CN101480946A - Wheel load-based type intelligent sensing wheel brake performance monitoring methods - Google Patents
Wheel load-based type intelligent sensing wheel brake performance monitoring methods Download PDFInfo
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- CN101480946A CN101480946A CNA2009100777442A CN200910077744A CN101480946A CN 101480946 A CN101480946 A CN 101480946A CN A2009100777442 A CNA2009100777442 A CN A2009100777442A CN 200910077744 A CN200910077744 A CN 200910077744A CN 101480946 A CN101480946 A CN 101480946A
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Abstract
The invention discloses a wheel braking performance monitoring method based on wheel-load type intelligent sensing. Intelligent sensing modules are arranged on hub equatorial planes of wheels of a motor vehicle, and an intelligent sensing unit is arranged on a vehicle body; and after conditioning and the calculation of digitization, gesture algorithm and braking algorithm are carried out for a sensing signal, main braking performance parameters of the wheels can be obtained. The main braking performance parameters of the wheels monitored by the system comprise wheel slip rate, road surface attachment coefficient of the wheels, wheel braking force, wheel braking deceleration, and the like. By means of carrying out multi-sensing-data fusion and analysis on the parameters, the method can monitor and initiatively evaluate the movement safety condition of the motor vehicle, thereby being beneficial to avoiding and reducing traffic accidents.
Description
Technical field
The present invention relates to self-propelled vehicle safe operation condition monitoring field, relate in particular to the monitoring method of the wheel braking performance real time status of monitoring motor vehicle in the form process.
Background technology
Self-propelled vehicle safe in operation Condition Monitoring Technology is the main means that guarantee motor vehicle safe drive, also is the inexorable trend of self-propelled vehicle safe in operation detection technique development.Adopt self-propelled vehicle safe in operation condition monitoring technology that self-propelled vehicle safe in operation state and operating index are carried out dynamic monitoring, in time find and the prevention vehicle trouble, development is monitored, controls, manages and made a strategic decision in the safety supervisory network system of one, and is significant to the self-propelled vehicle safe operation; It is the important social public good technical work that is related to the country and people's security of the lives and property, is to ensure that power actuated vehicle safe in operation important techniques supports, and be the very important technical guarantee of government administration section to the self-propelled vehicle safe operation; It can not only improve technical guarantee ability, the minimizing traffic accident of self-propelled vehicle safe operation, and the development that promotes automotive industry and communications and transportation cause is of great importance.
Self-propelled vehicle safe in operation condition monitoring mainly comprises monitoring motor vehicle (vehicle body, wheel) athletic posture parameter, live load parameter, deceleration and stopping performance parameter.Deceleration and stopping performance is to estimate the most important technical index of self-propelled vehicle, is one of elementary item of automotive safety detection.Self-propelled vehicle is in operational process, operating modes such as meeting produces and brakes, quickens, turns to, straight-line travelling, the wheel braking performance perameter of reflection self-propelled vehicle safe in operation situation or trend mainly contains: wheel slip, wheel coefficient of road adhesion, wheel braking force, wheel braking deceleration/decel.Deceleration and stopping performance by monitoring wheel can obtain more directly, truer, more rich self-propelled vehicle safe operation information.Deceleration and stopping performance by monitoring wheel can thoroughly evaluating self-propelled vehicle deceleration and stopping performance: braking force in the wheel braking performance and antero posterior axis left and right wheels braking force difference are to weigh the parameter of car side brake braking force and coefficient of road adhesion size, car side brake brake-force balance state; Wheel slip is the parameter that can weigh the best braking mode of wheel anti-skid brake system, and the wheel braking deceleration/decel is the parameter that can weigh car side brake braking force size, and pre-preventing motor-vehicle deceleration and stopping performance fault is all had decisive influence.
