CN102133891B - H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles - Google Patents
H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles Download PDFInfo
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- CN102133891B CN102133891B CN 201110053564 CN201110053564A CN102133891B CN 102133891 B CN102133891 B CN 102133891B CN 201110053564 CN201110053564 CN 201110053564 CN 201110053564 A CN201110053564 A CN 201110053564A CN 102133891 B CN102133891 B CN 102133891B
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Abstract
The invention relates to an H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles, and the hydraulic anti-lock brake system provided by the invention is characterized in that a first high-speed switch valve is additionally arranged on a pipeline between a right front wheel-left front wheel brake oil line of a pressure regulator and a brake master cylinder; a branch line with a second high-speed switch valve, a third high-speed switch valve and an intermediate-pressure energy accumulator is additionally arranged in the right front wheel-left front wheel brake oil line; a pipeline (connected with the brake master cylinder) of the right front wheel-left front wheel brake oil line of the pressure regulator is provided with a master cylinder pressure sensor; and a right front wheel cylinder and a left front wheel cylinder are respectively provided with a wheel cylinder pressure sensor. By using the hydraulic anti-lock brake system provided by the invention, the braking energy feedback and ABS integration control can be realized without influencing the driving habits of drivers, the braking performance meets the requirements of regulations, the vehicle fuel economy is improved, the development costs of hybrid vehicles and pure electric vehicle systems are reduced, and the energy recycling efficiency in the process of braking is improved, therefore, the hydraulic anti-lock brake system can be widely applied to vehicles.
Description
Technical field
The present invention relates to the skid control system for hygraulic brake of vehicle, particularly about a kind of H type pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles that is applicable to motor vehicle driven by mixed power or pure electric vehicle.
Background technology
By controlling the dynamical element of electronlmobil, the kinetic energy that dissipates during with braking reclaims, and is an important technology that improves the electric automobile energy degree of utilization.In this course, electrical motor uses as electrical generator, and the energy of recovery is stored in battery with the form of electric energy.One of key issue that faces in the electronlmobil research process is exactly that the specific energy of the battery that provides on current market is lower, therefore causes the continual mileage of electronlmobil to compare with gasoline car.Address this problem, except will be haveing breakthrough on this Pinch technology of battery, also should optimize the general design and the energy management system of setting up highly effective and safe of electronlmobil, therefore electronlmobil is in development and development process, and how rationally use and energy savings just become the important topic that the designer faces.The braking energy feedback technology is the extensive pioneering technology that adopts of at present domestic and international electronlmobil maker, generally, by the auxiliary braking of motor, separating vehicles recover kinetic energy in the middle part of braking procedure to storage battery, greatly can have been improved capacity usage ratio.The external advanced braking control system with regenerative braking function that proposes comprises at present: sharp this braking control system of Toyota-Pu, Honda-EV plus braking control system, these two kinds of brake system are all in order to add the feedback braking function, original brake system to be carried out larger transformation to form, these two kinds of systems can not only realize the braking energy feedback function, and can guarantee ABS under limiting condition (anti-lock) function, can be by improving and expanded function controlling software.Sharp this braking control system of Toyota-Pu, Honda-EV plus braking control system are representing the forward position of feedback braking function development, and still, these systems redesign to realize the braking energy feedback function to brake system.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of can the transformation on original brake system basis, great braking energy feedback rate and braking anti-lock function can be realized simultaneously, and the H type pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles of brake pedal feel can be improved.
For achieving the above object, the present invention takes following technical scheme: a kind of H type pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles, it comprises pressure regulator, master brake cylinder, fluid reservoir, master cylinder push rod vacuum booster, stretcher, drive motor, brake controller and the entire car controller with ABS function, two brake pipings of described pressure regulator are that the H type is arranged, it is characterized in that: set up No. one high-speed switch valve on the pipeline between the off front wheel of described pressure regulator-the near front wheel brake circuit and described master brake cylinder; Increase a branch road with No. two high-speed switch valves, No. three high-speed switch valves and intermediate-pressure accumulator in described off front wheel-the near front wheel brake circuit; One end of described No. two high-speed switch valves is connected on pipeline between described master brake cylinder and a described high-speed switch valve, the other end is connected with an end of described No. three high-speed switch valves, the other end of described No. three high-speed switch valves is connected on pipeline between dump pump described in off front wheel-the near front wheel brake circuit and described low pressure accumulator, and described intermediate-pressure accumulator is connected on pipeline between described No. two high-speed switch valves and described No. three high-speed switch valves; On the off hind wheel of described pressure regulator-left rear wheel brake circuit and pipeline that described master brake cylinder is connected, a master cylinder pressure sensor is set; One pressure of wheel braking cylinder sensor is set respectively on described off front wheel wheel cylinder and the near front wheel wheel cylinder; Described master cylinder pressure sensor, pressure of wheel braking cylinder sensor and ABS oil return motor are controlled by described brake controller; Described drive motor is by described vehicle control unit controls; Described brake controller and described entire car controller communication also realize the feedback braking function jointly.
