malfunction in the operating state. This provides a corresponding monitoring function and redundant power supply and power line for both the front and rear axles. The braking system is thus highly fail-safe.

[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 utilizes the same advantages as the braking system of the first aspect. The preferred embodiments of the first aspect are also preferred embodiments of the vehicle, and vice versa, so that in this regard, reference is made to the above statements to avoid repetition. In a third aspect, the invention relates to a method for controlling an electromechanical braking system for a vehicle, in particular a commercial vehicle. In particular, the invention according to the third aspect relates to a method for controlling an electromechanical braking system according to the first aspect of the invention.The method comprises the steps: a) providing a service brake function and a parking brake function by a brake module, b) supplying the brake module with energy by a first energy storage unit which is connected to the brake module by means of an electrical operating supply circuit, c) monitoring the operating state of the electrical operating supply circuit and the first energy storage unit in a first switching state, d) switching from the first switching state to a second switching state in the event of a fault in the operating state, e) supplying the brake module with energy by a second energy storage unit which is connected to the brake module via a redundancy supply circuit in the second switching state.

[0032] The method utilizes the same advantages as the braking system of the first aspect. The preferred embodiments of the first aspect are also preferred embodiments of the method, and vice versa, so that in this regard, reference is again made to the above explanations to avoid repetition.

[0033] According to a preferred embodiment, the method further comprises one, several or all of the following steps: f) dedicated monitoring of the operating state of the first energy storage unit in the first switching state, g) electrically decoupling the operating supply circuit from the brake module in the second switching state, h) electrically decoupling the operating supply circuit from a brake actuator in the second switching state, i) connecting a brake actuator to the redundancy supply circuit in the second switching state, j) controlling the brake module with at least one control unit, k) supplying the control unit with energy through the first energy storage unit, which is connected to the control unit by means of a dedicated supply line.

[0034] Dedicated monitoring of the operating state of the first energy storage unit in the first switching state enables fault localization. The control module is thus configured to differentiate between a fault in the operating state of the first energy storage unit and a fault in the operating state of the service supply circuit. This is advantageous with regard to repair and maintenance work. By electrically decoupling the service supply circuit from the brake module or the brake actuator in the event of a fault in the operating state, these are protected from damage, for example due to overvoltage. Connecting the brake actuator to the redundancy supply circuit in the second switching state ensures the operation of the brake actuator and thus the provision of the service brake function even in the event of a fault in the operating state of the service supply circuit or the first energy storage unit.By supplying the control unit with power via the first energy storage unit, additional dedicated energy storage units are no longer required. Monitoring the operating supply circuit and the first energy storage unit thus simultaneously serves to monitor a sufficient power supply to the electrical control unit. By connecting the control unit via a dedicated supply line of the operating supply circuit, a fault in a supply line supplying the brake module does not automatically cause a fault in the power supply to the control unit. Furthermore, the dedicated supply line allows the control unit to be flexibly arranged on the braking system, thus efficiently utilizing available installation space. The safety of the braking system is thus further increased.

[0035] Embodiments of the invention are now described below with reference to the drawing. These are not necessarily intended to represent the embodiments to scale; rather, where useful for explanation, the drawing is schematic and / or slightly distorted. With regard to additions to the teachings immediately apparent from the drawing, reference is made to the relevant prior art. It should be noted that numerous modifications and changes to the form and detail of an embodiment can be made without deviating from the general idea of ​​the invention. The features of the invention disclosed in the description, in the drawing and in the claims can be essential for the further development of the invention, both individually and in any combination.Furthermore, all combinations of at least two of the features disclosed in the description, the drawings and / or the claims fall within the scope of the invention. The general idea of ​​the invention is not limited to the exact form or detail of the preferred embodiments shown and described below, or limited to an object that would be more limited than the object claimed in the claims. For specified dimensioning ranges, values ​​within the stated limits are also intended to be disclosed as limit values ​​and to be used and claimed as desired. For the sake of simplicity, the same reference numerals are used below for identical or similar parts or parts with identical or similar functions.

