Abstract
In 1996, Daimler AG was the first manufacturer who introduced an electronic brake system (EBS) for commercial vehicles above 7.5 t [1]. The brake system includes a function which controls the slip on different axles and therefore replaces the load sensing valve [2], [3]. In comparison to pneumatic brake systems, the EBS has further advantages such as a shorter response time, load independent and inertial referenced deceleration requests and brake wear harmonization.
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