For pure electric vehicle, on described master cylinder push rod vacuum booster, an electric vacuum pump is set.
Described pressure regulator comprises 11 electromagnetic valves, an ABS oil return motor, two high-tension dampers, two dump pumps, two low pressure accumulators, an intermediate-pressure accumulator, four brake wheel cylinders.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention utilizes traditional abs pressure regulating control and drive motor, sets up a high-speed switch valve between the abs pressure regulating control front wheel brake oil circuit of original H type piping layout and master brake cylinder; Increase the branch road with two high-speed switch valves and an intermediate-pressure accumulator in the front wheel brake oil circuit; On front wheel brake oil circuit and pipeline that master brake cylinder is connected, a master cylinder pressure sensor is set; One pressure of wheel braking cylinder sensor is set respectively on two front-wheel wheel cylinders; During operation, front wheel brake and drive motor coordination, and during regenerative braking, master brake cylinder is connected with intermediate-pressure accumulator, and separate with the front wheel brake oil circuit, namely stretcher and intermediate-pressure accumulator interrelate, and directly and front wheel brake contact, so when drive motor is completed energy feedback, the trampling sensation and also can not be affected of stretcher.2, the present invention only need to simply transform the abs pressure regulating control in motor vehicle braking system in prior art, utilize the drive motor in motor vehicle driven by mixed power or elec. vehicle, software carries out rationally to controlling, Reliable Design can be realized, less to the hydraulic brake system transformation, braking energy feedback efficient is high, brake pedal feel is good, has realized the integrated control of braking energy feedback and ABS.The present invention can realize braking energy feedback and the integrated control of ABS, do not affect the driving habit of chaufeur, deceleration and stopping performance meets laws and regulations requirement, improved Vehicle Economy, reduced the cost of development of motor vehicle driven by mixed power, pure electric vehicle system, improved the energy recovery efficiency in the braking procedure, therefore, can be widely used in vehicle.
Description of drawings
Fig. 1 is systematic schematic diagram of the present invention
The specific embodiment
Be described in detail of the present invention below in conjunction with drawings and Examples.
as shown in Figure 1, the present invention includes in prior art, pressure regulator with ABS function, master brake cylinder 1, fluid reservoir 2, master cylinder push rod vacuum booster 3, stretcher 4, drive motor D, brake controller BCU, entire car controller VCU, wherein, pressure regulator with ABS function is H type piping layout: it comprises off front wheel-the near front wheel brake circuit (front wheel brake oil circuit) and off hind wheel-left rear wheel brake circuit (trailing wheel brake circuit), include two wheel wheel cylinders on each brake circuit, four electromagnetic valves, a low pressure accumulator, a dump pump, a high-tension damper, the two-way brake circuit shares an oil return motor, specifically arrange as follows:
Oil outlet of master brake cylinder 1 is connected with the off front wheel of pressure regulator-the near front wheel brake circuit, and another oil outlet of master brake cylinder 1 is connected with the off hind wheel of pressure regulator-left rear wheel brake circuit.
Off front wheel-the near front wheel brake circuit comprises: high-tension damper G1, dump pump P1, ABS oil return motor M, check valve S, low pressure accumulator A1, off front wheel reducing valve RF-RV, off front wheel pressure charging valve RF-IV, the near front wheel reducing valve LF-RV, the near front wheel pressure charging valve LF-IV, off front wheel wheel cylinder RF, the near front wheel wheel cylinder LF.
Off hind wheel-left rear wheel brake circuit comprises: high-tension damper G2, dump pump P2, ABS oil return motor M, low pressure accumulator A2, off hind wheel reducing valve RR-RV, off hind wheel pressure charging valve RR-IV, left rear wheel reducing valve LR-RV, left rear wheel pressure charging valve LR-IV, off hind wheel wheel cylinder RR, left rear wheel wheel cylinder LR.
ABS oil return motor M in above-mentioned off front wheel-the near front wheel brake circuit and off hind wheel-left rear wheel brake circuit is same, and namely two brake circuits share an ABS oil return motor M.
In above-mentioned off front wheel-the near front wheel brake circuit and off hind wheel-left rear wheel brake circuit, the annexation of all parts belongs to prior art, no longer describes in detail at this.