At present, monitoring to the wheel braking performance mainly is by the monitoring to the single index of wheel braking deceleration/decel, still fail parameters such as wheel slip, wheel coefficient of road adhesion, wheel braking force are effectively monitored, thus can't thoroughly evaluating and predicting machine motor-car deceleration and stopping performance (comprising self-propelled vehicle anti-lock abs braking performance); To the regular safety detection of the main dependence of detection evaluation of self-propelled vehicle deceleration and stopping performance, fail the deceleration and stopping performance of self-propelled vehicle is monitored in real time; Simultaneously, just directly adopt wheel speed sensors to measure vehicle wheel rotational speed, the measured parameter of wheel speed sensors is not estimated as yet the monitoring of wheel braking deceleration/decel parameter.
Summary of the invention
For solving above-mentioned middle problem and the defective that exists, the invention provides a kind of based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods.
The present invention is achieved by the following technical solutions:
Involved in the present invention is a kind of based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods, comprising:
Three-dimensional acceleration by intelligent sensing module perception wheel and vehicle body;
Three-dimensional acceleration signal according to the output of intelligent sensing module obtains the three-dimensional acceleration value;
The parameter of utilizing at least a acceleration/accel in the wheel three-dimensional acceleration obtains wheel vertical acceleration and speed of advance through the attitude algorithm, and utilizes that at least a acceleration parameter obtains the vehicle body longitudinal velocity through the attitude algorithm in the vehicle body three-dimensional acceleration;
Calculate the acquisition wheel slip according at least a parameter in vehicle body longitudinal velocity and the wheel speed of advance through slip rate;
Wheel vertical acceleration parameter is obtained the wheel coefficient of road adhesion through adhesion value;
Calculate the acquisition wheel braking force by at least a parameter in wheel adhesion to road surface system and the dynamic wheel load parameter and through wheel braking force.
Described method also comprises:
Wheel three-dimensional acceleration signal is carried out mould/number conversion, and temperature compensated again processing, interpolation decoupling zero are handled and are obtained the three-dimensional acceleration value of wheel intelligent sensing module attachment point, and calculate vehicle wheel rotational speed;
Obtain the wheel braking deceleration/decel according to the vehicle wheel rotational speed calculation of parameter.
To the wheel braking performance perameter: wheel slip, wheel coefficient of road adhesion, wheel braking force and wheel braking deceleration/decel merge and analyze, and judging the mode of operation of intelligent sensing module, and obtain wheel braking changes of properties trend.
Described wheel three-dimensional acceleration comprises tangential acceleration, lateral acceleration and centripetal acceleration; Described vehicle body three-dimensional acceleration comprises longitudinal acceleration, lateral acceleration and vertical acceleration.
Described intelligent sensing module is arranged on the surface of the wheel nave equatorial plane.
The beneficial effect of technical scheme provided by the invention is:
1,, realized under the different running velocitys real-time monitoring to the vehicle wheels deceleration and stopping performance by using the MEMS gyro free strap down inertia measurement commercial measurement wheel braking performance that declines;
2, the braking force of the wheel in the wheel braking performance perameter and antero posterior axis left and right wheels braking force difference can be weighed car side brake braking force and coefficient of road adhesion size, car side brake brake-force balance state, wheel slip can be weighed the best braking mode of vehicle anti-lock brake system, the wheel braking deceleration/decel is weighed car side brake braking force size, by above-mentioned deceleration and stopping performance parameter monitoring of wheel and analysis being realized the thoroughly evaluating to the self-propelled vehicle deceleration and stopping performance;
3, by the analyses and prediction program wheel braking performance data and its historical data analysis are compared, obtain the trend of wheel braking performance, increase is to the forecast function of wheel braking performance, form complete, a relatively independent measuring table, and can provide the uniform data interface modes to be applied for government concerned's supervisory management zone.
Description of drawings
Fig. 1 is the diagram of circuit based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods of the present invention;
Fig. 2 illustrates wheel-loaded intelligent sensing wheel deceleration and stopping performance measurement module scheme of installation involved in the present invention with the wheel side view;
Fig. 3 illustrates wheel-loaded intelligent sensing wheel deceleration and stopping performance measurement module scheme of installation involved in the present invention with the wheel birds-eye view;
Fig. 4 illustrates wheel-loaded intelligent sensing wheel deceleration and stopping performance measurement module scheme of installation involved in the present invention with the wheel front elevation;
Fig. 5 is a wheel-loaded intelligent sensing wheel brake perfrmance monitoring system complete layout involved in the present invention;
Fig. 6 the present invention is based on wheel-loaded intelligent sensing wheel brake perfrmance monitoring system hardware configuration scheme drawing;
Fig. 7 illustrate respectively the intelligent sensing module monitors of utilizing Fig. 1 one of them regulation point of tire entad, the curve of tangential and lateral acceleration.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing:
It is a kind of based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods that present embodiment provides.
