CN101596870B - Self-excitation retarder drive controller - Google Patents
Self-excitation retarder drive controller Download PDFInfo
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- CN101596870B CN101596870B CN2009100325638A CN200910032563A CN101596870B CN 101596870 B CN101596870 B CN 101596870B CN 2009100325638 A CN2009100325638 A CN 2009100325638A CN 200910032563 A CN200910032563 A CN 200910032563A CN 101596870 B CN101596870 B CN 101596870B
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Abstract
The present invention discloses a self-excitation retarder drive controller of a road transport vehicle braking system, comprising: detecting a plurality of switch signal detecting circuits of switch signals, a brake lamp drive circuit, a controllable silicon conducting angle trigger circuit, a magnet exciting coil drive circuit, a gear display circuit, an analog signal detecting circuit and a voltage detecting circuit, which are separately connected with microprocessors; the microprocessor is used for collecting switch signals to judge the retarder braking torque gears, collecting ABS signals to judge whether wheel lock exists or not currently, and collecting the temperature signals of the retarder to output control signals to the coil drive circuit when the temperature of the retarder exceeds the upper limit of the given temperature. In the invention, the control of the size of braking torque can be realized by controlling the size of the controllable silicon conducting angle, thus avoiding the failure discharge phenomenon from occurring caused by the frequent pull-in of relay contacts and prolonging the service life of the drive controller. When in braking, all coils are involved into work synchronously, thus solving the deformation problem generated by unevenly ageing of coils and unevenly heating of rotor and the like.
Description
Technical field
The present invention relates to the auxiliary braking safety device of highway transport vehicle brake system, relate in particular to the driving governor of the self-excitation retarder of big-and-middle-sized tourist coach, public transport passenger vehicle and goods carrying vehicle.
Background technology
Self-excitation retarder structurally is divided into power generation assembly and retarding device two parts, and power generation assembly is the rare earth permanent-magnetic generator of a radial structure, and it is converted to AC energy to running car kinetic energy and provides exciting current for retarding device when car brakeing.The physical construction of retarding device comprises: rotor and stator.The rotating cylinder that rotor normally selects for use magnetic property height such as electrical pure iron, dead-soft steel or alloy steel and the low metallic material of remanent magnetism rate to make.Rotor is connected with transmission shaft by butt flange, and rotates synchronously with transmission shaft.The iron core that has 12 high permeability materials to make on the stator is circle distribution and is installed in equably on the high-intensity fixed mount; Excitation coil is placed in the common magnetic poles of unshakable in one's determination, and two relative on circumference excitation coil serial or parallel connections become one group of magnetic pole, and adjacent two magnetic poles are N, S is alternate, form separate Np to magnetic pole.
" the dress kinematics simulation study of current vortex retarder automobile ". Chinese mechanical engineering .2008,19 (23): 2884～2886; The physical construction of open current vortex retarder, excitation coil is wrapped in 8 iron cores (being circle distribution) and goes up the formation stator, two relative on circumference excitation coil serial or parallel connections become one group of magnetic pole, and adjacent two magnetic poles are the alternate layout of N, S, form 4 groups of separate magnetic poles.
" principle of work of automobile-used self-excitation retarder and use thereof " lilliput car technology, 2005, (7): 12-15, mainly forming of open self-excitation retarder by stator, rotor, controller and four parts of actuator, transmission shaft and back axle flange yoke and rotor rotate together, connect switch, then can generate electricity, thereby winding can form excitation field in generator windings.Control button (promptly stepping on system Das Gaspedal or the brake pedal) switch of connecting retarder when chaufeur slows down or glancing impact, the generator windings of self-excitation retarder is generated electricity automatically and is produced excitation field, the magnetic field that produces is constituting the loop on the rotor rotated dish between magnetic pole of the stator, air gap and the rotor disk, magnetic flow in the area that its inner numerous back traverse surrounded change (its inner numerous back traverse cutting excitation coil produce magnetic line of force) in other words, thereby in inner countless Vorticose inducing currents, the i.e. vortex flow of giving birth to of rotor disk.After vortex flow produced, magnetic field will produce the resistance (being braking force) that stops its rotation to charged rotor disk, and the direction of resistance can be judged by Fu Laiming (Flemin) lefft-hand rule.Making a concerted effort of resistance along the circumferential formation of the rotor disk lock torque opposite with its hand of rotation.Eddy current can produce calorific effect and causes rotor heating when the rotor disk internal flow with certain resistance.The kinetic energy of vehicle ' is converted into heat energy by inducing current, realizes the deceleration of vehicle.