The present invention has in the prior art between the off front wheel of the pressure regulator of ABS function-the near front wheel brake circuit and master brake cylinder 1 and sets up a high-speed switch valve A;
The present invention increases a branch road with high-speed switch valve B, high-speed switch valve C and an intermediate-pressure accumulator A0 in off front wheel-the near front wheel brake circuit; The end of high-speed switch valve B is connected on pipeline between master brake cylinder 1 and high-speed switch valve A, the other end is connected with the end of high-speed switch valve C, the other end of high-speed switch valve C is connected in off front wheel-the near front wheel brake circuit on the pipeline between dump pump P1 and low pressure accumulator A1, and intermediate-pressure accumulator A0 is connected on pipeline between high-speed switch valve B and high-speed switch valve C;
The present invention arranges a master cylinder pressure sensor 5 on off hind wheel-left rear wheel brake circuit and pipeline that master brake cylinder 1 is connected; The present invention arranges pressure of wheel braking cylinder sensor WCP1 on off front wheel wheel cylinder RF, pressure of wheel braking cylinder sensor WCP2 is set on the near front wheel wheel cylinder LF.
In above-described embodiment, the present invention can also arrange an electric vacuum pump 6 on master cylinder push rod vacuum booster 3, and stretcher 4 directly is connected with master cylinder push rod, to be applicable to pure electric vehicle.
Master cylinder pressure sensor 5 of the present invention, pressure of wheel braking cylinder sensor WCP1, WCP2 and the ABS oil return motor M to front-wheel, trailing wheel brake circuit fuel feeding are controlled by brake controller BCU; Drive motor D is controlled by entire car controller VCU; Brake controller BCU and entire car controller VCU communication, and jointly realize the feedback braking function.
The present invention has feedback braking function, ABS function, and feedback braking and the integrated control function of ABS, and the specific implementation process of each function is as follows:
1, feedback braking Function implementation process
Suppose that electro-motive vehicle is f-w-d, when chaufeur was stepped on stretcher and implemented braking, high-speed switch valve A, B, C powered on, and intermediate-pressure accumulator A0, left rear wheel wheel cylinder LR, off hind wheel wheel cylinder RR rate of pressure change are consistent with the master cylinder pressure rate of change.
Master cylinder pressure sensor 5 detects pressure value P and the master cylinder pressure rate of change Δ P/ Δ t of master brake cylinder 1, pass to brake controller BCU, brake controller BCU calculates the lock torque T of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF and sends to entire car controller VCU by the CAN communication according to the P value, and entire car controller VCU can estimate the maximum Return moment T that current drive motor D can provide
1(being equivalent to add reverse voltage and the lock torque that produces to drive motor D) also makes Return moment necessarily to increase slope K
1From zero growth rate to T
1, brake controller BCU obtains T simultaneously
1, and necessarily to reduce slope K
1Reduce the pressure of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF.
the pressure that reduces off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF is by off front wheel reducing valve RF-RV, off front wheel pressure charging valve RF-IV, the near front wheel reducing valve LF-RV, the near front wheel pressure charging valve LF-IV powers on and realizes, it is to realize by the control dutycycle that changes off front wheel pressure charging valve RF-IV and the near front wheel pressure charging valve LF-IV that the pressure of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF reduces speed control, the control dutycycle of off front wheel pressure charging valve RF-IV and the near front wheel pressure charging valve LF-IV is larger, decompression rate is faster, that is to say the growth of Return moment and off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF pressure reduce carry out simultaneously, thereby make total braking force remain unchanged.
As T greater than T
1The time, with Duty ratio control high-speed switch valve C, ABS oil return motor M, off front wheel pressure charging valve RF-IV, the near front wheel pressure charging valve LF-IV, make the braking liquid in intermediate-pressure accumulator A0 and low pressure accumulator A1 enter the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF, this part hydraulic braking force is used for compensation T and T
1Difference; As T less than T
1The time, high-speed switch valve C, the equal no power of ABS oil return motor M, off front wheel pressure charging valve RF-IV, the near front wheel pressure charging valve LF-IV power on and close, with Duty ratio control off front wheel reducing valve RF-RV and the near front wheel reducing valve LF-RV, when feedback force increases, the pressure of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF is reduced.
When the speed of a motor vehicle was low, the Return moment that drive motor D produces diminished (this is determined by the motor self character) gradually, and entire car controller VCU controls Return moment with the slope K that reduces of-Ding
2Be reduced to zero from currency, when reducing gradually, Return moment uses Duty ratio control high-speed switch valve C, ABS oil return motor M, the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV, make the braking liquid in intermediate-pressure accumulator A0, low pressure accumulator A1 enter the near front wheel wheel cylinder LF, off front wheel wheel cylinder RF, to be same as K
2Slope (getting slope absolute value herein) increase the pressure of the near front wheel wheel cylinder LF, off front wheel wheel cylinder RF, until stop, brake controller BCU reset all electromagnetic valves and ABS oil return motor.
