Patent ID: 6378960
Filing Date: 2002-04-30
Classification: B60T

Abstract:
A brake for motor vehicles, comprising:a defining unit which determines a driver's desire to brake; an observation unit which determines a desired vehicle handling and an actual vehicle handling; a central controller which, as a function of output signals from the defining unit and the observation unit, determines desired wheel quantities for wheel-selective control of individual brake actuators of vehicle wheels; wherein the desired wheel quantities are a desired wheel force and a desired wheel slip; a force-slip controller, mounted on a vehicle wheel, and connected in front of each brake actuator having a transmission behavior characteristic; and wherein said force-slip controller receives as input signals from the central controller at least the desired wheel force, the desired wheel slip and a wheel reference speed, and receives directly a measured actual wheel force and a measured actual wheel slip or measured actual wheel rotational speed for calculating an actual wheel slip, the transmission behavior characteristic of the brake actuator being modeled exclusively in the force-slip controller, such that as a function of at least one operating parameter, the force-slip controller carries out either a wheel slip control or a wheel force control.