Patent Publication Number: US-2022227369-A1

Title: Velocity adjustment system for a vehicle, and method for adjusting a driving velocity

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a U.S. National Phase application under 35 U.S.C. § 371 of International Application No. PCT/EP2020/063400, filed on May 14, 2020, and claims benefit to German Patent Application No. DE 10 2019 113 225 8, filed on May 20, 2019. The International Application was published in German on Nov. 26, 2020 as WO 2020/234095 A1 under PCT Article 21(2). 
    
    
     FIELD 
     The present disclosure relates to a velocity adjustment system for a vehicle, in particular a commercial vehicle, and a method for adjusting a driving velocity of the vehicle. 
     BACKGROUND 
     Vehicles generally have a driver&#39;s control device to be actuated by the driver, in particular an accelerator pedal or driving pedal, for controlling the drive power. Depending on the drive engine, for example a combustion engine, electric motor or hybrid engine, which combines a combustion engine and an electric motor, driver engine request signals entered by the driver via the driver&#39;s control device are evaluated by an engine control device, which subsequently controls the vehicle engine accordingly, for example a fuel supply to the combustion engine or an electric power supply to the electric motor or the multiple electric motors used in the vehicle. Thus, in general, actively depressing the accelerator pedal is interpreted as an acceleration request of the driver and the control of the engine is increased accordingly. In some engine control systems, it is known to design a fast depression of the accelerator pedal as a so-called kick-down, which can set a higher fuel supply to enable higher acceleration. 
     The vehicle generally has one or more brake systems, such as a pneumatic or electro-pneumatic brake system; furthermore, in particular in commercial vehicles, sustained-action brake systems or wear-free brakes, in particular retarder brakes are provided in the powertrain, which can be activated by the driver, if necessary, by an additional actuation device for wear-free braking. Vehicles with electric motors may also have a recuperation mode to recover the—kinetic or potential—vehicle energy as electrical energy, which thus represents a regenerative brake. In order to reduce the driving velocity, i.e. for active braking, the driver generally depresses a brake pedal, which is subsequently read out and evaluated by a brake control device in an electronic brake system, so that braking is set accordingly as a negative acceleration of the vehicle by controlling the wheel brakes and/or sustained action brakes. 
     In the case of vehicles with an electric motor and a recuperation mode, it is also known in principle to start the recuperation mode automatically if the driver withdraws the driving request by releasing the accelerator pedal, i.e. an engine braking process corresponding to the overrun mode of conventional vehicles is used to recover electrical energy. Thus, the recuperation strategies are generally distributed over both pedals. 
     In addition, driving stability controls and comfort control systems are generally provided in the vehicle, which send external braking requests, so-called XBR requests (“eXternal Brake Request”) to the electronic control unit of an electronic brake system, for example for stability controls by asymmetrical activation of the wheel brakes as well as for distance keeping controls. 
     In particular, the transitions between the different systems, especially in the evaluation of the driver request and the assignment of corresponding control signals to the vehicle engine(s) or one of the brake systems, are problematic. In particular, for safety reasons, the availability of the wheel brakes in the form of friction brakes is required, which can build up high vehicle decelerations rapidly. The aim is to achieve a pleasant driving experience for the driver and good controllability of both the acceleration requests and the braking behavior. 
     EP 0 633 155 B1 describes a method for controlling the powertrain of motor vehicles in which accelerator pedal movement processes are monitored and engine power control and shifting operations are analyzed, taking into account engine maps and shift characteristics. Here, power thresholds are selectively generated in the accelerator pedal path in order to display shift thresholds to the driver with a view to optimizing consumption. By means of such methods, the transition between different process stages or control ranges can thus be haptically indicated to the driver. 
     DE 10 2013 202 427 A1 describes a vehicle with an adjustment device arranged in the footwell and a method for controlling the longitudinal movement of the vehicle. Here, the driver can enter his driving requests in particular via a single control zone for acceleration and braking, wherein this control zone can be a touch-sensitive control surface, for example a touchpad. 
     DE 20 2012 005 176 U1 describes an extended brake light for cars and trucks in which an engine request can be activated when the brake pedal is actuated. 
     DE 10 2016 005 117 B3 describes a vehicle with an automatic transmission with which the driver usually outputs a target torque to the drive unit via an accelerator pedal, which automatically adjusts the corresponding gears or transmission ratios of the transmission. In the event of an imminent execution of a gear downshift, the control unit generates a haptic downshift notification by varying the accelerator pedal restoring force. 
