US 12,403,870 B2
Method for detecting a resistance on a brake pedal pulled by an actuator and method for controlling an actuator
David Steinmann, Weibern (DE); Dominik Schmidt, Boppard (DE); Patrick Wiedner, Koblenz (DE); Stefan Schmitz, Faid (DE); and Andreas Hoehn, Dreikirchen (DE)
Assigned to ZF ACTIVE SAFETY GMBH, Koblenz (DE)
Filed by ZF Active Safety GmbH, Koblenz (DE)
Filed on Oct. 12, 2022, as Appl. No. 17/964,087.
Claims priority of application No. 102021126461.8 (DE), filed on Oct. 13, 2021.
Prior Publication US 2023/0111431 A1, Apr. 13, 2023
Int. Cl. B60T 8/172 (2006.01); B60T 7/04 (2006.01); B60T 8/40 (2006.01); B60T 13/66 (2006.01)
CPC B60T 7/042 (2013.01) [B60T 8/172 (2013.01); B60T 8/4077 (2013.01); B60T 13/662 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for detecting a resistance on a movement of a brake pedal of a brake system when the brake pedal is pulled by an actuator in response to a brake request from a driver independent brake system, the method comprising:
measuring a position or a travel of an actuating element of the actuator during the movement of the brake pedal;
measuring a position or travel of the brake pedal or an input piston coupled to the brake pedal during the movement of the brake pedal;
calculating a position dependent force component acting upon the brake pedal based on the measured position or travel of the actuating element and the measured position or travel of the brake pedal or the input piston coupled to the brake pedal, the position dependent force component defining a tensile force operating on the brake pedal, wherein the tensile force is below a predefined threshold in the absence of the resistance on the movement of the brake pedal:
measuring a relative speed between the movement of the actuating element and the movement of the brake pedal or the input piston coupled to the brake pedal;
calculating a speed dependent force component acting upon the brake pedal based on the measured relative speed between the movement of the actuating element and the movement of the brake pedal or the input piston coupled to the brake pedal, the speed dependent force component corresponding to a change in acceleration of the movement of the brake pedal in the presence of the resistance on the movement of the brake pedal;
calculating a total force acting upon the brake pedal based on the calculated position dependent force and the calculated speed dependent force during a time period when the brake pedal is pulled by the actuator in response to the brake request from the driver independent brake system; and
detecting the resistance on the movement of the brake pedal during an operation of the actuator in response to the total force exceeding a predefined threshold.