CN101046421A - ABS measuring method and system - Google Patents
ABS measuring method and system Download PDFInfo
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- CN101046421A CN101046421A CN 200610034807 CN200610034807A CN101046421A CN 101046421 A CN101046421 A CN 101046421A CN 200610034807 CN200610034807 CN 200610034807 CN 200610034807 A CN200610034807 A CN 200610034807A CN 101046421 A CN101046421 A CN 101046421A
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Abstract
The ABS measuring method includes the following steps: setting simulating work state parameters of wheel in motor vehicle, accelerating the wheel and performing ABS braking, acquiring relevant operating data of the motor vehicle and ABS operating data, and analyzing the ABS braking performance with the data. The ABS measuring system includes an operating unit, a power unit, and an ABS, as well as a vehicle body simulating unit and a managing unit. The vehicle body simulating unit includes a guide wheel, a belt, a wheel, a wheel pressing module and a brake wheel cylinder connected to ABS. The present invention is safe and practical.
Description
Technical field
The present invention relates to test, relate in particular to a kind of ABS method of testing and system.
Background technology
Along with the development of automotive engineering, more and more higher for the requirement of the security performance of automobile, be equipped with safety feature to automobile and become standard configuration, anti-blocking unit for brake ABS commonly used has just almost become indispensable configuration.
The program debug of antilock device ABS and parameter matching are extremely complicated processes, also are extremely dangerous processes, because for different vehicles or different road conditions, its parameter changes all greatly, and unmatched parameter can make to lose control of one's vehicle, causes danger.
In the prior art, the parameter matching of most of ABS and program debug are all finished by real-time driving on road, and this just makes debugging work lack completeness, and is abnormally dangerous.
Summary of the invention
The object of the present invention is to provide a kind of completeness strong ABS method of testing and system, finish by real-time driving for the debugging of ABS to solve in the prior art, debugging work lacks complete problem.
ABS method of testing of the present invention adopts following steps:
A, the simulated wheel working status parameter of motor vehicle is set;
B, acceleration wheel adopt abs braking;
C, the relevant motor vehicle service data of collection and ABS service data;
D, according to described data analysis abs braking performance.
Described steps A comprises the steps:
The road surface curve separately of A1, four wheels of configuration, the corresponding relation of described road surface curve reflection corresponding wheel stroke and attachment coefficient;
A2, apply corresponding snap-in force to each wheel according to described road surface curve.
Described step B comprises the steps:
B1, wheel quicken to be rotated, until the speed of a motor vehicle of setting;
B2, brake hard start ABS.
Among the described step C: described motor vehicle service data comprises wheel wheel speed signal, vehicle speed signal, acceleration signal, braking starting point and corresponding time thereof, speed of a motor vehicle calculated value when described ABS service data comprises ABS work and corresponding time thereof.
Described ABS converses corresponding speed of a motor vehicle calculated value according to the wheel wheel speed signal.
Described step D comprises the steps:
D1, calculating actual vehicle speed and actual car body retarded velocity produce car body retarded velocity calculated value according to speed of a motor vehicle calculated value and corresponding time thereof;
D2, speed of a motor vehicle calculated value and speed of a motor vehicle actual value are compared, draw the pairing rate curve of each wheel.
Among the described step D2, also comprise and draw the pairing snap-in force curve of each wheel.
This ABS test macro comprises actuation unit, power unit and ABS, and described actuation unit produces and quickens or brake signal, makes power unit and ABS enter the relevant work state, it is characterized in that: also comprise car body analogue unit and administrative unit, wherein,
Described car body analogue unit comprises two fixing guide wheels, belt, four fixing wheels, and compression module corresponding with each wheel and brake cylinder;
Described belt is installed and connected between two guide wheels, and four wheels pass through the torque of belt gear guide wheel;
Described compression module is for providing snap-in force between wheel and the belt;
Described brake cylinder links to each other with ABS, by ABS to corresponding wheel braking;
The snap-in force of described administrative unit control compression module, operation according to the signal controlling power unit of actuation unit, this administrative unit is gathered relevant motor vehicle service data and ABS service data by actuation unit, ABS and car body analogue unit, and the data of gathering are calculated, analyzed.
Described compression module comprises contact roller and cylinder, and described cylinder is according to the administrative unit pressure signal, and the proportioning valve by inside provides respective pinch power to contact roller, and contact roller is replaced belt and corresponding wheel.