[0036] Further advantages, features and details of the invention will become apparent from the following description of the preferred embodiments and from the drawings, which show:

[0037] Fig. 1: a vehicle according to a first embodiment, schematically; Fig. 2: a vehicle according to a second embodiment, schematically;

[0038] Fig. 3: a vehicle according to a third embodiment schematically;

[0039] Fig. 4: a vehicle according to a fourth embodiment schematically;

[0040] Fig. 5: a vehicle according to a fifth embodiment schematically;

[0041] Fig. 6: a method for operating a braking system according to a first embodiment;

[0042] Fig. 7: a method for operating a braking system according to a second embodiment in the first switching state;

[0043] Fig. 8: the method according to Figure 6a in a second switching state.

[0044] The braking system 2 according to Figure 1 is part of a vehicle 1. The vehicle 1 further comprises two rear wheels 10.1, 10.2, which are mounted at the ends on a rear axle 3 of the vehicle 1. The vehicle 1 further comprises two front wheels 20.1, 20.2, which are mounted at the ends on a front axle 4.

[0045] The braking system 2 according to Figure 1 comprises a first electromechanical rear axle brake module 11.1 and a second electromechanical rear axle brake module 11.2. The first rear axle brake module 11.1 is assigned to the first rear wheel 10.1. The first rear axle brake module 11.1 comprises a rear axle brake actuator 12.1 and a first actuator control 14.1 for controlling the first rear axle brake actuator 12.1. Preferably, the first actuator control 14.1 is connected to a rear axle wheel speed sensor 13.1. The first rear axle brake actuator 12.1 further comprises a locking mechanism 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 assigned to the second rear wheel 10.2. Similar 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 a rear axle wheel speed sensor 13.2 and a second actuator control 14.2. The rear axle brake actuators 12.1, 12.2 can preferably also have a parking brake actuator (not shown).

[0046] The braking system 2 further comprises a first energy storage unit 15, which is configured to supply the first rear-axle brake module 11.1 and the second rear-axle brake module 11.2 with energy. An electrical operating supply circuit 100 is connected to the first energy storage unit 15. In this case, the electrical operating supply circuit 100 is a rear-axle operating supply circuit for supplying the brake modules 11.1, 11.2 of the rear axle 3.

[0047] The energy storage unit 15 is a first energy storage unit and the braking system 2 further comprises a second energy storage unit 25.1 and an electrical redundancy supply circuit 200.1 connected to the second energy storage unit 25.1.

[0048] The braking system 2 further comprises a control module connected to the operating supply circuit 100 and the redundant supply circuit 200.1. In the embodiment shown, the control module comprises two control modules 16.1, 16.2, which can also be formed by a combined control module. A first control module 16.1 is assigned to the first rear axle brake module 11.1 and, in particular, is structurally integrated therein. The second control module 16.2 is assigned to the second rear axle brake module 11.2 and, in particular, is structurally integrated therein. The control modules 16.1, 16.2 are each configured to switch from a first switching state, in which the first energy storage unit 15 supplies the rear axle brake modules 11.1, 11.2 with energy via the operating supply circuit 100, to a second switching state. In the second switching state, the second energy storage unit 25.1 supplies the rear axle brake modules 1 1.1 , 1 1.2 is supplied with power via the redundancy supply circuit 200.1. The control modules.

[0049] 16.1, 16.2 are further configured to monitor the operation 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.

[0050] 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.

[0051] Preferably, the operating supply circuit 100 further comprises a dedicated supply line 130 for supplying a control unit 19 of the braking system 2 with energy through the first energy storage unit 15. The control unit 19 is a first control unit assigned to 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.

[0052] The redundancy supply circuit 200.1 comprises a first redundancy supply line 210 for connecting the first energy storage unit 15 to the first rear axle brake module 11.1. Furthermore, the redundancy supply circuit 200.1 comprises a second redundancy supply line 220 for connecting the first energy storage unit 15 to the second rear axle brake module

[0053] 1 1.2.

[0054] Preferably, the braking system 2 further comprises a first front axle braking module 21.1 and a second front axle braking module 21.2.

[0055] The first front axle brake module 21.2 comprises a front axle brake actuator 22.1 and a first actuator control 24.1 for controlling the first front axle brake actuator 22.1. The first front axle brake module 21.1 is assigned to the first front wheel 20.1. Preferably, the first actuator control

[0056] 24.1 is connected to a front axle wheel speed sensor 23.1. The front axle brake actuator 22.1 further comprises a locking mechanism configured to provide a parking brake function by locking the front axle brake actuator 22.1. The second front axle brake module

[0057] 21.2 is assigned to the second front wheel 20.2. Similar 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 a front axle wheel speed sensor 23.2, and a second actuator control 24.2. The front axle brake actuators 22.1, 22.2 can preferably also have a parking brake actuator (not shown).

