Brake system for a vehicle, and control device for a brake system, and method for braking a vehicle

A Control device for a brake system of a vehicle including at least a first axle and a second axle, each axle comprising two wheels, the control device comprising:

• a first connection interface configured to receive data representing:
• a bump parameter comprising at least one of a roll rate of the vehicle and an acceleration of the vehicle against gravity direction,
• data representing a wheel speed of each wheel of the vehicle, and
• data representing a yaw rate of the vehicle;
• a second connection interface configured to transmit control commands to a hydraulic brake circuit of the brake system;
• wherein the control device is configured to
• determine a slip rate of each wheel based on the received wheel speeds;
• generate first control commands for the hydraulic brake circuit for a first anti-locking brake system operation when the bump parameter exceeds a predetermined bump parameter threshold, the first anti-locking brake system operation comprising applying a first braking force to the each wheel, wherein the first braking force is controlled such that a slip rate of each wheel lies within a predetermined first range;
• and
• generate second control commands for the hydraulic brake circuit for a second anti-locking brake system operation when the bump parameter is below the predetermined bump parameter threshold and when the slip rate of one or more of the wheels exceeds a predetermined slip rate threshold, the second anti-locking brake system operation comprising applying a second braking force to each wheel, wherein the second braking force is controlled such that the slip rate of each wheel is set so that the yaw rate of the vehicle lies within a predetermined yaw rate range.