Described actuation unit comprises oil can, master cylinder, acceleration pedal and braking footrest, and corresponding pipeline connection is to ABS, wherein,
Described acceleration pedal produces with the proportional acceleration signal of pedal travel and gives administrative unit, and administrative unit makes power unit provide corresponding acceleration power to the car body analogue unit;
Described braking footrest links to each other with master cylinder, and pedal depresses back generation hydraulic oil and delivers to ABS, and to each wheel braking, this foot-operated signal is sent to ABS and administrative unit as the braking starting point by brake cylinder, and management unit records should foot-operated signal.
In the described acceleration pedal acceleration sensor is installed, produces acceleration signal by this acceleration sensor and be sent to administrative unit.
Described power unit comprises servomotor, electromagnetic clutch and flying wheel and links to each other successively, described servomotor is passed to flying wheel with power by electromagnetic clutch, power communication between electromagnetic clutch control servomotor and the flying wheel, described flying wheel is to the direct transmitting torque of guide wheel.
Described actuation unit also comprises the clutch pedal, and described clutch foot pedal back down sends the clutch signal to administrative unit, and administrative unit is according to the break-make of clutch signal controlling electromagnetic clutch.
In the described wheel wheel speed sensors is installed, this wheel speed sensors sends the wheel wheel speed signal to administrative unit and ABS;
Described ABS converses corresponding speed of a motor vehicle calculated value according to four wheel wheel speed signals that receive, and speed of a motor vehicle calculated value is sent to administrative unit;
In the described guide wheel vehicle speed sensor is installed, this vehicle speed sensor sends vehicle speed signal to administrative unit.
Described administrative unit comprises acquisition module, module is set, analysis module, display module and memory module, wherein,
Described acquisition module receives the signal of actuation unit, power unit, ABS device and car body analogue unit and the signal of being received is passed to analysis module;
The described module that is provided with is configured the simulated wheel working status parameter, and configuration data is sent to analysis module;
Described analysis module is to the received signal, data differentiate, calculate, compare, integrate, and transmit control signal to power unit, or computational data, comparative result are sent to memory module and preserve, or by display module video data, curve.
Beneficial effect of the present invention is: among the present invention, by the simulated wheel working status parameter of motor vehicle is set, wheel is quickened, adopt abs braking, gather relevant motor vehicle service data and ABS service data, again according to described data analysis abs braking performance, just can be at the actual working state of experiment lab simulation motor vehicle, the abs braking performance is analyzed, has very high completeness, in the present invention, the car body analogue unit adopts two fixing guide wheels, belt, four fixing wheels, and compression module corresponding and brake cylinder with each wheel, belt is installed and connected between two guide wheels, and four wheels pass through the torque of belt gear guide wheel, and compression module is for providing snap-in force between wheel and the belt, brake cylinder links to each other with ABS, by ABS to corresponding wheel braking, like this, in when test, do not need to resemble in the prior art, must finish the ABS modulation by real-time driving, and, in the present invention, control by administrative unit, can automatically finish data acquisition, calculate, analyze, improved testing efficiency widely, shortened test period, have good operability, make the present invention have stronger practicality.
Description of drawings
Fig. 1 is the overall control structure synoptic diagram of the present invention;
Fig. 2 is car body analogue unit physical construction schematic side view among the present invention;
Fig. 3 is car body analogue unit physical construction schematic top plan view among the present invention;
Fig. 4 is the concrete control structure synoptic diagram of the present invention;
Fig. 5 is a basic controlling flow process synoptic diagram of the present invention;
Fig. 6 is the concrete control flow synoptic diagram of the present invention.
Embodiment
With embodiment the present invention is described in further detail with reference to the accompanying drawings below:
According to shown in Figure 1, the present invention includes actuation unit 1, power unit 2, ABS3, car body analogue unit 4 and administrative unit 5.
As shown in Figure 1, actuation unit 1 produces and quickens or brake signal, makes power unit 2 and ABS3 enter the relevant work state.
As Fig. 2, Fig. 3 and shown in Figure 4, car body analogue unit 4 comprises two fixing guide wheels 41, belt 42, four fixing wheels 43, and compression module 44 and the brake cylinder 45 corresponding with each wheel 43.