[0058] Furthermore, the braking system 2 comprises a third energy storage unit 25.2, which is configured to supply the first front axle brake module 21.1 and the second front axle brake module 21.2 with energy. A second electrical operating supply circuit is connected to the second energy storage unit 25.2.

[0059] 200.2. The second electrical operating supply circuit 200.2 is in this case a front axle operating supply circuit for supplying the brake modules 21.2, 21.2 of the front axle 4.

[0060] The first control unit 19 is connected to the rear axle brake modules 11.1, 11.2 via a first control circuit 300. For connection to the first rear axle brake module 11.1, the first control circuit 300 has a first control line 301. For connection to the second rear axle brake module 11.2, the control circuit 300 has a second control line 302. Furthermore, the control circuit 300 has a control connection line 304, via which the first control unit 19 for the rear axle is connected to a second control unit 29.

[0061] The second control unit 29 is assigned to 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, 21.2 via a second control circuit 400.

[0062] The control unit 19 for the rear axle 3 is connected to a parking brake control 30. The parking brake control 30 is configured to provide a control signal for locking the brake actuator 12.1, 12.2 in order to provide a parking brake function.

[0063] The braking system 2 further comprises an actuating element 40, which is connected for control purposes to the first control unit 19 and the second control unit 29. The actuating element 40 is configured to indicate a braking request. Based on this braking request, the control units 19, 29 are configured to provide corresponding braking signals to the braking modules 11.1, 11.2, 21.1, 21.2 via the control circuits 300, 400.

[0064] 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 a third control circuit 500. Through this control connection via the 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, control of the brake modules 11.1, 11.2 can continue to be maintained by the second control unit 29.

[0065] 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 a fourth control circuit 600. Through 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, control of the brake modules 21.1, 21.2 can continue to be maintained by the first control unit 19. Figure 2 shows a second embodiment of a brake system 2 according to the invention. The brake system 2 according to Figure 2 differs only in the design and arrangement of the first control module 16.1 and the second control module 16.2. To avoid repetition, reference is made to the detailed description of the braking system 2 according to the embodiment shown in Figure 1. The same orSimilar components have the same reference numerals.

[0066] The first control module 16.1 is designed as a dedicated control module relative to the first rear axle brake module 11.1 and is arranged at a spatial distance from the first rear axle brake module 11.1. The second control module 16.2 is also designed as a dedicated control module relative to the second rear axle brake module 11.2 and is arranged at a spatial distance from it. Both control modules 16.1, 16.2 are each arranged in the immediate vicinity of the corresponding rear axle brake modules 11.1, 11.2.

[0067] It should be understood that only one control module can be provided for the first rear axle brake module 1 1.1 and the second rear axle brake module 1 1 .2.

[0068] In the embodiment shown, the first control module 16.1 comprises a first switching unit 17.1 configured to switch between the first switching state and the second switching state. Furthermore, the first control module 16.1 comprises a first monitoring unit 18.1 configured to monitor the operating supply circuit 15.

[0069] The second control module 16.2 comprises a second switching unit 17.2 and a second monitoring unit 18.2.

[0070] Figure 3 shows a third embodiment of a braking system 2 according to the invention. The braking system 2 according to Figure 3 differs from the braking system shown above in Figure 2 in the design of the redundancy supply circuit 200. To avoid repetition, reference is therefore made to the detailed description of the braking system 2 according to the embodiment shown in Figure 2. Identical or similar components have the same reference numerals.

[0071] The redundancy supply circuit 200 is a front axle operating supply circuit 200 assigned to the front axle 4 and its brake modules 21.1, 21.2. The redundancy supply circuit 200 or front axle operating supply circuit 200 is designed to provide both a redundant energy supply for the rear axle brake modules 11.1, 11.2 by connecting them to the second energy storage unit 25, and also to connect the front axle brake modules 21.1, 21.2 to the second energy storage unit 25. Thus, a third energy source, as provided in the exemplary embodiment in Figure 2, can be dispensed with.