     In DE 103 15 253 B4, an accelerator pedal device is described which contains a pedal reaction force provisioning device for providing a reaction force on an accelerator pedal. The reaction force is regulated by the driver on the basis of the degree of depression of the accelerator pedal. 
     SUMMARY 
     In an embodiment, the present disclosure provides a velocity adjustment system for adjusting a driving velocity of a vehicle. The velocity adjustment system includes a driver control device configured to receive actuation input from a driver, the actuation input including an actuation parameter. The system further includes an actuation sensor configured to detect the actuation parameter and to output a sensor signal and a velocity control device configured to record the sensor signal and evaluate the actuation input. The velocity control device is designed to compare the actuation parameter with a reference value and to output, based on the comparison, a request signal to an engine control device or a braking request signal to brake control device of a brake system. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Subject matter of the present disclosure will be described in even greater detail below based on the exemplary figures. All features described and/or illustrated herein can be used alone or combined in different combinations. The features and advantages of various embodiments will become apparent by reading the following detailed description with reference to the attached drawings, which illustrate the following: 
         FIG. 1  shows a block diagram of a vehicle with a velocity adjustment system with a combustion engine, and a brake system which additionally has a retarder braking device; 
         FIG. 2  shows a block diagram of a vehicle with a velocity adjustment system with an electric motor and a service brake system; 
         FIG. 3  shows a block diagram of a vehicle with a velocity adjustment system with a hybrid system; 
         FIG. 4  shows a flowchart of a method; and 
         FIG. 5  shows a signal diagram of the actuation of the velocity adjustment pedal. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure provides for creating a velocity adjustment system for a vehicle and a method for adjusting a driving velocity which enable safe control or regulation of the driving velocity and ease of use for the driver. 
     A velocity adjustment system according to the present disclosure can be used in particular to carry out a method; a method according to the present disclosure can be used in particular with a velocity adjustment system. 
     Here, the velocity adjustment system and the method according to a preferred design can be used with a vehicle engine with electrical recuperation, in particular an electric motor or a hybrid engine with electrical recuperation. 
     According to the present disclosure, a control device to be actuated by the driver is provided, which is to be actuated with an actuation parameter; In particular, a velocity adjustment pedal is provided, which is to be adjusted with a one-dimensional actuation parameter between a lower stop and an upper stop, for example with a swivel angle or correspondingly a linear adjustment. This actuation is read out by an actuation sensor, which accordingly outputs a sensor signal to a velocity control device. The sensor signal can thus represent or reproduce in particular a one-dimensional actuation parameter. In particular, the driver&#39;s control device may produce a one-dimensional adjustment against a restoring force; however, systems with for example a touch-sensitive surface may also be formed, which thus do not sense the mechanical adjustment, but a contact, for example a force or a pressure. 
     The velocity control device then evaluates the sensor signal and thus the driver&#39;s actuation and compares this with a reference value in order to decide, depending on this comparison, whether an engine request signal is output to an engine control device or a braking request signal is output to at least one brake control device. In particular, it can be compared whether the current measured value is smaller or greater than the reference value. The reference value can thus be a neutral pedal angle; thus if the driver enters a larger actuation parameter, for example the driver (velocity adjustment) actuation pedal is depressed more strongly, this is understood as a request of the driver for an acceleration process or for an engine actuation, but in the case of a smaller actuation it is understood as a braking request. Thus, the velocity control device can subsequently directly output an engine request or a braking request. 
     The reference value or the neutral position may be provided, for example at half the actuation travel of the actuation parameter, for example half the pedal travel; however, other designs are also possible here which support the driver&#39;s feel accordingly and thus for example enable finer controllability of the braking process and/or of the acceleration process. The reference value or neutral position can be fixedly predetermined but may also be variable. It can, for example also be changed or learned due to the driver&#39;s behavior in order to enable corresponding individual controllability for the respective driver. 
     The reference value or the neutral position of the actuation parameter may also be dependent on the driving velocity and/or on the velocity of the driver&#39;s actuation, i.e. for example on his pedal angular velocity. 