As shown in Figure 4, actuation unit 1 comprises oil can 11, master cylinder 12, quickens pedal 13, braking footrest 14 and clutch pedal 15, and corresponding pipeline connection is to ABS3.
As shown in Figure 4, quicken pedal 13 generations and give administrative unit 5 with the proportional acceleration signal of pedal travel, administrative unit 5 makes power unit 2 provide corresponding acceleration power to car body analogue unit 4, quicken in the pedal 13 acceleration sensor to be installed, produce acceleration signal by this acceleration sensor and be sent to administrative unit 5.
As shown in Figure 4, braking footrest 14 links to each other with master cylinder 12, and pedal depresses back generation hydraulic oil and delivers to ABS3, by 43 brakings of 45 pairs of each wheels of brake cylinder, should be sent to ABS3 and administrative unit 5 as the braking starting point by foot-operated signal, and administrative unit 5 records should foot-operated signal.
As shown in Figure 4, clutch pedal 15 depresses the back and sends the clutch signal to administrative unit 5, and administrative unit 5 is according to the break-make of clutch signal controlling electromagnetic clutch 22.
As shown in Figure 4, power unit 2 comprises servomotor 21, electromagnetic clutch 22 and flying wheel 23 and links to each other successively, servomotor 21 is passed to flying wheel 23 with power by electromagnetic clutch 22, power communication between electromagnetic clutch 22 control servomotors 21 and the flying wheel 23, flying wheel 23 is to guide wheel 41 direct transmitting torques.
As Fig. 2, Fig. 3 and shown in Figure 4, belt 42 is installed and connected between two guide wheels 41, and four wheels 43 pass through the torque of belt 42 transmission guide wheels 41, and compression module 44 is for providing snap-in force between wheel 43 and the belt 42, brake cylinder 45 links to each other with ABS3, by ABS3 corresponding wheel 43 is braked.
In the guide wheel 41 vehicle speed sensor is installed, this vehicle speed sensor sends vehicle speed signal to administrative unit 5.
In the wheel 43 wheel speed sensors is installed, this wheel speed sensors sends the wheel wheel speed signal to administrative unit 5 and ABS3, and ABS3 converses corresponding speed of a motor vehicle calculated value according to four wheel wheel speed signals that receive, and speed of a motor vehicle calculated value is sent to administrative unit 5.
As Fig. 2 and shown in Figure 4, compression module 44 comprises contact roller 441 and cylinder 442, and cylinder 442 is according to administrative unit 5 pressure signals, and the proportioning valve by inside provides respective pinch power to contact roller 441, and contact roller 441 is replaced belt 42 and corresponding wheel 43.
As shown in Figure 1 and Figure 4, the snap-in force of administrative unit 5 control compression modules 44, operation according to the signal controlling power unit 2 of actuation unit 1, this administrative unit 5 is gathered by actuation unit 1,4 pairs of relevant motor vehicle service datas of ABS3 and car body analogue unit and ABS service data, and the data of gathering are calculated, analyzed.
Particularly, as shown in Figure 4, administrative unit 5 comprises acquisition module 51, module 52 is set, analysis module 53, display module 54 and memory module 55.
As shown in Figure 4, acquisition module 51 receives the signal of actuation unit 1, power unit 2, ABS device 3 and car body analogue unit 4 and the signal of being received is passed to analysis module 53.
As shown in Figure 4,52 pairs of simulated wheel working status parameter of module are set are configured, and configuration data is sent to analysis module 53.
As shown in Figure 4, analysis module 53 to the received signal, data differentiate, calculate, compare, integrate, transmit control signal to power unit 2, or computational data, comparative result are sent to memory module 55 preserve, or by display module 54 video datas, curve.
As shown in Figure 5, basic controlling flow process of the present invention is as follows:
1) the wheel 43 analog operation state parameters of motor vehicle is set by administrative unit 5.
2) actuation unit 1 sends signal for faster, and power unit 2 quickens wheel 43.
3) actuation unit 1 sends brake signal, adopts ABS3 by brake cylinder 45 brake wheels 43.
4) administrative unit 5 is gathered relevant motor vehicle service data and ABS3 service data.
5) administrative unit 5 is according to the data analysis abs braking performance of being gathered.
