Abstract: A method for controlling a braking system in an all-wheel drive vehicle having a viscous coupling or a viscous lock, wherein a viscous torque acting on a wheel is estimated, the viscous torque is taken into account in estimating a desired braking pressure for the wheel, and the desired braking pressure is applied to the wheel.

Abstract: A method and device that determines a quantity describing a speed of a vehicle. In this method, for at least two wheels, the speeds of these wheels are ascertained, and the quantity describing the speed of the vehicle is ascertained at least as a function of the speed of one selected wheel. The selection of the wheel required for determining the quantity describing the speed of the vehicle takes place at least as a function of an operating state of the vehicle, which is described at least by the speeds of at least two wheels or the quantity ascertained as a function at least of these speeds.

Abstract: A method for controlling a braking system in an all-wheel drive vehicle having a viscous coupling or a viscous lock, wherein a viscous torque acting on a wheel is estimated, the viscous torque is taken into account in estimating a desired braking pressure for the wheel, and the desired braking pressure is applied to the wheel.

Abstract: An apparatus and a process for closed loop control of a motion quantity representing the vehicle motion which means determine the yaw rate of the vehicle, the longitudinal speed of the vehicle, and the transverse acceleration of the vehicle. Moreover, the apparatus influences the forward moment and/or the braking moment of individual wheels of the vehicle. The apparatus further determines a transverse acceleration component dependent on the roadway transverse inclination, as well as correcting the transverse acceleration of the vehicle at least as a function of the transverse acceleration component dependent on the roadway transverse inclination. The determination of the transverse acceleration component dependent on the roadway transverse inclination and also the correction of the transverse acceleration of the vehicle as carried out in a stable state of the vehicle characterized by the yaw rate and the transverse acceleration.

Abstract: At least one controlled variable depending on the rotational speed of the wheels and at least one desired value are sent to a controller. The controller exhibits low-pass behavior, this low-pass behavior being variable depending on whether or not certain operating conditions are present. The invention offers the advantage that excitations of drive train vibrations are effectively suppressed.

Abstract: A method for improving the controllability of motor vehicles during braking wherein desired slip values are determined and adjusted with the aid of a wheel slip controller. According to the method, the following are measured: the yaw rate .psi., the steering angle .delta., the wheel speeds V.sub.Ri, the inlet pressure P.sub.inlet or wheel brake pressure P.sub.i, and, if required, the engine speed and the throttle valve angle. The following variables are estimated using the measured values: the longitudinal vehicle speed V.sub.X, the longitudinal vehicle acceleration V.sub.X, the wheel slip values .lambda..sub.i, the braking forces F.sub.Bi, the tire forces F.sub.Ri, and the transverse speed V.sub.Y. Desired slip values .lambda..sub.i * are then determined from these measured and estimated variables with the aid of a simple vehicle model and supplied to the slip controller to control the vehicle wheel brake pressure.

Abstract: In a vehicular control system in which target braking torques are set for each of the driven wheels, the smaller target braking torque for the driven wheels is determined. Based on this smaller target braking torque, a target engine torque is calculated, and the engine torque is varied to conform to the target engine torque. Residual braking torques are calculated as differences from the target braking torques for each driven wheel and the target engine torque. These residual braking torques are realized by varying the brake pressure. Therefore the target braking torque is split into an engine torque which is equal for both driven wheels and into a braking torque which may be different for each driven wheel.

Abstract: A required yaw rate value is determined based on driver inputs such as steering angle, master cylinder pressure, and throttle butterfly angle. The required yaw rate is compared to a measured actual yaw rate value and the actual yaw moment acceleration is influenced based on the comparison.

Abstract: In a method for detecting the reverse travel of a motor vehicle, the yaw speed and a model yaw-speed are obtained and, with the aid of these variables as well as constants, a factor .THETA.t is determined, which is compared to preselected comparison values. From these comparisons, it is determined whether forward travel or reverse travel exists.

Abstract: To determine the free-rolling wheel peripheral speed V.sub.fRi, the brake pressure at one wheel is reduced at various times and the wheel speed and the braking force at this wheel are then determined. Using the steering angle, the yaw rate and the skew running angle, the speed of the free-rolling wheel can then be estimated.

Abstract: In a method for braking motor vehicle wheels, to reduce a yawing moment produced by an antilock braking system, the build-up of braking pressure on at least one wheel is influenced. The braking pressure on the wheels of one axle is influenced to such an extent that the differential between the braking pressures of one axle does not exceed a maximum permissible value. This maximum permissible value is made dependent upon the vehicle speed and the transversal acceleration.