     A restoring force may also be fixedly predetermined, for example constant, or—corresponding to a restoring spring—may increase with increasing actuation by the driver. In addition, further haptic feedback may also be provided, in particular the neutral position may be indicated as haptic feedback in order to convey to the driver at any time the process currently being controlled by him and to enable a simple restoring capability. Thus for example, a detent may be provided in the neutral position, so that the driver experiences haptic feedback, for example a short-term stop, when passing through the neutral position. 
     In addition to the actuation position of the actuation parameter, the changes against time can also be evaluated; thus, a kick-down or a fast actuation of the driver&#39;s (velocity adjustment) control device can be understood as a request for rapid engine acceleration and—as is known—can be used for an increased power request. Furthermore, a fast release or a fast reset of the driver&#39;s (velocity adjustment) control device can also be assessed as a fast braking process, which is preferably used by the velocity control device, for example, not as a recuperation mode, but completely or additionally using the service brakes or friction brakes to enable safe braking with high deceleration. Thus, a fast or complete release of the driver&#39;s control device can also be understood as emergency braking. 
     When using an electric motor or a hybrid engine with electrical recuperation, the velocity control device may initially use braking processes requested by the driver for electrical recuperation, in particular as far as possible or useful. Thus, when a braking request by the driver is detected, the engine control device can first be activated with a recuperation request signal. In the case of for example higher deceleration requests or even in driving ranges with unfavorable recuperation properties, for example low driving velocity, the velocity control device can also directly control another brake system, for example a sustained-action brake (retarder) as a wear-free brake. 
     The velocity control device can also evaluate the respective driving situations, for example the driving velocity and coefficients of friction of the roads or the previous slip behavior of the wheels, wherein the differential slip can also be monitored, and can take this into account during control, for example also when selecting the brake system or the requested braking forces. The velocity control device can do this for example in worse adhesion conditions in which a pure reduction of the drive power is not sufficient and can then already activate a brake system. 
     This can be advantageously carried out by the velocity control device by means of braking request signals, wherein these braking request signals are output to the electronic brake control device as XBR signals, i.e.—as well as for example requests of comfort control systems or driving stability control systems—via a data system, for example a vehicle bus. These are then used as an XBR request to control the brake. This enables cost-effective implementation, especially the implementation of the velocity adjustment system in a vehicle with other control systems, in particular safety systems and comfort systems, since such XBR requests are known as such and are standardized and ensure a high level of safety. The brake system already has all the information available to make an assessment between recuperation and driving stability, for example based on the slip behavior of the wheels and/or the braking capability, so that advantageously all available brakes can be used seamlessly. This preferably includes both the friction brakes and the sustained action brakes (for example a retarder or an electric motor operated as a generator) and taking into account the braking availability of the electric motor operated as a generator in terms of the battery level or, in the other case, taking into account the expected utilization of the coefficient of friction in order to proactively exclude ABS intervention. 
     Since the driver thus basically inputs both acceleration requests and braking requests as actuation parameters via a common control device, in particular a common acceleration pedal or velocity adjustment pedal, the time-consuming operation changeover required when using an accelerator pedal and a separate brake pedal, i.e. first releasing the accelerator pedal and changing to the brake pedal, which require a considerable amount of time and may be too slow in stressful situations, is basically no longer necessary. The driver can enter his braking and acceleration requests via the common driver&#39;s control device. Thus, for example in situations where the driving velocity has to be reduced, the driver does not first have to consider whether releasing the accelerator pedal with the onset of the thrust effect of the engine is sufficient or whether active additional braking is required; he can directly reduce the velocity faster or slower by adjusting the actuation parameter, wherein the respective evaluation is then carried out by the velocity control device. 
     Thus, in principle, an adjustment of the driving velocity by the driver is possible via the one driver&#39;s control device, in particular the velocity adjustment pedal. In addition, in particular for safety reasons, an additional brake control, in particular a brake pedal, may be provided, which—as is known—directly issues a braking request when actuated. This driver braking request can be issued directly to the brake control device, i.e. not via the velocity control device, in particular for effective service braking. This ensures at any time that the driver can trigger fast and safe braking by pressing the brake pedal in the event of a detected danger or other high braking request—in a haptically known manner. Such a driver braking request is thus preferably directly read out in a conventional manner by the electronic brake control device and not recognized as an XBR request via the vehicle data system. 