Referring to Fig. 1, this method may further comprise the steps:
The wheel three-dimensional acceleration comprises: tangential acceleration, lateral acceleration and centripetal acceleration; The vehicle body three-dimensional acceleration comprises: longitudinal acceleration, lateral acceleration and normal acceleration.
Analog signal in tangential acceleration, lateral acceleration and the centripetal acceleration of wheel intelligent sensing unit output and the tire in the temperature four tunnel is nursed one's health, mould/number conversion becomes digital signal, and temperature compensated again processing, interpolation decoupling zero are handled and obtained the wheel nave surface wheel intelligent sensing unit more accurate three-dimensional acceleration parameter of attachment point (step 103).
The relevant acceleration/accel that obtains comprises wheel vertical acceleration, wheel speed of advance, vehicle body longitudinal velocity, wheel slip, wheel coefficient of road adhesion, wheel braking force and wheel braking deceleration/decel, and described wheel vertical acceleration and wheel speed of advance obtain through the attitude algorithm according at least a parameter in tangential acceleration, lateral acceleration and the centripetal acceleration; Described vehicle body longitudinal velocity obtains according at least a parameter in longitudinal acceleration, lateral acceleration and the normal acceleration and through the attitude algorithm; Described wheel slip calculates through slip rate according at least a parameter in vehicle body longitudinal velocity and the wheel speed of advance parameter and obtains; The wheel coefficient of road adhesion calculates according to the vertical acceleration parameter of described wheel and through adhesion value and obtains; Utilize at least a parameter in adhesion value parameter and the dynamic wheel load parameter to calculate the acquisition wheel braking force through wheel braking force.
Braking figures comprises wheel slip, wheel coefficient of road adhesion, wheel braking force and wheel braking deceleration/decel etc.
Referring to Fig. 2, Fig. 3, Fig. 4: wheel braking performance intelligent sensing module is installed on the surface of the wheel nave equatorial plane, the installation requirement of wheel intelligent sensing module: three sensitive axes X-axis of acceleration pick-up, Y-axis, Z axle point to the direction in axle center of side direction, the wheel hub of wheel hub tangential direction, wheel hub respectively; System of axes Oxyz is the right-handed system of quadrature.
Referring to Fig. 5: be a kind of entire system layout that is adopted based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods of the present invention, comprise Central Control Module (CCM) 3 in wheel 1, wheel intelligent sensing module 2, the car, wherein wheel intelligent sensing module is installed on the surface, wheel hub equator of each wheel, and Central Control Module (CCM) 3 is installed in the car in the car; Realize two way communication by less radio-frequency between the Central Control Module (CCM) 3 in wheel intelligent sensing module 2 and the car.