[0072] The braking system 2 shown in Figure 3 differs from the braking system shown above in Figure 2 further by a CAN bus connection 50 for the control-technical connection of the first control unit 19 and the second control unit 29 to a central control unit (not shown) of the vehicle 1. The CAN bus connection 50 also establishes, for example, a connection between a steering angle sensor 60 and the control units 19, 29.

[0073] Figure 4 shows a fourth embodiment of a braking system 2 according to the invention. The braking system 2 according to Figure 4 differs from the braking system shown above in Figure 1 in the design of the rear axle braking modules 11.1, 11.2. To avoid repetition, reference is therefore made to the detailed description of the braking system 2 according to the exemplary embodiment shown in Figure 1. Identical or similar components have the same reference numerals here. The first rear axle braking module 11.1 has a first rear axle braking actuator 12.1, which is connected to the first energy storage unit 15 via the operating supply circuit 100 and in particular its first supply line 110. 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 a second supply line 120 of the first operating supply circuit 100.

[0074] Furthermore, the first rear axle brake module 11.1 comprises a third rear axle brake actuator 12.3, which is configured to provide a service brake function in the second switching position. The third rear axle brake actuator 12.3 is connected to the second energy storage unit 25 via a first redundancy supply line 210 of the redundancy supply circuit 200.

[0075] The second rear axle brake module 11.2 further comprises a fourth rear axle brake actuator 12.4 for providing a service brake function in the second switching position. The fourth rear axle brake actuator 12.4 is connected to the second energy storage unit 25 via a second redundancy supply line 220 of the redundancy supply circuit 200.

[0076] Alternatively, the third and fourth rear axle brake actuators 12.3, 12.4 can each be equipped with their own redundant actuator control, which are then supplied with the energy of the second energy storage unit 25 by the redundancy supply circuit 200.

[0077] The method 1000 shown in Figure 6 for controlling an electromechanical braking system 2 (cf. Figs. 1 to 5) comprises, in a first step 1100, the provision of a service braking function FB and a parking braking function Fp by a braking module 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5). In a second step 1200, the method 1000 comprises supplying the brake module 11.1, 11.2, 21.1, 21.2 (see Figs. 1 to 5) with energy by a first energy storage unit 15 (see Figs. 1 to 5), which is connected to the brake module 11.1, 11.2, 21.1, 21.2 (see Figs. 1 to 5) by means of an electrical operating supply circuit 100. Furthermore, in a third step 1300, the method comprises monitoring the operating state of the electrical operating supply circuit 100 and the first energy storage unit 15 by a control module.

[0078] 16.1 , 16.2, 26.1 , 26.2 (cf. Fig. 1 to 5) in a first switching state of the control module.

[0079] When the control module detects a fault in the operating state

[0080] 16.1, 16.2, 26.1, 26.2 (cf. Figs. 1 to 5), this switches from the first switching state to a second switching state in a fourth step 1400. In this second switching state, in a fifth step 1500, a second energy storage unit 25, which is connected to the brake module 11.1, 11.2, 21.1, 21.2 via a redundancy supply circuit 200, supplies the brake module 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5) with energy.

[0081] In the absence of a fault in the operating state, the control module

[0082] 16.1, 16.2, 26.1, 26.2 (cf. Fig. 1 to 5) in a sixth step 1600 the connection of the first energy storage unit 15 (cf. Fig. 1 to 5) via the operating supply circuit 100 (cf. Fig. 1 to 5).

[0083] In the absence of an operating state disturbance, the third step 1300 is repeated until an operating state disturbance is detected.

[0084] Figure 7 shows a second embodiment of the method 2000 for controlling an electromechanical braking system 2 (cf. Figs. 1 to 5). The method 2000 comprises, in a first step 2100, the provision of a service brake function FB and a parking brake function FF by a brake module.

[0085] 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5). In a second step 2200, the method 2000 comprises supplying the brake module 11.1, 11.2, 21.1, 21.2 with energy by a first energy storage unit 15 (cf. Figs. 1 to 5), which is connected to the brake module by means of an electrical operating supply circuit 100.

[0086] 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5). Furthermore, in a third step 2300, the method comprises dedicated monitoring of the operating state of the electrical operating supply circuit 100 and the energy storage unit 15 by a control module 16.1, 16.2, 26.1, 26.2 (cf. Figs. 1 to 5) in a first switching state of the control module 16.1, 16.2, 26.1, 26.2 (cf. Figs. 1 to 5).

