ABS-or. Anti-skid system with fault tolerance due to failure of a speed sensor

摘要

To determine a reference speed (v¶ref¶) approximating the actual vehicle speed, at least two wheel sensors (8, 9; 10, 11) are provided for each wheel speed to be measured (v¶i¶). When determining the reference speed, all the existing wheel sensors (8-11) are evaluated, but the reference speed (v¶ref¶) is currently only based on one of the existing wheel sensors (8-11). The wheel sensor (8-11) which is currently decisive for the reference speed determination is selected as a function of the current driving state and at least one predefined speed criterion. At least one sensor is always available to control each wheel, even if one sensor is faulty.