US 12,441,314 B2
Method for controlling a change in the direction of travel of a working vehicle between forward travel and rearward travel or vice versa
Mirko Brütt, Springe (DE); Michael Haverkamp, Hannover (DE); and Jan Spremberg, Wennigsen (DE)
Assigned to ZF CV SYSTEMS GLOBAL GMBH, Bern (CH)
Appl. No. 18/264,791
Filed by ZF CV SYSTEMS GLOBAL GMBH, Bern (CH)
PCT Filed Jan. 31, 2022, PCT No. PCT/EP2022/052204
§ 371(c)(1), (2) Date Aug. 9, 2023,
PCT Pub. No. WO2022/171475, PCT Pub. Date Aug. 18, 2022.
Claims priority of application No. 10 2021 102 940.6 (DE), filed on Feb. 9, 2021; and application No. 10 2021 125 481.7 (DE), filed on Oct. 1, 2021.
Prior Publication US 2024/0051537 A1, Feb. 15, 2024
Int. Cl. B60W 30/18 (2012.01); B60W 10/188 (2012.01); B60W 30/14 (2006.01); B60W 40/105 (2012.01)
CPC B60W 30/18045 (2013.01) [B60W 10/188 (2013.01); B60W 30/146 (2013.01); B60W 40/105 (2013.01); B60W 2300/121 (2013.01); B60W 2300/14 (2013.01); B60W 2300/152 (2013.01); B60W 2510/182 (2013.01); B60W 2520/06 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method for controlling a change in a direction of travel of a working vehicle between forward travel and rearward travel or vice versa, wherein the working vehicle has an electronically controllable hydrostatic drive, has a power-operated brake system with at least one electronically controllable brake circuit, and has an electronic brake-control unit for controlling the hydrostatic drive and for controlling the at least one electronically controllable brake circuit of the brake system, the method comprising:
triggering, by a switchover of the hydrostatic drive by means of an assigned manual operating element and while the work vehicle is traveling in a first direction of travel, the change in the direction of travel from the first direction of travel to an opposite second direction of travel;
automatically actuating the brakes, by the electronically controllable brake circuit of the brake system, thereby assisting the deceleration of the working vehicle, wherein automatically actuating the brakes includes triggering actuation by the switchover using the operating element;
releasing the brakes no later than when the working vehicle comes to a standstill;
detecting, by a sensor, a driving speed of the working vehicle;
detecting, by a sensor, at least one operating parameter, characterizing a mechanical loading of a hydrostatic drive train of the hydrostatic drive;
transmitting the driving speed and the at least one operating parameter to the electronic brake-control unit; and
determining, as a function of the driving speed of the working vehicleand the value of the at least one operating parameter, a brake pressure to be fed into the brake cylinders of the brakes of the electronically controllable brake circuit in the brake-control unit.