US 11,945,425 B2
Method for braking a vehicle for carrying passengers, control unit, and vehicle for carrying passengers
Richard Matthaei, Hameln (DE); Thomas Dieckmann, Pattensen (DE); Waldemar Kamischke, Neustadt (DE); and Janik Ricke, Uetze (DE)
Assigned to ZF CV SYSTEMS GLOBAL GMBH, Bern (CH)
Appl. No. 17/795,239
Filed by ZF CV Systems Global GmbH, Bern (CH)
PCT Filed Feb. 14, 2020, PCT No. PCT/EP2020/053929
§ 371(c)(1), (2) Date Jul. 26, 2022,
PCT Pub. No. WO2021/160287, PCT Pub. Date Aug. 19, 2021.
Prior Publication US 2023/0068079 A1, Mar. 2, 2023
Int. Cl. B60T 7/12 (2006.01); B60T 7/22 (2006.01); B60T 8/171 (2006.01); B60T 8/1755 (2006.01); B60W 10/10 (2012.01); B60W 10/184 (2012.01); B60W 30/09 (2012.01)
CPC B60T 7/12 (2013.01) [B60T 7/22 (2013.01); B60T 8/171 (2013.01); B60T 8/17558 (2013.01); B60W 10/10 (2013.01); B60W 10/184 (2013.01); B60W 30/09 (2013.01); B60T 2201/022 (2013.01); B60T 2201/12 (2013.01); B60T 2210/10 (2013.01); B60T 2210/32 (2013.01); B60T 2250/00 (2013.01); B60T 2250/04 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2540/01 (2020.02); B60W 2552/00 (2020.02); B60W 2710/10 (2013.01); B60W 2710/18 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A method for braking a vehicle for carrying passengers, comprising:
checking whether a trigger criterion for braking the vehicle for carrying passengers is present; and
if the trigger criterion is satisfied, causing a conditioning braking pulse through pulsed braking of the vehicle configured to cause a predetermined magnitude of deceleration of the vehicle, and immediately thereafter initiating a braking phase,
wherein, in the braking phase, the vehicle is braked using a braking system in at least two partial braking regions by an actual ego deceleration that varies with respect to time, wherein each partial braking region is extended over a partial braking interval,
wherein the partial braking regions merge into one another without the actual ego deceleration changing such that an actual jerk of the vehicle is less than 2 m/s3, and the actual ego deceleration in at least one of the partial braking regions is changed continuously over the respective partial braking interval such that a different actual jerk is obtained in each partial braking region, and
wherein the actual jerk behaves degressively over at least some partial braking regions of the braking phase.