Notification number is that the self-excitation retarder that CN201304902, name are called the patent disclosure of " a kind of self-excitation retarder with water-cooling system " is equipped with iron core and excitation coil thereof in the rotor outside, iron core and rotor adopt the screw connection, the permanent magnetism magnetic pole of power generation assembly is contained in the rotor inboard, and magnetic pole is with N-S-N-S ... row is upright mutually.
" construction parameter of current vortex retarder is to the research of influence of magnetic field ". mechanical engineering and automation .2008,1: 1～3; Disclosed current vortex retarder when work to the perfectly straight stream electric current of excitation coil, between stator, air gap, rotor disk, constitute the loop, when moving, rotor disk can cause magnetic flux change, thereby on rotor disk, produce current vortex, the magnetic line of force that current return cutting stator on the rotor rotated dish produces and produce electromagnetic force.
" self-excitation retarder lock torque control method ". Jiangsu University's journal (natural science edition) .2009,30 (3): 256～260; Disclosed self-excitation retarder is a kind of dispense with outer connecting power, has the auxiliary brake of vehicle of spontaneous electrical function, and its structure comprises power generation assembly and vortex flow retarding device two parts.Car retardation or glancing impact, power generation assembly be the inertia energy energy of running car, and reach slow braking purpose for the power supply of vortex flow retarding device with spontaneous electric energy.Because the sinusoidal voltage of power generation assembly output changes with the speed of a motor vehicle, therefore, it is the common electrical eddy current retarder of power supply that the lock torque control method of self-excitation retarder is different from the storage battery constant DC voltage.The external producer that produces self-excitation retarder mainly is Japanese Sawafuji Electric Co., Ltd. (Sawafuji), and domestic still do not have a manufacturer production and to the research of self-excitation retarder yet seldom.Factors such as the external self-excitation retarder drive controller of producing adopts relay as control element mostly, and the frequent adhesive of relay, contact endurance are lower have caused the vulnerability of this driving governor; In lock torque control, " height ", " low " and " stopping " 3 gears have been adopted; When selecting top grade for use, all vortex flow retarding device coils all participate in work.
The common electrical eddy current retarder provides the DC excitation electric current by Vehicular accumulator cell for its excitation coil, provide alternating current and the self-excitation retarder power generation assembly is slow excitation coil, this has just determined that the drive controlling of self-excitation retarder is different with the common electrical eddy current retarder.The external at present self-excitation retarder drive controller of producing adopts relay as control element, and its defective is:
1, because the frequent adhesive arcing of relay makes contact endurance low, cause this driving governor to damage easily.
2, the lock torque gear only has " height ", " low " and " stopping " three gears, and another part is not worked by relay control part coil working when selecting low grade for use, and all coils participates in work when selecting top grade for use.This driving governor has caused lock torque to present bigger step variation, can't regulate lock torque continuously equably, has influenced vehicle braked stationarity and travelling comfort; Cause phenomenons such as coil is aging inhomogeneous, rotor easy deformation simultaneously, shortened the service life of self-excitation retarder to a certain extent.
Summary of the invention
The objective of the invention is to the defective that exists at external self-excitation retarder drive controller and a kind of effective non-contact type self-excitation retarder drive controller of controlling is provided.
The technical scheme that self-excitation retarder drive controller adopts is: the on-off signal testing circuit, brake lamp driving circuit, silicon control conducting angle trigger circuit, exciting coil drive circuit, the gear display circuit that detect several on-off signals connect microprocessor by the I/O mouth respectively; Analog signal detection circuit, voltage detecting circuit are connected to 12 A/D translation interfaces of microprocessor; Described several on-off signals comprise manual driving switch signal, ABS on-off signal, speed of a motor vehicle on-off signal; Described analog signal comprises brake pedal analog signal that is directly proportional with brake-pipe pressure and the rotor disk temperature analog signal that is directly proportional with the self-excitation retarder body temperature.
The invention has the beneficial effects as follows: the size by control silicon control conducting angle has realized the control to self-excitation retarder lock torque size, and the arcing phenomenon when having avoided the frequent adhesive of relay contact has prolonged service life of driving governor.The glancing impact all coils participates in work synchronously, the uneven problems such as deformation that produced that solved that coil is aging inhomogeneous, rotor is heated.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Fig. 1 is that the circuit structure of self-excitation retarder drive controller of the present invention connects block diagram.