[0087] When the control module detects a fault in the operating state

[0088] 16.1, 16.2, 26.1, 26.2 (see Figs. 1 to 5), switches this from the first switching state to a second switching state in a fourth step 2400. Switching the control module 16.1, 16.2, 26.1, 26.2 (see Figs. 1 to 5) to the second switching state comprises connecting a brake actuator 12 of the brake module 11.1, 11.2, 21.1, 21.2 (see Figs. 1 to 5) to the redundancy supply circuit 200.

[0089] In this second switching state, in a fifth step 2500, a second energy storage unit 25, which is connected to the brake module 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5) via a redundancy supply circuit 200, supplies the brake module with energy.

[0090] In the absence of an operating state disturbance, the third step 2300 is repeated until an operating state disturbance is detected.

[0091] Figure 8 shows a third embodiment of the method 3000 for controlling an electromechanical braking system 2 (cf. Figs. 1 to 5). The method 3000 comprises, in a first step 3100, the provision of a service brake function FB and a parking brake function FF by a brake module.

[0092] 1 1.1 , 11 .2, 21 .1 , 21 .2 (cf. Fig. 1 to 5). In a second step 3200, the method 3000 comprises supplying the brake module 1 1 .1 , 1 1 .2, 21 .1 , 21 .2 (cf. Fig. 1 to 5), the brake actuator 12 and a control unit 19 for the brake module 1 1 .1 , 1 1 .2, 21 .1 , 21 .2 (cf. Fig. 1 to 5) with energy by a first energy storage unit 15. The first energy storage unit 15 is connected to the brake module 11.1,

[0093] 11.2, 21.1, 21.2 (cf. Figs. 1 to 5). Furthermore, in a third step 2300, the method comprises monitoring the operating state of the electrical operating supply circuit 100, the first energy storage unit 15, and the control unit 19 by a control module 16.1, 16.2, 26.1, 26.2 (cf. Fig.

[0094] 1 to 5) in a first switching state of the control module 16.1, 16.2, 26.1, 26.2 (cf. Figs. 1 to 5). The control unit 19 is configured to control at least one brake actuator 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5), as described with reference to Figs. 1 to 5.

[0095] When the control module detects a fault in the operating state

[0096] 16.1, 16.2, 26.1, 26.2 (see Figs. 1 to 5), switches this from the first switching state to a second switching state in a fourth step 3400. Switching the control module 16.1, 16.2, 26.1, 26.2 (see Figs. 1 to 5) to the second switching state comprises connecting a brake actuator 12 of the brake module 11.1, 11.2, 21.1, 21.2 (see Figs. 1 to 5) to the redundancy supply circuit 200.

[0097] In this second switching state, in a fifth step 3500, a second energy storage unit 25, which is connected to the brake module 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5) via a redundancy supply circuit 200, supplies the brake module 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5) with energy.

[0098] In the absence of an operating state disturbance, the third step 3300 is repeated until an operating state disturbance is detected.

[0099] The method 300 further comprises, in a sixth step 3600, electrically decoupling the operating supply circuit 100 from the brake module

[0100] 11.1, 11.2, 21.1, 21.2 (cf. Figs. 1 to 5) in the second switching state. Preferably, the method 300 further comprises, in the seventh step 3700, electrically decoupling the brake actuator 12 from the operating supply circuit 100. LIST OF REFERENCE SYMBOLS (PART OF THE DESCRIPTION)

[0101] 1 vehicle

[0102] 2 braking system

[0103] 3 rear axle

[0104] 4 front 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

[0110] 15 first energy storage unit

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

[0112] 17.1 , 17.2 (Rear axle) switching unit

[0113] 18 (Rear axle) monitoring unit

[0114] 19 (Rear axle) control unit

[0115] 100 (rear axle) operating supply circuit

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

[0117] 120 second supply line of the first operating circuit

[0118] 130 dedicated supply line of the first operating 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

[0124] 25, 25.1 second energy storage unit

[0125] 25.2 third energy storage unit

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

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

[0128] 28 (front axle) monitoring unit

[0129] 29 (Front axle) control unit 30 Parking brake control

[0130] 40 Actuating element

[0131] 50 CAN bus connection

[0132] 60 steering angle sensor

[0133] 200, 200.1 Redundancy supply circuit

[0134] 200.2 Front axle supply circuit

[0135] 210 first redundancy supply line

[0136] 220 second redundancy supply line

[0137] 230 first supply line of the second operating circuit / redundancy supply circuit