As shown in Figure 6, concrete control flow of the present invention is as follows:
1. by the road surface curve separately that four wheels 43 of module 52 configurations are set in the administrative unit 5, this road surface curve reflects the corresponding relation of corresponding wheel stroke and attachment coefficient, and the parameter in the curve of road surface is passed to analysis module 53.
2. analysis module 53 sends corresponding pressure signal according to the parameter of road surface curve to each cylinder 442, cylinder 442 provides respective pinch power by the proportioning valve of inside to contact roller 441, contact roller 441 is replaced belt 42 and corresponding wheel 43, and wheel 43 is applied corresponding snap-in force.
3. trample the acceleration pedal 13 in the actuation unit 1, quicken in the pedal 13 acceleration sensor to be installed, produce acceleration signal by this acceleration sensor and be sent to acquisition module 51, acquisition module 51 is passed to analysis module 53 with it, and analysis module 53 starts servomotor 21 and quickens.
4. servomotor 21 runnings successively by the power transmission of electromagnetic clutch 22, flying wheel 23, guide wheel 41, belt 42, make four wheels 43 quicken to rotate.
5. the vehicle speed sensor in the guide wheel 41 sends vehicle speed signal to pipe analysis module 53, and analysis module 53 shows the speed of a motor vehicle by display module 54.
6. carry out following operation according to the shown speed of a motor vehicle:
When 61, setting the speed of a motor vehicle greater than one, continue following steps 7 as if the speed of a motor vehicle that shows.
62 otherwise, return above-mentioned steps 4.
7. trample the braking footrest 14 in the actuation unit 1, produce foot-operated signal, the hydraulic oil that oil can 11 produces is delivered to ABS3 by master cylinder 12, by 43 brakings of 45 pairs of each wheels of brake cylinder, should be sent to ABS3 and analysis module 53 as the braking starting point by foot-operated signal, and signal should be ridden in analysis module 53 records, is stored in the memory module 55.
8. acquisition module 51 is gathered relevant motor vehicle service data and ABS3 service data, the motor vehicle service data comprises wheel wheel speed signal, vehicle speed signal, acceleration signal, braking starting point and corresponding time thereof, the speed of a motor vehicle calculated value when ABS service data comprises ABS work and corresponding time thereof, acquisition module 51 is sent to analysis module 53 with the data that collect.
9. 53 pairs of data of analysis module are calculated, are integrated, and calculate actual vehicle speed and actual car body retarded velocity, produce car body retarded velocity calculated value according to speed of a motor vehicle calculated value and corresponding time thereof.
10. 53 pairs of speed of a motor vehicle calculated values of analysis module and speed of a motor vehicle actual value compare, and draw pairing rate curve of each wheel and the pairing snap-in force curve of each wheel, and show by display module 54.
Claims (15)
1. ABS method of testing, it is characterized in that: it adopts following steps:
A, the simulated wheel working status parameter of motor vehicle is set;
B, acceleration wheel adopt abs braking;
C, the relevant motor vehicle service data of collection and ABS service data;
D, according to described data analysis abs braking performance.
2. ABS method of testing according to claim 1 is characterized in that: described steps A comprises the steps:
The road surface curve separately of A1, four wheels of configuration, the corresponding relation of described road surface curve reflection corresponding wheel stroke and attachment coefficient;
A2, apply corresponding snap-in force to each wheel according to described road surface curve.
3. ABS method of testing according to claim 1 is characterized in that: described step B comprises the steps:
B1, wheel quicken to be rotated, until the speed of a motor vehicle of setting;
B2, brake hard start ABS.
4. ABS method of testing according to claim 1, it is characterized in that: among the described step C: described motor vehicle service data comprises wheel wheel speed signal, vehicle speed signal, acceleration signal, braking starting point and corresponding time thereof, speed of a motor vehicle calculated value when described ABS service data comprises ABS work and corresponding time thereof.
5. ABS method of testing according to claim 4 is characterized in that: described ABS converses corresponding speed of a motor vehicle calculated value according to the wheel wheel speed signal.
6. ABS method of testing according to claim 1 is characterized in that: described step D comprises the steps:
D1, calculating actual vehicle speed and actual car body retarded velocity produce car body retarded velocity calculated value according to speed of a motor vehicle calculated value and corresponding time thereof;
D2, speed of a motor vehicle calculated value and speed of a motor vehicle actual value are compared, draw the pairing rate curve of each wheel.