Fig. 2 is the connection diagram of on-off signal testing circuit 2 among Fig. 1.
Fig. 3 is the connection diagram of brake lamp driving circuit 3 among Fig. 1.
Fig. 4 is the connection diagram of voltage detecting circuit 4 among Fig. 1.
Fig. 5 is the connection diagram of silicon control conducting angle trigger circuit 5 among Fig. 1.
Fig. 6 is the connection diagram of exciting coil drive circuit 6 among Fig. 1.
Fig. 7, Fig. 8 are the control method flow charts of self-excitation retarder drive controller of the present invention.
The specific embodiment
As shown in Figure 1, the present invention selects for use mixed-signal system level micro controller system C8051F020 as microprocessor 1, and power module 9 provides direct supply voltage for described driving governor.Speed of a motor vehicle on-off signal, some manual gear signal, the ABS on-off signal of some on-off signal testing circuit 2 outputs are connected to microprocessor 1 by the I/O mouth.Analog signal detection circuit 7 and voltage detecting circuit 4 are connected to 12 A/D converter input ends of microprocessor 1, the analog signal that analog signal detection circuit 7 detects comprises the brake pedal analog signal that is directly proportional with brake-pipe pressure, the rotor disk temperature analog signal that is directly proportional with the self-excitation retarder body temperature, is input to 12 A/D converter input ends of microprocessor 1 after the filtering of analog signal process filtering modulate circuit and the conditioning.Silicon control conducting angle trigger circuit 5 are connected to the outer interruption of microprocessor 1, produce silicon control conducting angle impulse singla in interrupt handling routine.Exciting coil drive circuit 6, system car light driving circuit 3, gear display circuit 8 are connected to microprocessor 1 by the I/O mouth respectively, microprocessor 1 is input to the control that exciting coil drive circuit 6 is realized the excitation coil electric current with silicon control conducting angle impulse singla, thereby reaches the control to the self-excitation retarder lock torque.
As shown in Figure 2, on-off signal testing circuit 2 is connected by resistance R 23, Schmidt trigger U9A, resistance R 25, photoelectrical coupler U10 successively for handling the shaping circuit of on-off signal, and resistance R 24, R26, capacitor C 40 are attempted by in the circuit.The on-off signal that on-off signal testing circuit 2 is detected comprises 1 retaining, 2 retainings, 3 retainings, 4 retainings, the on-off signal of 5 manual gears of constant speed, ABS on-off signal, speed of a motor vehicle on-off signal.Described some gear signal, ABS signal are connected to the I/O interface of microprocessor 1; Vehicle speed signal is input to microprocessor 1, edge trigging pulse as the programmable counter array (being PCA0) of microprocessor 1 seizure/comparison module, the count value of the programmable counter array between twice seizure is saved and constantly is refreshed, the count value of programmable counter array not only is used to measure the speed of a motor vehicle, simultaneously also as the intermediate variable that calculates the silicon control conducting angle.
As shown in Figure 3, brake lamp driving circuit 3 is connected successively by resistance R 45, R46, photoelectrical coupler U20, device for power switching U21, diode D15, diode D14 is parallel to the mouth of photoelectrical coupler U20, and resistance R 47 is connected with diode D16 and is parallel to then between device for power switching U21 and the ground.When retarder was worked, microprocessor 1 was to described brake lamp driving circuit 3 output braking mode indicator signals.
As shown in Figure 4, voltage detecting circuit 4 is used to detect the output voltage of self-excitation retarder power generation assembly, and provide power line voltage for described silicon control conducting angle trigger circuit 5, described voltage detecting circuit 4 is by rectifier bridge U9, π LC filter circuit and two bleeder circuits constitute, inductance L, capacitor C 33, C34 constitutes π LC type filter circuit and connects with rectifier bridge U9, resistance R 18, R19 constitutes bleeder circuit and connects with π LC type filter circuit, capacitor C 35, C36 is attempted by in the circuit, the bleeder circuit output voltage provides power line voltage for conducting angle trigger circuit 5, resistance R 20, R21 constitutes another road bleeder circuit and connects with described π LC type filter circuit, and output voltage is connected to microprocessor 1 as 12 ADC incoming signals.