[0138] 240 second supply line of the second operating circuit / redundancy supply circuit

[0139] 250 dedicated supply line of the second operating circuit / redundancy supply circuit 300 first control circuit

[0140] 301 first control line of the first control circuit

[0141] 302 second control line of the first control circuit

[0142] 304 Control connection line

[0143] 400 second control circuit

[0144] 401 first control line of the second control circuit

[0145] 402 second control line of the second control circuit

[0146] 500 third control circuit

[0147] 501 first control line of the third control circuit

[0148] 502 second control line of the third control circuit

[0149] 600 fourth control circuit

[0150] 601 first control line of the fourth control circuit

[0151] 602 second control line of the fourth control circuit

[0152] 1000, 2000, 3000 first step

[0153] 1 100, 2100, 3100 Providing a service and parking brake function

[0154] 1200, 2200, 2300 Supply with energy through the operating supply circuit

[0155] 1300, 2300, 3300 (dedicated) monitoring of the operating supply circuit 1400, 2400, 3400 Switching from the first to the second operating state

[0156] 1500, 2500, 3500 Supplying energy through the redundancy supply circuit

[0157] 3600 Electrical decoupling of the brake module

[0158] 3700 Electrical decoupling of the brake actuator

[0159] FF parking brake function

[0160] FB service brake function

Claims

Claims 1 . Braking system (2) for a vehicle (1), in particular a commercial vehicle, comprising: an electromechanical brake module (11.1, 11.2) configured to provide a service brake function (FB) and a parking brake function (FF), a first energy storage unit (15) configured to supply the brake module (11.1, 11.2) with energy, and an electrical operating supply circuit (100) connected to the first energy storage unit (15) and configured to selectively connect the first energy storage unit (15) to the brake module (11.1, 11.2), characterized by a second energy storage unit (25, 25.1) and an electrical redundancy supply circuit (200, 200.1) connected to the second energy storage unit, a control module connected to the operating supply circuit (100) and the redundancy supply circuit (200, 200.1). (16.1 , 16.2), which is designed to switch from a first switching state, in which the first energy storage unit (15) supplies the brake module (11.1, 11.2) with energy via the operating supply circuit (100), to a second switching state, in which the second energy storage unit (25, 25.1) supplies the brake module (11.1, 11.2) with energy via the redundant supply circuit (200, 200.1), wherein the control module (16.1, 16.2) is further designed to monitor the operating state of the operating supply circuit (100) and of 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. Brake system (2) according to claim 1, wherein the control module (16.1, 16.2) in the first switching state is configured to monitor the operating state of the first energy storage unit (15) and the operating supply circuit (100) in a dedicated manner.

3. Brake system (2) according to claim 1 or 2, wherein the control module (16.1, 16.2) is further configured to electrically decouple the operating supply circuit (100) from the brake module (11.1, 11.2) in the event of a disturbance in the operating state.

4. Brake system (2) according to one of the preceding claims, wherein the control module (16.1, 16.2) is designed as a control module (16.1, 16.2) dedicated to the brake module (11.1, 11.2) and is arranged spatially spaced from the brake module (11.1, 11.2), in particular the control module (16.1, 16.2) is arranged in the vicinity of the brake module (11.1, 11.2).

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

6. Brake system (2) according to one of the preceding claims, wherein 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 has a monitoring unit (18.1, 18.2) which is designed to monitor the operating supply circuit (100).

7. Brake system (2) according to claim 6, wherein the brake module (11.1) is a first brake module (11.1) and the brake system (2) further comprises a second brake module (11.2), and wherein the switching unit (17.1) is a first switching unit (17.1) which is arranged in the vicinity of the first brake module (11.1), and the control module (16.1, 16.2) further comprises a second switching unit (17.2) which is arranged in the vicinity of the second brake module (11.2).

8. Brake system (2) according to one of the preceding claims, wherein the brake module (11.1, 11.2), in particular the first brake module (11.1) and the second brake module (11.2), have a brake actuator (12, 12.1, 12.2) for providing the service brake function (FB) with a locking mechanism for locking the brake actuator (12, 12.1, 12.2), and wherein the control module (16.1, 16.2) is designed to connect the brake actuator (12, 12.1, 12.2) in the second switching state to the redundancy supply circuit (200, 200.1) and preferably to decouple it from the service supply circuit (100).