7. ABS method of testing according to claim 6 is characterized in that: among the described step D2, also comprise and draw the pairing snap-in force curve of each wheel.
8. an ABS test macro comprises actuation unit, power unit and ABS, and described actuation unit produces and quickens or brake signal, makes power unit and ABS enter the relevant work state, it is characterized in that: also comprise car body analogue unit and administrative unit, wherein,
Described car body analogue unit comprises two fixing guide wheels, belt, four fixing wheels, and compression module corresponding with each wheel and brake cylinder;
Described belt is installed and connected between two guide wheels, and four wheels pass through the torque of belt gear guide wheel;
Described compression module is for providing snap-in force between wheel and the belt;
Described brake cylinder links to each other with ABS, by ABS to corresponding wheel braking;
The snap-in force of described administrative unit control compression module, operation according to the signal controlling power unit of actuation unit, this administrative unit is gathered relevant motor vehicle service data and ABS service data by actuation unit, ABS and car body analogue unit, and the data of gathering are calculated, analyzed.
9. ABS test macro according to claim 8, it is characterized in that: described compression module comprises contact roller and cylinder, described cylinder is according to the administrative unit pressure signal, and the proportioning valve by inside provides respective pinch power to contact roller, and contact roller is replaced belt and corresponding wheel.
10. ABS test macro according to claim 8 is characterized in that: described actuation unit comprises oil can, master cylinder, acceleration pedal and braking footrest, and corresponding pipeline connection is to ABS, wherein,
Described acceleration pedal produces with the proportional acceleration signal of pedal travel and gives administrative unit, and administrative unit makes power unit provide corresponding acceleration power to the car body analogue unit;
Described braking footrest links to each other with master cylinder, and pedal depresses back generation hydraulic oil and delivers to ABS, and to each wheel braking, this foot-operated signal is sent to ABS and administrative unit as the braking starting point by brake cylinder, and management unit records should foot-operated signal.
11. ABS test macro according to claim 10 is characterized in that: in the described acceleration pedal acceleration sensor is installed, produces acceleration signal by this acceleration sensor and be sent to administrative unit.
12. ABS test macro according to claim 10, it is characterized in that: described power unit comprises servomotor, electromagnetic clutch and flying wheel and links to each other successively, described servomotor is passed to flying wheel with power by electromagnetic clutch, power communication between electromagnetic clutch control servomotor and the flying wheel, described flying wheel is to the direct transmitting torque of guide wheel.
13. ABS test macro according to claim 12, it is characterized in that: described actuation unit also comprises the clutch pedal, described clutch foot pedal back down sends the clutch signal to administrative unit, and administrative unit is according to the break-make of clutch signal controlling electromagnetic clutch.
14. ABS test macro according to claim 8 is characterized in that:
In the described wheel wheel speed sensors is installed, this wheel speed sensors sends the wheel wheel speed signal to administrative unit and ABS;
Described ABS converses corresponding speed of a motor vehicle calculated value according to four wheel wheel speed signals that receive, and speed of a motor vehicle calculated value is sent to administrative unit;
In the described guide wheel vehicle speed sensor is installed, this vehicle speed sensor sends vehicle speed signal to administrative unit.
15. any described ABS test macro according to Claim 8-14 is characterized in that: described administrative unit comprises acquisition module, module is set, analysis module, display module and memory module, wherein,
Described acquisition module receives the signal of actuation unit, power unit, ABS device and car body analogue unit and the signal of being received is passed to analysis module;
The described module that is provided with is configured the simulated wheel working status parameter, and configuration data is sent to analysis module;
Described analysis module is to the received signal, data differentiate, calculate, compare, integrate, and transmit control signal to power unit, or computational data, comparative result are sent to memory module and preserve, or by display module video data, curve.
