Method for operating a brake device of a vehicle with a brake pressure difference on an axle adapted as a function of a steer input

A device for operating a brake device of a vehicle with brake slip regulation (ABS) on roadways with different friction coefficients on different sides, as a result of which a braking yaw moment is imparted to the vehicle during braking, comprising:

• at least one brake actuator per wheel of the axle, the brake actuator being controllable electrically, directly or indirectly, and being actuated by pressure medium;
• at least one brake pressure sensor per brake actuator for producing sensor signals dependent on the brake pressure acting in the respective brake actuator;
• at least one steering angle sensor for producing sensor signals dependent on the steer input;
• at least one yaw rate sensor for producing sensor signals dependent on the yaw rate of the vehicle or on yaw rates acting on the vehicle;
• and
• an electronic control unit configured to adapt the brake pressure difference between the brake pressure at the wheel with the higher friction coefficient and the brake pressure at the wheel with the lower friction coefficient as a function of the sensor signals produced by the steering angle sensor, the yaw rate sensor and the brake pressure sensors;
• wherein there is a modification of an absolute value of the absolute brake pressure difference between the wheel with the higher friction coefficient and the wheel with the lower friction coefficient,
• wherein the modification occurs as a function of a steering input, intended to produce a yaw moment acting counter to a braking yaw moment, by at least one of a driver and an automatically intervening auxiliary steering system, and
• wherein the actual yaw rate of the vehicle is adjusted by closed-loop control to a setpoint yaw rate as a function of the steering input by the at least one of the driver and the auxiliary steering system by modifying the absolute value of the brake pressure difference or the differential brake pressure value, wherein the brake pressure difference represents a manipulated variable of the closed-loop control system, so that by the closed-loop control, stability of the vehicle is given priority, and the absolute value of the brake pressure difference at the axle is adapted on a continuous basis so as to minimize a system deviation, and
• wherein there is an incorrect steering input in the presence of a braking yaw moment, so that the actual yaw rate increases so as to reduce driving stability, the differential brake pressure value is reduced to avoid further increasing the instability or to reduce the braking yaw moment through a reduced asymmetry of the braking forces.