9. Brake system (2) according to one of claims 1 to 7, wherein the brake module (11.1, 11.2) comprises: a first brake actuator (12.1, 12.2) which is configured to provide the service brake function (FB) in the first switching state, a redundant brake actuator (12.3, 12.4) which is configured to provide the service brake function (FB) in the second switching state, wherein the redundant brake actuator (12.3, 12.4) is assigned to the redundancy supply circuit (200, 200.1) and is preferably decoupled from the service supply circuit (100), and at least one locking 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. Braking system (2) according to one of claims 1 to 7, wherein the operating supply circuit (100) is a rear axle operating supply circuit (100) and the brake module (11.1, 11.2) is a rear axle brake module (11.1, 11.2), and the brake system (2) further comprises a front axle (4) with at least one front axle brake module (21.1, 21.1), and wherein the redundancy supply circuit (200) is a front axle operating supply circuit (200) assigned to the front axle (4), which is configured to connect the second energy storage unit (25) to the front axle brake module (21, 21.1, 11.2).

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

12. Braking system (2) according to claim 11, wherein 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 module (16.1, 16.2) is further configured to monitor the operating state of the dedicated supply line (130) in the first switching state.

13. Brake system (2) according to one of claims 10 to 12, further comprising: a second electrical control unit (29) for controlling the front axle brake module (21.1, 21.2), which is further configured to control the rear axle brake module (11.1, 11.2) in the second switching state.

14. Brake system (2) according to one of the preceding claims, wherein the rear axle operating supply circuit (100) further forms a second redundancy supply circuit (100) for the at least one front axle brake module (21.1, 21.2) of the front axle (4).

15. Brake system (2) according to claim 14, wherein 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 supply circuit (200, 200.2) which is designed to switch from a first switching state in which the second energy storage unit (25, 25.1) supplies the front axle brake module (21.1, 21.2) via the front axle operating supply circuit (200, 200.2) with supplied with energy, to switch to a second switching state in which the first energy storage unit (15) supplies the front axle brake module (21.1, 21.2) with energy via the rear axle operating supply circuit (100), wherein the second control module (226.1, 26.2) is further 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 to switch to the second switching state in the event of a fault in the operating state.

16. Vehicle (1), in particular a commercial vehicle, with a 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 one of the preceding claims for providing a service braking function (FB) and a parking braking function (FF) on the rear axle (3) and / or the front axle (4).

17. Method for controlling an electromechanical braking system (2) for a vehicle (1), in particular a commercial vehicle, comprising the steps of: a) providing (1100) a service brake function (FB) and a parking brake function (FF) by a brake module (11.1, 11.2, 21), b) supplying (1200) the brake module (11.1, 11.2) with energy by a first energy storage unit (15) which is connected to the brake module (11.1, 11.2, ) by means of an electrical operating supply circuit (100), c) monitoring (1300) the operating state of the electrical operating supply circuit (100) and the first energy storage unit (15) in a first switching state, d) switching (1400) in the event of a fault in the operating state from the first switching state to a second switching state, e) supplying (1500) of the brake module (11.1, 11.2) with energy by a second energy storage unit (25, 25.1) which is connected to the brake module (11.1, 11.2) via a redundancy supply circuit (200).2, ) is connected, in a second switching state.

18. The method according to claim 17, wherein the method further comprises one, several or all of the following steps: f) dedicated monitoring (1300) of the operating state of the first energy storage unit (15) in the first switching state, g) electrically decoupling (1700) the operating supply circuit (100) from the brake module (11.1, 11.2) in the second switching state, h) electrically decoupling (1700) the operating supply circuit (100) from a brake actuator (12.1, 12.2) to provide a service brake function in the second switching state, i) connecting a brake actuator to the redundancy supply circuit (200) in the second switching state, j) controlling the brake module (11.1, 11.2) with at least one control unit (19, 29), k) supplying (1200) the control unit (19) with energy through the first energy storage unit (15), which is connected to the control unit (19) by means of a dedicated supply line, l) monitoring (1300) the operating state of the control unit (19) and the dedicated supply line in the first switching state.

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