     The use of sustained action brakes can also be combined in a way that is comfortable for the driver; here, a combined control of retarders and other brake systems is advantageous for the braking behavior and wear adjustment. 
     This also improves the driving feel and the braking feel for the driver; a velocity control system and a method are created which allow braking which is controlled in a deceleration-oriented manner for the driver, unlike conventional torque-oriented braking. The driver controls the driving velocity via the driver&#39;s control device instead of being oriented to the braking requests which he has to enter. 
     Embodiments of the disclosure are explained in more detail below on the basis of the enclosed drawings of some embodiments. 
     A vehicle  1  is in particular a commercial vehicle here which, according to the embodiment of  FIG. 1 , has a velocity adjustment system  2 , wherein the vehicle  1  has a powertrain  17  and a brake system  12  and the velocity adjustment system  2  controls elements of the powertrain  17  and the brake systems  12  as described below: 
     The driver actuates a driver&#39;s control device which is designed according to this embodiment as a velocity adjustment pedal  3 . The velocity adjustment pedal  3  can be adjustable by the driver&#39;s foot in the usual design along a pedal angle, which in this case represents the actuation parameter a. However, a different actuation parameter a may also be provided, for example also a linear adjustment. The driver can also press a control surface for example and can exert a force or a pressure (force per area) as an actuation parameter a, i.e. without, or without relevant, mechanical adjustment of the control device; the control surface may thus also be for example a touch sensitive surface, for example a touch surface. 
     The pedal angle as an actuation parameter a is measured by an actuation sensor  4 , which outputs a sensor signal S 1  to a velocity control device  5 : thus, the sensor signal S 1  represents the actuation parameter α, in particular as a parameter value between a lower sensor value α_ 1  (for example an unactuated upper position of the pedal) and an upper sensor value α_t (fully actuated, lower pedal position). 
     The velocity control device  5  compares the received sensor signal S 1  with a reference value α 0 , which may in particular be a resting position or neutral position, in particular a resting angle, which can represent, for example, half the pedal position between the minimum value α_ 1  and the maximum value α_t . The reference value α 0  can be specified in particular, but it may—as will be explained below—also be variable, for example may also be learned or adapted. The velocity control device  5  thus compares the current pedal angle represented by the current sensor signal S 1  with the reference value α 0 . 
     This is also shown in  FIG. 4 : after the start in step St 0 , the actuations of the velocity adjustment pedal  3  are continuously read out according to step St 1  and, depending on this actuation, the sensor signals S 1  are generated and output to the velocity control device  5 . The velocity control device  5  then carries out an evaluation according to step St 2 , in which it thus compares the current pedal angle as an actuation parameter a with the reference value a 0  and, depending on this comparison, if necessary additionally depending on other criteria, outputs control signals S 2 , S 4 , S 10 , S 102 : 
       FIG. 5  shows a signal diagram in which the actuation parameter α, here thus the pedal angle, or a corresponding relative actuation value w between 0% and 100% is shown on the abscissa, and an analog signal value of the sensor signal S 1  is shown on the ordinate. 
     From the unactuated position α_ 1  or w=0 up to the reference value α 0 , i.e. for example the relative actuation value w=0.5 (50%), the velocity control device  5  indicates a braking process, i.e. the driver will initiate a braking process by actuating the velocity adjustment pedal  3 . According to  FIG. 1 , the velocity adjustment pedal  3  is located in the brake region B. 
     With a further actuation, i.e. α&gt;α 0  or w&gt;0.5, the velocity adjustment pedal  3  is located in the drive region A; this is interpreted as an active driving request, i.e. here the driver wants to influence the drive of the vehicle  1  accordingly due to the active actuation. This behavior thus corresponds to the usual depression of an accelerator pedal by the driver, with which he controls a drive power which can thus represent, for example, maintaining the current driving velocity v, and accordingly indicates an acceleration process on further actuation, i.e. an increase in the pedal angle, i.e. an acceleration α=dv/dt is &gt;0 here. 
     Thus, the velocity adjustment pedal  3  combines a usual velocity pedal with a conventional brake pedal, wherein the neutral position as α 0  reflects the transition of these regions. 
     The reference value α 0  can thus be fixedly predetermined; but it can also be variable, for example as a function of the driving velocity v, as a function of the relative pedal velocity or the adjustment velocity dα/dt or a pedal gradient against time, depending on the maximum pedal positions set by the driver, whereby the anatomical characteristics are taken into account. 
