Abstract: Method and device for controlling the braking action of at least one wheel brake of a four-wheel-drive motor vehicle having at least one rear axle and one front axle. A first rpm signal representing the speeds of rotation of the front-axle wheels and a second rpm signal representing the speeds of rotation of the rear-axle wheels are detected. The difference between the first and second rpm signals is then determined, and braking action is controlled as a function of the difference that has been determined.

Abstract: When a normal braking is performed, a master cylinder (32) and wheel cylinders (44FR, 44FL, 44RR, 44RL) are set to a conducting state. When an emergency braking is performed, the master cylinder and the wheel cylinders are joined together so that a large brake force can be generated. If the wheel cylinders are connected to an accumulator soon after the emergency braking, an increase in the wheel cylinder pressure can be prevented. Even after the emergency braking, the wheel cylinders and the master cylinder are maintained in the conducting state while the master cylinder pressure is rapidly increasing.

Abstract: A method for monitoring a braking system contained in a vehicle. The braking system includes at least one brake circuit. The brake circuit, on the output side, contains valve configurations, to which wheel brake cylinders allocated to the brake circuit are connected. The braking system furthermore has at least one pump capable of delivering braking medium to at least two wheel brake cylinders. During predetermined vehicle states, the at least one pump is actuated and the first valve configurations are driven by predefined driving signals. Ascertained for at least one wheel of the vehicle during the actuation of the pump and the first valve configurations is a wheel-performance variable which describes the wheel performance, in particular the wheel-rotation performance, of the corresponding wheel. The braking system is checked for a first and/or second fault as a function of this wheel-performance variable.

Abstract: A braking force controlling apparatus changes a magnitude of a braking force produced by a braking operation based on a speed of the braking operation. The braking force controlling apparatus is directed to maintaining a brake-assisting control even when a beginner unintentionally releases a braking operation force on a brake pedal. A hydraulic pressure sensor (40) detects a master cylinder pressure, and a maximum master cylinder pressure during the braking operation of the brake pedal (30) is stored in an ECU (10). When the master cylinder pressure is found to be below a release-judgment level of the master cylinder pressure, which is determined based on the maximum master cylinder pressure, the brake-assisting control is terminated. When the master cylinder pressure is found to be above the release-judgment level, the brake-assisting control is maintained.