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| CN 200610034807 CN101046421A (en) | 2006-03-29 | 2006-03-29 | ABS measuring method and system |
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| CN 200610034807 CN101046421A (en) | 2006-03-29 | 2006-03-29 | ABS measuring method and system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102004039A (en) * | 2010-10-25 | 2011-04-06 | 江苏大学 | Test jack horse and test method of electric vehicle electromagnetic and frictional brake integrated system |
| CN102426425A (en) * | 2011-11-08 | 2012-04-25 | 重庆邮电大学 | Automobile ABS (Antilock Brake System) virtual reality simulation system |
| CN102607861A (en) * | 2012-03-05 | 2012-07-25 | 广州市科密汽车制动技术开发有限公司 | ABS system (Anti Lock Brake System) simulation and detection device |
| CN103033369A (en) * | 2011-09-30 | 2013-04-10 | 万向钱潮（上海）汽车系统有限公司 | Anti-locked braking system (ABS)/electronic stability program (ESP) durability test method |
| CN103926082A (en) * | 2014-04-30 | 2014-07-16 | 长城汽车股份有限公司 | Vehicle brake system test platform and method |
| CN107505091A (en) * | 2017-08-11 | 2017-12-22 | 广西汽车集团有限公司 | The air-tightness detection device and detection method of brake cylinder |
| CN108725413A (en) * | 2018-04-08 | 2018-11-02 | 安徽工程大学 | the brake pressure regulating device of vehicle ABS system |
| CN108956156A (en) * | 2018-06-01 | 2018-12-07 | 上汽通用五菱汽车股份有限公司 | The performance test methods and its device of the seized system of vehicle |
| CN109334660A (en) * | 2018-11-30 | 2019-02-15 | 安徽江淮汽车集团股份有限公司 | A kind of automatic emergency brake system and lightweight appraisal procedure |
| CN110320050A (en) * | 2019-06-17 | 2019-10-11 | 力帆实业(集团)股份有限公司 | A kind of ABS durability test method and device |
| CN110955225A (en) * | 2019-11-19 | 2020-04-03 | 深圳市德平国瀚汽车电子科技有限公司 | ABS system analysis debugging method, system and storage medium |
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2006
- 2006-03-29 CN CN 200610034807 patent/CN101046421A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102004039A (en) * | 2010-10-25 | 2011-04-06 | 江苏大学 | Test jack horse and test method of electric vehicle electromagnetic and frictional brake integrated system |
| CN102004039B (en) * | 2010-10-25 | 2012-08-29 | 江苏大学 | Test jack horse and test method of electric vehicle electromagnetic and frictional brake integrated system |
| CN103033369A (en) * | 2011-09-30 | 2013-04-10 | 万向钱潮（上海）汽车系统有限公司 | Anti-locked braking system (ABS)/electronic stability program (ESP) durability test method |
| CN102426425A (en) * | 2011-11-08 | 2012-04-25 | 重庆邮电大学 | Automobile ABS (Antilock Brake System) virtual reality simulation system |
| CN102426425B (en) * | 2011-11-08 | 2013-07-17 | 重庆邮电大学 | Automobile ABS (Antilock Brake System) virtual reality simulation system |
| CN102607861A (en) * | 2012-03-05 | 2012-07-25 | 广州市科密汽车制动技术开发有限公司 | ABS system (Anti Lock Brake System) simulation and detection device |
| CN103926082A (en) * | 2014-04-30 | 2014-07-16 | 长城汽车股份有限公司 | Vehicle brake system test platform and method |
| CN107505091A (en) * | 2017-08-11 | 2017-12-22 | 广西汽车集团有限公司 | The air-tightness detection device and detection method of brake cylinder |
| CN108725413A (en) * | 2018-04-08 | 2018-11-02 | 安徽工程大学 | the brake pressure regulating device of vehicle ABS system |
| CN108956156A (en) * | 2018-06-01 | 2018-12-07 | 上汽通用五菱汽车股份有限公司 | The performance test methods and its device of the seized system of vehicle |
| CN109334660A (en) * | 2018-11-30 | 2019-02-15 | 安徽江淮汽车集团股份有限公司 | A kind of automatic emergency brake system and lightweight appraisal procedure |
| CN110320050A (en) * | 2019-06-17 | 2019-10-11 | 力帆实业(集团)股份有限公司 | A kind of ABS durability test method and device |
| CN110955225A (en) * | 2019-11-19 | 2020-04-03 | 深圳市德平国瀚汽车电子科技有限公司 | ABS system analysis debugging method, system and storage medium |
| CN110955225B (en) * | 2019-11-19 | 2023-08-22 | 深圳市德平国瀚汽车电子科技有限公司 | ABS system analysis and debugging method, system and storage medium |
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Open date: 20071003 |