Abstract: Using a model calculation, desired changes in the yaw rate .DELTA..phi. and the transverse acceleration .DELTA.y are determined from a small change actually made in the steering angle and are compared to measured quantities .DELTA..phi..sub.F and .DELTA.y.sub.F determined on the vehicle. The deviations of the actual values of yaw rate and transverse acceleration from the calculated values are weighted using predetermined weighting factors for the relative importance of yaw rate and transverse acceleration and supplied with factors dependent on the individual wheel; finally, the values relating to the same wheel are added. They represent desired changes in the brake slip values and a controller finally converts these into brake slip value changes.

Abstract: A brake pressure controller increases the brake pressure in pulsed increments separated by pressure maintenance phases. During each maintenance phase, an evaluation circuit generates a stability criterion for each wheel which depends on the wheel acceleration and the slippage. If the criterion indicates that the wheel is stable, a pressure build-up pulse is generated. If the wheel is in dynamic transition, the pressure is maintained. If instability or limited stability is indicated, brake pressure is reduced. The system serves to maximize frequency of the build-up pulses for a stable running wheel.

Abstract: Brake pressure is varied briefly by means of pressure pulses at regular intervals during phases when brake pressure is otherwise maintained constant, and any variations in transverse acceleration at each axle are determined. These variations at the axles are used to modify the wheel slip by varying the brake pressure in order to increase stability while retaining an adequate steerability reserve or vice versa.

Abstract: A brake-pressure controller regulates the brake pressure on the individual wheels according to the instantaneous slip values in comparison with variable desired slip values. The angle of inclination of one wheel of each axle is determined, and the desired slip values are varied as a function of these angles of inclination with the effect of a better vehicle controllability.

Abstract: A process is described for controlling the brake pressure wherein a brake pressure is supplied which corresponds to the desired signal. This pressure is measured. The factors b.sup.+/- and the response times T.sub.o.sup.+/- are identified from the pressure pulses P in the individual control cycles and the actuating times .+-.T of the valves and they are used to convert the desired signal P.sup.x into a control signal .+-.T of such a length that the desired pressure is supplied.

Abstract: An anti-skid brake control system for a motor vehicle includes at least one sensor for determining the deceleration V.sub.R of a vehicle wheel, a device for determining the deceleration V.sub.F of the vehicle, a device for determining the difference D of the vehicle and wheel decelerations (D=V.sub.F -V.sub.R), a control circuit responsive to the difference D for producing brake pressure control signals, and a brake pressure control device for increasing and decreasing the given brake pressure in response to the control signals from the control circuit. The difference D is also supplied to a ladder filter. During phases in which brake pressure is maintained at a constant level, the ladder filter is switched to identification by the control circuit and determines a reflection coefficient. The control signals then affect the brake pressure so as to select a slippage value on a stable branch of the .mu.

Abstract: A brake slippage control is described where the difference .DELTA..lambda. between an acceptable brake slippage .lambda.* and the actual brake slippage is determined. The difference .DELTA..lambda. is supplied to a control amplifier and converted into actuating times for a brake pressure control unit. Magnitude and increase of the reference value required for forming the slippage values .lambda. and .lambda.* is from time to time actualized when the control is switched off.

Abstract: A anti-lock brake control system and/or a drive slip control system is described the slippage value of which for the brake pressure control is to be set close to the maximum of the .mu.-slippage curve, on the stable branch, that is, during the control.For this purpose, a short pressure pulse is generated in a phase where the pressure is maintained constant and the difference of the reference speed and the wheel speed is integrated (J) over a time T.sub.I and the maximum of the difference (D.sub.max) is determined in this time. The two values are divided ##EQU1## and the resulting values is used for determining the slippage.

Abstract: Circuitry is disclosed for converting an input measurement signal V.sub.R(i), which is disturbed at least occasionally by a disturbance function, into an output, undisturbed signal V.sub.R(o) by means of a first digital adaptive filter having variable filter parameters. A control circuit is provided to change to parameters of the second adaptive filter to improve the ability of the system to filter out the disturbance signal. The apparatus includes a series circuit formed by a high pass filter and a second digital adaptive filter, coupled to receive the input signal V.sub.R(i). The control circuit switches the second adaptive filter to the adaptation mode, for determining the filter parameters necessary for suppression of the disturbance function n, when essentially only the disturbance signal reaches the second adaptive filter. Thereafter, the filter parameters of the second adaptive filter are transferred to the first adaptive filter to improve the performance of the first adaptive filter.