Method for determining a wheel brake pressure

In a motor vehicle having a plurality of wheel brakes, each brake having inlet and outlet valves for transmitting a pressure agent to and from the brakes, respectively, said vehicle having means for determining the angular velocity of the wheels of the vehicle, means for determining the velocity of the vehicle, and means for determining the volume of the pressure medium taken up or released by the wheel brakes, a method for controlling the value opening and closing times in the wheel brakes of the vehicle, comprising the steps of:

• determining opening and closing times for the inlet and outlet valves to apply the pressure agent to, or release the pressure agent from, each respective brake, individually, to implement a desired braking operation;
• calculating the angular velocity of the wheels and the velocity of the vehicle in an evaluation unit, based on the opening and closing times for the inlet and outlet valves of the wheel brakes;
• comparing the calculated angular velocity of the wheels and calculated velocity of the vehicle with corresponding values of the angular velocity of the wheels and velocity of the vehicle determined by the angular velocity determining means and vehicle velocity determining means, respectively;
• determining correction variables based on the comparison;
• and
• adjusting the valve opening and closing times, based on the correction variables.