Referring to Fig. 6, the hardware system based on wheel load formula wheel braking performance monitoring method that the present invention relates to comprises the wheel intelligent sensing module 2 that is installed in each wheel and is installed on Central Control Module (CCM) 3 in the interior car of car; (1) wheel intelligent sensing module 2 comprises the first no gyroscopic inertia measuring unit 2a, conditioning unit 2b, wireless singlechip 2c and the first power supply 2d; This first no gyroscopic inertia measuring unit 2a comprises a 3-axis acceleration sensor 21a and temperature sensor 22a; 3-axis acceleration sensor 21a and temperature sensor 22a output analog signal, this first no gyroscopic inertia measuring unit 2a and conditioning unit 2b are electrically connected; Conditioning unit 2b is used for the acceleration/accel and the temperature signal of input are carried out filtering and pressure regulation, and this conditioning unit 2b and wireless singlechip 2c interconnect, and this signal is an analog signal; The self-test signal of wireless singlechip 2c is connected with 3-axis acceleration sensor, is used to check whether 3-axis acceleration sensor 21a work is normal; Integrated wireless transmission circuit and micro controller system on the wireless singlechip 2c sheet, be used to carry out sensing collection, computing and realize with car in the bi-directional communication function of Central Control Module (CCM) 2; The first power supply 2d provides direct supply for the first no gyroscopic inertia measuring unit 2a, conditioning unit 2b and wireless singlechip 2c; Wherein, the 3-axis acceleration sensor 21a of the first no gyroscopic inertia measuring unit 2a adopts one two axle acceleration sensor ADXL323 and a single-axis acceleration sensors ADXL193 to combine, and wireless singlechip 2c adopts CC2510F32; (2) Central Control Module (CCM) 3 comprises wireless singlechip 3a, vehicle body intelligence Inertial Measurement Unit 3b, second source 3c, arm processor 3d and man-machine interaction unit 3e in the car; This wireless singlechip 3a realizes and wheel intelligent sensing module communications functions, interconnects by digital signal and arm processor 3d; The second no gyroscopic inertia measuring unit 3b and arm processor 3d interconnect, and this signal is a digital signal; Second source 3c provides direct supply for wireless singlechip 3a, vehicle body intelligence Inertial Measurement Unit 3b, arm processor 3d and man-machine interaction unit 3e; Man-machine interaction unit 3e is made up of liquid crystal display 31e, touch-screen 32e, buzzer phone 33e, CAN interface 34e; Liquid crystal display 31e is used to export the output that shows arm processor 3d and shows information, comprises parameters such as dynamic wheel load parameter, state; Touch-screen 32e is used to be provided with parameter, data query; When being used to break down, buzzer phone 33e sends caution by arm processor 3d driving; CAN interface 34e is used to provide the interface of Central Control Module (CCM) 3d in other CAN device access cars; Wherein, wireless singlechip 3a (2c) adopts CC2510F32.
Its working process is: gyro free strap down declines the tangential acceleration, lateral acceleration, centripetal acceleration, temperature analog signal of Inertial Measurement Unit 2a output behind conditioning unit 2b signal condition, convert digital signal to through the ADC of wireless singlechip 2c peripheral hardware, offer the CPU visit of wireless singlechip 2c in the down trigger mode; Wireless singlechip 2c can carry out self check to acceleration pick-up by driving self-test signal when being necessary; Microprocessor in the wireless singlechip 7 carries out digital filter, compensates the three-dimensional acceleration that calculates in the wheel movement attitude signal; Comprise: tangential acceleration, lateral acceleration, centripetal acceleration, characterize the state of any instantaneous three-dimensional acceleration of wheel, by one of them regulation point of a tire of intelligent sensing module monitors entad, the curve (referring to Fig. 7) of tangential and lateral acceleration; By wireless singlechip 2c in-to-in wireless transceiver circuit data transmission is outputed to the wireless singlechip 3a of central processing module 2 in the car, simultaneously by this wireless singlechip 2c in-to-in wireless transceiver circuit also can receive send a car in the order that sends over by wireless singlechip 9 of central processing module 2; The task of central processing module 3 in the car: 1. receive body gesture information from vehicle body intelligence Inertial Measurement Unit 3b; 2. by the data of wireless singlechip 3a reception, send order by wireless singlechip 9 to wheel intelligent sensing module 1 in the time of necessary