As shown in Figure 5, described silicon control conducting angle trigger circuit 5 are connected successively by resistance R 14, zero-crossing comparator U7, resistance R 15, R16 photoelectrical coupler U8, resistance R 17, and zener diode DZ1, DZ2 are connected in parallel on zero-crossing comparator U7 and resistance R 15 two ends.Silicon control conducting angle trigger circuit 5 receive the sinusoidal voltage of self-excitation retarder power generation assembly output, produce silicon control conducting angle energizing signal, silicon control conducting angle energizing signal connects the outer interruption of microprocessor 1, and microprocessor 1 enters interrupt handling routine after receiving outer interrupt signal; Interrupt handling routine is at first to the PORT4 of coil driver 6 pin, PORT5 pin output control signal, removes the original mode of operation of coil driver 6; Read the programmable counter array count value of gear zone bit and aforementioned preservation then, determine the timer counting step according to the count value of current lock torque gear and programmable counter array; Timer carries out timing according to determined counting step, regularly finishes to coil driver 6 output silicon control conducting angle impulse singlas.
As shown in Figure 6, exciting coil drive circuit 6 is connected between excitation coil and the self-excitation retarder power generation assembly voltage output end, constitute the single-phase bridge SCR rectification circuit by controllable silicon SCR 1, SCR2, sustained diode 1, D2, resistance R 1, capacitor C 1 are connected to controllable silicon SCR 1 negative electrode and control end constitutes controllable silicon SCR 1 protective circuit, resistance R 7, photoelectrical coupler U3, resistance R 5, diode D2 constitute controllable silicon SCR 1 driving circuit, the protective circuit of resistance R 2, capacitor C 2 formation in parallel with photoelectrical coupler U3 photoelectrical coupler U3; Resistance R 3, capacitor C 3 are connected to controllable silicon SCR 2 negative electrodes and control end constitutes controllable silicon SCR 2 protective circuits, resistance R 10, photoelectrical coupler U4, resistance R 6, diode D4 constitute controllable silicon SCR 2 driving circuits, resistance R 4, capacitor C 4 and photoelectrical coupler U4 formation in parallel photoelectrical coupler U4 protective circuit; Resistance R 8, photoelectrical coupler U6 are connected to excitation coil both sides and resistance R 9 common formation field coil short circuit condition testing circuits; Resistance R 12, U5 constitute the transwitch circuit, are used to control being connected of self-excitation retarder power generation assembly output voltage and excitation coil.
The control method of self-excitation retarder drive controller of the present invention is: microprocessor 1 is gathered vehicle speed signal, the pressure signal of brake pedal, manual shift signal in real time, judge retarder lock torque gear according to vehicle speed signal, brake-pedal load signal and manual gear signal, corresponding gear zone bit is set if retarder is in running order, if retarder is not worked, then the triac U5 of coil driver 6 is ended, and remove all gear zone bits to the PORT3 of coil driver 6 pin output control signal; Microprocessor 1 is gathered the ABS signal and is judged the current wheel lockup that whether occurs, if wheel lockup do not occur, then make the triac U5 conducting of coil driver 6 to the PORT3 of coil driver 6 pin output control signal, if locking appears in wheel, then the triac U5 of coil driver 6 is ended to the PORT3 of coil driver 6 pin output control signal; Microprocessor is gathered self-excitation retarder body temperature signal, when the self-excitation retarder body temperature surpasses the temperature upper limit of setting, then to the PORT3 of coil driver 6 pin output control signal, the triac U5 of coil driver 6 is ended.
The vehicle speed signal of on-off signal testing circuit 2 outputs is as the programmable counter array edge energizing signal of microprocessor 1 seizure/comparison module, the count value of the programmable counter array between twice seizure is saved and constantly is refreshed, the count value of programmable counter array not only is used to measure the speed of a motor vehicle, simultaneously also as the intermediate variable that calculates the silicon control conducting angle.Silicon control conducting angle trigger circuit 5 receive the sinusoidal voltage of self-excitation retarder power generation assembly output, produce silicon control conducting angle energizing signal, silicon control conducting angle energizing signal connects the outer interruption of microprocessor 1, and microprocessor 1 enters interrupt handling routine after receiving outer interrupt signal.Interrupt handling routine is at first to the PORT4 of coil driver 6 pin, PORT5 pin output control signal, remove the original mode of operation of coil driver 6, read the programmable counter array count value of gear zone bit and preservation then, determine the timer counting step according to current self-excitation retarder lock torque gear and programmable counter array and numerical value, enter down the step then; Timer carries out timing according to above-mentioned definite counting step, regularly finishes to coil driver 6 output silicon control conducting angle impulse singlas.
