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 |
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.
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