from wheel intelligent sensing module 2; Microprocessor among the wireless singlechip 3a is to the three-dimensional acceleration in the wheel movement attitude that receives, comprise: tangential acceleration, lateral acceleration, centripetal acceleration are carried out speed of advance, the side velocity that signal speed calculates wheel, characterize the state of any momentary velocity of wheel; 3. the acceleration/accel, the speed data that send over from wireless singlechip 3a and vehicle body intelligence Inertial Measurement Unit 3b to receiving, calculate the deceleration and stopping performance parameter of wheel through Attitude Calculation, braking, this parameter comprises: wheel slip, wheel coefficient of road adhesion, wheel braking force, wheel braking deceleration/decel; 4. above-mentioned wheel braking performance data is carried out active safety evaluation and trend prediction; 5. wheel braking performance data and vehicle body braking figures are carried out data fusion and analysis so that whether normal operation judges to wheel intelligent sensing module 2, and prediction wheel braking changes of properties trend; 6. show wheel braking performance information, opinion rating, tendency prediction information etc. by control liquid crystal display 31e output; 7. handle interruption that touch-screen 32e the triggers operations such as line parameter setting and historical query of going forward side by side; 8. when appearance is unusual, drive buzzer phone 33e and make the buzzing caution with digital signal; 9. set up be used to store relevant braking figures and historical data electronic data sheet for other CAN bus external devices by CAN interface 34e visit.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
Claims (5)
1, a kind ofly it is characterized in that based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods this method comprises:
Three-dimensional acceleration by intelligent sensing module perception wheel and vehicle body;
Three-dimensional acceleration signal according to the output of intelligent sensing module obtains the three-dimensional acceleration value;
The parameter of utilizing at least a acceleration/accel in the wheel three-dimensional acceleration obtains wheel vertical acceleration and speed of advance through the attitude algorithm, and utilizes that at least a acceleration parameter obtains the vehicle body longitudinal velocity through the attitude algorithm in the vehicle body three-dimensional acceleration;
Calculate the acquisition wheel slip according at least a parameter in vehicle body longitudinal velocity and the wheel speed of advance through slip rate;
Wheel vertical acceleration parameter is obtained the wheel coefficient of road adhesion through adhesion value;
Calculate the acquisition wheel braking force by at least a parameter in wheel adhesion to road surface system and the dynamic wheel load parameter and through wheel braking force.
2, according to claim 1ly it is characterized in that based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods described method also comprises:
Wheel three-dimensional acceleration signal is carried out mould/number conversion, and temperature compensated again processing, interpolation decoupling zero are handled and are obtained the three-dimensional acceleration value of wheel intelligent sensing module attachment point, and calculate vehicle wheel rotational speed;
Obtain the wheel braking deceleration/decel according to the vehicle wheel rotational speed calculation of parameter.
3, according to claim 1 and 2 based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods, it is characterized in that, to the wheel braking performance perameter: wheel slip, wheel coefficient of road adhesion, wheel braking force and wheel braking deceleration/decel merge and analyze, with the mode of operation of judgement intelligent sensing module, and obtain wheel braking changes of properties trend.
4, according to claim 1ly it is characterized in that based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods described wheel three-dimensional acceleration comprises tangential acceleration, lateral acceleration and centripetal acceleration; Described vehicle body three-dimensional acceleration comprises longitudinal acceleration, lateral acceleration and vertical acceleration.
5, according to claim 1ly it is characterized in that based on the wheel-loaded intelligent sensing wheel brake performance monitoring methods described intelligent sensing module is arranged on the surface of the wheel nave equatorial plane.
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| CN2009100777442A CN101480946B (en) | 2009-02-16 | 2009-02-16 | Wheel load-based type intelligent sensing wheel brake performance monitoring methods |