As shown in Figure 7, above-mentioned control method concrete operations step is as follows:
(1) enters step 101 after the program initialization.
(2) whether the step 101 detection speed of a motor vehicle is lower than setting value 5km/h.If the speed of a motor vehicle is lower than 5km/h, then enter step 108; If the speed of a motor vehicle is higher than 5km/h, then enter step 102.
(3) make PORT3=0 in the coil driver 6 in the step 108, block coil driver 6, and remove all gear signs, return then.
(4) step 102 judges according to brake-pedal load whether foundation brakes works, if foundation brakes work then enter step 109; If foundation brakes is not worked, then enter step 103.
(5) step 103 has judged whether manual gear signal, if manual gear signal is arranged, then enters step 104 and carries out the setting of gear zone bit, enters step 106 then; Otherwise enter step 108.
(6) make PORT3=1 in the coil driver 6 in the step 106, make coil driver enter mode of operation.Enter step 107 then.
(7) temperature of step 107 pair self-excitation retarder body is judged, if temperature surpasses setting value, then enters step 113; If do not surpass setting value, then return.
(8) step 113 makes the PORT3=0 of coil driver, blocks coil driver; Enter step 114 then and delay time, the self-excitation retarder body temperature is reduced.
(9) step 109 is judged self-excitation retarder lock torque gear by foundation brakes pedal pressing force signal, enters step 110 then the gear sign is set, and enters step 111 after setting up zone bit.
(10) step 111 has judged whether the ABS signal, if the ABS signal is arranged, then enters step 112, makes the PORT3=0 in the coil driver 6 in step 112, blocks coil driver, returns step 111 then; If there is not the ABS signal, then enter step 106.
As shown in Figure 8, after microprocessor 1 receives silicon control conducting angle trigger circuit 5 output interrupt signals, enter interrupt handling routine and execution according to the following steps in regular turn:
(1) enters step 121 after entering interrupt handling routine, in step 121, make PORT4=0, the PORT5=0 of coil driver 6, enter step 122 then.
(2) in step 122, read the gear zone bit, enter the count value that step 124 reads the programmable counter array of being preserved (PCA0) then, enter step 125 then.
(3) determine the timer count value according to lock torque gear, programmable counter array count value in step 125, timer timing length has determined the size of silicon control conducting angle.When finishing, timer, returns then to the PORT4 and the PORT5 output silicon control conducting angle impulse singla of coil driver 6.
Claims (4)
1. self-excitation retarder drive controller is characterized in that: the on-off signal testing circuit (2), brake lamp driving circuit (3), silicon control conducting angle trigger circuit (5), exciting coil drive circuit (6), the gear display circuit (8) that detect several on-off signals connect microprocessor (1) by the I/O mouth respectively; Analog signal detection circuit (7), voltage detecting circuit (4) are connected to (1) 12 A/D translation interface of microprocessor; Described several on-off signals comprise manual driving switch signal, ABS on-off signal, speed of a motor vehicle on-off signal; Described analog signal comprises brake pedal analog signal that is directly proportional with brake-pipe pressure and the rotor disk temperature analog signal that is directly proportional with the self-excitation retarder body temperature; Described silicon control conducting angle trigger circuit (5) are connected successively by resistance (R14), zero-crossing comparator (U7), resistance (R15, R16), photoelectrical coupler (U8) and resistance (R17), and zener diode (DZ1, DZ2) is connected in parallel on zero-crossing comparator (U7) and resistance (R15) two ends; Described exciting coil drive circuit (6) constitutes the single-phase bridge SCR rectification circuit by silicon control (SCR1, SCR2), flywheel diode (D1, D2), resistance (R1), electric capacity (C1) are connected to silicon control (SCR1) negative electrode and control end constitutes silicon control (SCR1) protective circuit, resistance (R7), photoelectrical coupler (U3), resistance (R5), diode (D2) constitute silicon control (SCR1) driving circuit, the protective circuit of resistance (R2), electric capacity (C2) photoelectrical coupler of formation in parallel with photoelectrical coupler (U3) (U3); Resistance (R3), electric capacity (C3) are connected to silicon control (SCR2) negative electrode and control end constitutes silicon control (SCR2) protective circuit, resistance (R10), photoelectrical coupler (U4), resistance (R6), diode (D4) constitute silicon control (SCR2) driving circuit, resistance (R4), electric capacity (C4) and photoelectrical coupler (U4) formation in parallel photoelectrical coupler (U4) protective circuit; Resistance (R8), photoelectrical coupler (U6) are connected to excitation coil (L) both sides and resistance (R9) constitutes excitation coil (L) short-circuit detecting circuit jointly; Resistance (R12), photoelectrical coupler (U5) constitute the transwitch circuit.
