主权项 |
1. A method for ensuring a braking effect of a brake system having a service brake system for building up a braking torque independently of a driver at least one wheel, a parking brake which is activated with extraneous force at least one wheel, and at least one wheel rotational speed sensor at a wheel associated with the service brake system, the method comprising the following steps:
a) building up braking torque via the service brake system in accordance with a deceleration request, b) determining a deceleration variable of the vehicle, c) determining a slip variable of at least one wheel, d) comparing the deceleration variable with a deceleration target value, e) comparing the determined slip variable with a slip threshold value, f) determining that the deceleration variable is smaller than the deceleration target value and that the slip variable is smaller than the slip threshold value, and g) activating the parking brake upon determining that the deceleration variable is smaller than the deceleration target value and that the slip variable is smaller than the slip threshold value. |