     According to  FIG. 5 , braking is thus detected when the velocity adjustment pedal  3  is initially actuated, for example at the start of the journey; when the pedal is depressed, the driver first reduces the braking request and finally releases the brake on reaching the reference value α 0 . With further actuation, the drive region A is reached, which is assessed as the actuation of an accelerator pedal, i.e. as a drive request. In the case of a slow reduction of the pedal angle as an actuation parameter α, for example a velocity reduction, i.e. a reduction in engine power, is input accordingly, and on falling below the reference value α 0  it is again detected that no more drive power is to be applied and braking power is to be applied again. 
     In principle, for example a fast release can be interpreted as a braking request at any pedal angle, i.e. if necessary the drive power is terminated immediately and a braking process, for example also emergency braking, is applied. Accordingly, for example at any pedal angle a a fast depression can be interpreted as a drive request, i.e. as a kick-down for a high acceleration a of the vehicle  1 . 
     The velocity control device  5  thus activates different control signals S 2 , S 4 , S 10 , S 10 , S 102  according to  FIG. 1  depending on the assessment in step St 2 : 
     If the velocity control device  5  detects in step St 2  that a drive power is to be controlled, it outputs an engine control signal S 2  in step St 3 , here to an engine control device  6 , which in turn activates a vehicle engine in the usual way in step St 4  with an engine control signal S 3 , hence a combustion engine  7  in this case. 
     If, on the other hand, the velocity control device  5  detects an active braking process, in step St 5  it activates a brake control device  10  with a braking request signal S 4 , which thus represents an XBR signal and which is transmitted via a vehicle-internal communication system, in particular a data bus, for example a CAN bus  19 . In principle, the electric brake control device  10  can control different braking devices, in particular it can be used in step St 6  for example by outputting electric brake control signals S 5 , S 6 , S 7 , S 8  to one or more electropneumatic valves, for example an axle modulator and/or a relay-proportional valve  22 , which subsequently outputs pneumatic brake signals S 9  to the wheel brakes  13 ,  14 ,  15 ,  16  in step St 7 . 
     Furthermore, the electric brake control device  10  can also output a retarder request signal S 10  to a retarder control device  8 , which controls retarder braking by a retarder  9 , via a vehicle-internal communication system, in particular a data bus, for example the same CAN bus  19  or another data bus. 
     With α=α 0 , i.e. if the actuation parameter a is equal to the reference value α 0 , however, no output of a signal is required, so that in this case the method is reset before the step St 2 . 
     The selection of the brake system can be made depending on other criteria KB, such as one or more of the following braking selection criteria KB: driving velocity v, required target deceleration a_soll, wheel revolution rate, vehicle mass, axle load distribution, adhesion conditions or the coefficient of friction of the road. 
     The vehicle  1  may have in particular an EBS (electronic brake system) as the service brake system  12 , so that the brake control device  10  consequently outputs electric brake control signals S 5 , S 6 , S 7 , S 8  for the activation of pneumatic wheel brakes  13 ,  14 ,  15 , 16 . In this case, for example proportional relay valves are provided on the axles or a proportional relay valve is provided on each axle, which can receive the brake control signals S 5 , S 6 , S 7  and/or S 8  and thus outputs a pneumatic brake pressure p to the respective pneumatic wheel brake  12 ,  13 ,  14  or  15  depending thereon. 
     According to this embodiment, furthermore, i.e. in addition to the velocity adjustment pedal  3 , a brake pedal  20  is provided, which the driver actuates directly and which outputs a driver brake signal S 20  to the brake control device  10  via an electric output. The brake control device  10  can thus control the service brakes directly as a function of the driver brake signal S 20 , and/or depending on the velocity adjustment control device  5 . 
     Due to the additional driver&#39;s brake pedal  20 , increased safety is provided, especially if the activation of the velocity adjustment control device  5  is not understood as a sufficient braking request, so that the driver can directly apply service braking at any time. 
     A spring preload is advantageously provided on the velocity adjustment pedal  3 , i.e. a return spring  11 , which moves the velocity adjustment pedal  3  into the unactuated position α_ 1 . The return spring  11  can be linear or non-linear, especially with haptically perceived curves (feeling curve). Here, for example, a detent may also be provided at the reference value (neutral position) α 0 , so that the driver can haptically recognize the neutral position “do not drive, do not brake”. 