2. self-excitation retarder drive controller according to claim 1, it is characterized in that: described on-off signal testing circuit (2) is connected successively by resistance (R23), Schmidt trigger (U9A), resistance (R25), photoelectrical coupler (U10), and resistance (R24, R26), electric capacity (C40) are attempted by in the circuit respectively.
3. self-excitation retarder drive controller according to claim 1, it is characterized in that: described brake lamp driving circuit (3) is connected successively by resistance (R45, R46), photoelectrical coupler (U20), device for power switching (U21), diode (D15), diode (D14) is parallel to the mouth of photoelectrical coupler (U20), resistance (R47) be parallel between device for power switching (U21) and the ground after diode (D16) is connected.
4. self-excitation retarder drive controller according to claim 1, it is characterized in that: described voltage detecting circuit (4) is made of rectifier bridge (U9), π LC filter circuit and two bleeder circuits, inductance (L), electric capacity (C33, C34) constitute π LC type filter circuit and connect with rectifier bridge (U9), the road bleeder circuit that resistance (R18, R19) constitutes is connected with π LC type filter circuit, electric capacity (C35, C36) is attempted by in this No. one bleeder circuit, and it is output as conducting angle trigger circuit (5) power line voltage is provided; Another road bleeder circuit that resistance (R20, R21) constitutes is connected with described π LC type filter circuit, and electric capacity (C37, C38) is attempted by in another road bleeder circuit, its output connecting microprocessor (1).
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| CN102673410B (en) * | 2012-06-05 | 2014-05-28 | 江苏大学 | Intelligent control driver for self-excited retarder and control method |
| CN103676676A (en) * | 2012-09-05 | 2014-03-26 | 洛阳市黄河软轴控制器股份有限公司 | Intelligent switching circuit for eddy current retarder |
| CN104079831B (en) * | 2014-06-30 | 2017-09-12 | 苏州吉视电子科技有限公司 | A kind of camera with multichannel flash synchronization signal |
| CN105752057A (en) * | 2015-12-31 | 2016-07-13 | 芜湖联合新能源重卡产业技术研究院有限公司 | Control method for auxiliary braking of heavy truck |
| CN109588130A (en) * | 2018-11-30 | 2019-04-09 | 徐州中森智能装备有限公司 | A kind of anti-system of dying of a sudden illness suitable for graden machine |
| CN109795328A (en) * | 2019-03-04 | 2019-05-24 | 重庆先锋渝州电器有限公司 | The electric hybrid vehicle of oil and its energy back-feed control method with energy feedback function |
| CN113865785B (en) * | 2021-09-18 | 2023-06-20 | 贵州航天计量测试技术研究所 | Braking torque loading device for dynamic torque sensor calibration and application method thereof |
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| FR2776786A1 (en) * | 1998-03-24 | 1999-10-01 | Renault | METHOD FOR MONITORING THE DYNAMIC BEHAVIOR OF A ROAD VEHICLE |
| US6819995B2 (en) * | 1998-11-13 | 2004-11-16 | Cummins, Inc. | System and method for controlling vehicle braking operation |
| JP2008265397A (en) * | 2007-04-17 | 2008-11-06 | Nissan Motor Co Ltd | Vehicular braking control device |
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2009
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2776786A1 (en) * | 1998-03-24 | 1999-10-01 | Renault | METHOD FOR MONITORING THE DYNAMIC BEHAVIOR OF A ROAD VEHICLE |
| US6819995B2 (en) * | 1998-11-13 | 2004-11-16 | Cummins, Inc. | System and method for controlling vehicle braking operation |
| JP2008265397A (en) * | 2007-04-17 | 2008-11-06 | Nissan Motor Co Ltd | Vehicular braking control device |
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