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| CN2009100777442A CN101480946B (en) | 2009-02-16 | 2009-02-16 | Wheel load-based type intelligent sensing wheel brake performance monitoring methods |
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Cited By (12)
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| CN102024350A (en) * | 2010-12-03 | 2011-04-20 | 同济大学 | Anti-skid control training platform for project-oriented rail traffic vehicle |
| CN102295002A (en) * | 2011-06-09 | 2011-12-28 | 华南理工大学 | Method for obtaining wheel rotation signal characteristic quantity based on tangential acceleration curve of wheel |
| CN102353543A (en) * | 2011-06-09 | 2012-02-15 | 华南理工大学 | Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling |
| CN102431545A (en) * | 2011-08-30 | 2012-05-02 | 北京交通大学 | Train braking performance monitoring method and device |
| CN102589807A (en) * | 2012-01-16 | 2012-07-18 | 华南理工大学 | Method for measuring dynamic balance based on wheel-load type intelligent sensing wheels |
| CN103884514A (en) * | 2014-03-03 | 2014-06-25 | 合肥市强科达科技开发有限公司 | Multifunctional motor vehicle detecting instrument and detecting method thereof |
| CN103884515A (en) * | 2014-03-03 | 2014-06-25 | 合肥市强科达科技开发有限公司 | Instrument for measuring brake performance of ABS of automobile and detection method |
| CN105235681A (en) * | 2015-11-11 | 2016-01-13 | 吉林大学 | Vehicle rear-end collision preventing system and method based on road surface conditions |
| CN105539449A (en) * | 2015-12-07 | 2016-05-04 | 山东交通学院 | Real-time estimation method of road adhesion coefficient under braking working condition |
| CN106394539A (en) * | 2016-10-14 | 2017-02-15 | 清华大学 | State monitoring method and device of critical component of high-speed train brake system |
| CN111775946A (en) * | 2020-07-06 | 2020-10-16 | 清华大学 | Road adhesion forecasting method based on wheel speed high-frequency signal |
| CN114544201A (en) * | 2022-04-25 | 2022-05-27 | 天津所托瑞安汽车科技有限公司 | Method and device for evaluating vehicle braking performance, vehicle and storage medium |
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- 2009-02-16 CN CN2009100777442A patent/CN101480946B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102024350A (en) * | 2010-12-03 | 2011-04-20 | 同济大学 | Anti-skid control training platform for project-oriented rail traffic vehicle |
| CN102353543B (en) * | 2011-06-09 | 2014-01-15 | 华南理工大学 | Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling |
| CN102295002A (en) * | 2011-06-09 | 2011-12-28 | 华南理工大学 | Method for obtaining wheel rotation signal characteristic quantity based on tangential acceleration curve of wheel |
| CN102353543A (en) * | 2011-06-09 | 2012-02-15 | 华南理工大学 | Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling |
| CN102431545A (en) * | 2011-08-30 | 2012-05-02 | 北京交通大学 | Train braking performance monitoring method and device |
| CN102589807B (en) * | 2012-01-16 | 2015-08-12 | 华南理工大学 | A kind of based on wheel-loaded intelligent sensing wheel balancing measuring method |
| CN102589807A (en) * | 2012-01-16 | 2012-07-18 | 华南理工大学 | Method for measuring dynamic balance based on wheel-load type intelligent sensing wheels |
| CN103884514A (en) * | 2014-03-03 | 2014-06-25 | 合肥市强科达科技开发有限公司 | Multifunctional motor vehicle detecting instrument and detecting method thereof |
| CN103884515A (en) * | 2014-03-03 | 2014-06-25 | 合肥市强科达科技开发有限公司 | Instrument for measuring brake performance of ABS of automobile and detection method |
| CN105235681A (en) * | 2015-11-11 | 2016-01-13 | 吉林大学 | Vehicle rear-end collision preventing system and method based on road surface conditions |
| CN105235681B (en) * | 2015-11-11 | 2018-06-08 | 吉林大学 | A kind of vehicle rear-end collision collision avoidance system and method based on pavement conditions |
| CN105539449A (en) * | 2015-12-07 | 2016-05-04 | 山东交通学院 | Real-time estimation method of road adhesion coefficient under braking working condition |
| CN106394539A (en) * | 2016-10-14 | 2017-02-15 | 清华大学 | State monitoring method and device of critical component of high-speed train brake system |
| CN106394539B (en) * | 2016-10-14 | 2019-01-04 | 清华大学 | A kind of state monitoring method and device of high-speed train braking system critical component |
| CN111775946A (en) * | 2020-07-06 | 2020-10-16 | 清华大学 | Road adhesion forecasting method based on wheel speed high-frequency signal |
| CN111775946B (en) * | 2020-07-06 | 2022-04-12 | 清华大学 | Road adhesion forecasting method based on wheel speed high-frequency signal |
| CN114544201A (en) * | 2022-04-25 | 2022-05-27 | 天津所托瑞安汽车科技有限公司 | Method and device for evaluating vehicle braking performance, vehicle and storage medium |
| CN114544201B (en) * | 2022-04-25 | 2022-07-26 | 天津所托瑞安汽车科技有限公司 | Method and device for evaluating vehicle braking performance, vehicle and storage medium |
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