     The velocity control device  5  can thus in particular also evaluate the pedal acceleration da/dt and for example in the event of a fast actuation (kick-down)—as is also customary when reading an accelerator pedal—can detect an increased power request or a higher velocity than the pure pedal position of the pedal angle a expresses directly. Accordingly, a fast release of the velocity adjustment pedal  3 , i.e. a high negative value of dα/dt, can be detected as a fast braking process, even if it assumes a pedal position α in the drive region A. Thus, according to step St 2 , not only can the direct comparison of the pedal angle α with the neutral position α 0  be carried out, but also an evaluation of dα/dt, i.e. the dynamic behavior, for example as a comparison with threshold values SW 1 , SW 2 . 
     In the embodiment of  FIG. 2 , the velocity adjustment system  102  has an electric motor  107  instead of a combustion engine, the engine control device  106  of which in turn is controlled by the velocity control device  5  by engine request signals S 2 . Here it is advantageously provided that the velocity control device  5  can also request a braking power of the electric motor  107  as a recuperation mode or as energy recovery by recuperation request signals S 102 . In principle, the engine control device  106  can also decide when it will set recuperation mode. Also in this embodiment according to  FIG. 2  a service brake system is advantageously additionally provided with a brake control device  10  and advantageously also a supplementary brake pedal  20 . 
     In the embodiment of  FIG. 3 , a hybrid system  202  is present, in which the designs of  FIGS. 1 and 2  are thus combined. Thus, there is a hybrid powertrain  217  with an engine control device  206 , which can control a combustion engine  7  and/or an electric motor  107 , which together form the hybrid engine  207 . Here, too, a recuperation mode can be requested. 
     While subject matter of the present disclosure has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. Any statement made herein characterizing the invention is also to be considered illustrative or exemplary and not restrictive as the invention is defined by the claims. It will be understood that changes and modifications may be made, by those of ordinary skill in the art, within the scope of the following claims, which may include any combination of features from different embodiments described above. 
     The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C. 
     REFERENCE CHARACTER LIST (PART OF THE DESCRIPTION) 
       1  Vehicle 
       2 ,  102 ,  202  Velocity adjustment System 
       3  Velocity adjustment pedal, Driver&#39;s control device 
       4  Actuation sensor 
       5  Velocity control device 
       6 ,  106 ,  206  Engine control device 
       7  Combustion engine 
       8  Retarder control device, 
       9  Retarder (Endurance brake) 
       10  Brake control device 
       11  Return spring, spring preload 
       12  Brake system combining for example a service brake system and a retarder brake system, 
       13 ,  14 ,  15 , 16  Pneumatic wheel brakes 
       17 ,  117 ,  217  Powertrain 
       19  Vehicle-internal communication system, for example CAN bus 
       20  Driver brake pedal 
       22  Relay-proportional valve 
       107  Electric motor 
     α Actuation parameter, for example pedal angle 
     α 0  Reference value, in particular rest position, neutral position, center angle, for example half pedal position 
     α_ 1  Minimum value (for example unactuated position of the velocity adjustment pedal  3 ) 
     α_t Maximum value (for example actuated position of the velocity adjustment pedal  3 ) 
     dα/dt Actuation velocity, for example pedal actuation velocity 
     w Relative actuation value, between 0% and 100% 
     v Driving velocity 
     α=dv/dt Vehicle acceleration 
     a_soll Target deceleration 
     A Drive region, for α&gt;α 0  or w&gt;50%, 
     B Braking region, for α&lt;α 0  or w&lt;50% 
     S 1  Sensor signal 
     S 2  Engine request signal of the velocity control device  5  to the engine control device  6 ,  106 ,  206   
     S 3  Engine control signal of the engine control device  6  to the combustion engine  7  and the engine control device  106  to the combustion engine  107   
     S 3   a  Engine control signal  206  to the combustion engine  7   
     S 3   b  Engine control signal  206  to the combustion engine  107   
     S 4  Braking request signal, especially XBR signal 
     S 5 , S 6 , S 7 , S 8  Brake control signals 
     S 9  Pneumatic brake signal 
     S 10  Retarder request Signal 
     S 20  Driver brake signal to the brake control device  10   
     S 102  Recuperation request signal 
     P Pneumatic brake pressure