2, ABS Function implementation process
The feedback braking solution that proposes due to the present invention is transformed the traditional braking system, so it is different that ABS function implementation procedure and the traditional braking ABS of system function realize, the below illustrates respectively two front-wheel wheel cylinder superchargings, pressurize, decompression process and two trailing wheel wheel cylinder superchargings, pressurize, decompression process.
Two front-wheel wheel cylinder pressurizations: high-speed switch valve A power down enters conducting state, the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV power down enter conducting state, the near front wheel reducing valve LF-RV and off front wheel reducing valve RF-RV power down enter not on-state, ABS oil return motor M energising work.Two front-wheel pressure maintaining periods: the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV power on and enter not on-state, and the near front wheel reducing valve LF-RV and off front wheel reducing valve RF-RV power down enter not on-state.Two front-wheel decompression processes: the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV power on and enter not on-state, and the near front wheel reducing valve LF-RV and off front wheel reducing valve RF-RV power on and enter conducting state, ABS oil return motor M energising work.
Trailing wheel pressurization: identical with the conventional brake pressurization.The trailing wheel pressure maintaining period: left rear wheel pressure charging valve LR-IV and off hind wheel pressure charging valve RR-IV power on and enter not on-state, and left rear wheel reducing valve LR-RV and off hind wheel reducing valve RR-RV power down enter not on-state.The trailing wheel decompression process: left rear wheel pressure charging valve LR-IV and off hind wheel pressure charging valve RR-IV power on and enter not on-state, and left rear wheel reducing valve LR-RV and off hind wheel reducing valve RR-RV power on and enter conducting state, ABS oil return motor M energising work.
3, the integrated control Function implementation of feedback braking and ABS process
Usually adopt feedback braking to brake to reach the purpose of recuperated energy when there is no wheel lockup trend as far as possible, prerequisite is that battery charging state (SOC) does not reach capacity, when wheel has locking trend, must remove feedback braking, ABS begins to work.The present invention proposes the control policy that the feedback braking scheme realizes feedback braking and the integrated control of ABS: set two slip rate threshold value S
1, S
2, and S
1Less than S
2, all wheel slips are all less than S
1The time, can the brake application feedback function; When monitoring certain wheel slip more than or equal to S
1The time, withdraw from once the feedback braking function, reply conventional hydraulic braking; When wheel slip being arranged greater than S
2The time, ABS enters control.
In braking procedure, in electro-motive vehicle, drive motor D can be used as the electrical generator use, thereby realizes braking energy feedback.Energy feedback type electronlmobil anti-blocking brake system refers to the braking requirement according to chaufeur, utilize as much as possible drive motor to brake to realize energy feedback, when the drive motor braking is not enough to satisfy the chaufeur braking requirement, the abs pressure regulating control is carried out rationally control with the braking requirement of undercompensation, not only to be satisfied safety but also can reclaim to greatest extent braking energy.
The feedback braking solution that the present invention proposes can obtain the brake pedal feel identical with traditional vehicle, this be because:
1) through improved pressure regulator front wheel brake loop, the control that has broken away from master brake cylinder 1 when regenerative braking, namely broken away from and the contacting of stretcher 4, and the high-speed switch valve B that sets up, high-speed switch valve C and an intermediate-pressure accumulator A0, can be so that when trampling stretcher 4, intermediate-pressure accumulator A0 receives the oil that flows out from master brake cylinder 1, can be when unclamping stretcher 4, again oil is transmitted back to low pressure accumulator A1, makes when trampling stretcher 4 to feel comfortably cool.
2) during braking energy feedback, the Braking that drive motor D produces is on drive wheel, be the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF, meanwhile, the hydraulic braking force of the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF correspondingly reduces, and finally keeps total braking force (drive motor braking force+hydraulic braking force) constant.Reducing by the realization that powers on to off front wheel pressure charging valve RF-IV, off front wheel reducing valve RF-RV, the near front wheel pressure charging valve LF-IV and the near front wheel reducing valve LF-RV of two front-wheel hydraulic braking force, braking liquid flows into low pressure accumulator A1 the inside, when monitoring low pressure accumulator A0 and can not hold braking liquid, ABS oil return motor M need to be powered on, braking liquid in low pressure accumulator A1 is drawn back to master brake cylinder 1 the inside.For the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF, take supercharging, pressurize, Decompression Controlling can not affect brake pedal feel, because the braking liquid of the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF is from low pressure accumulator A1 and intermediate-pressure accumulator A0, and front wheel brake loop and master brake cylinder 1 are kept apart by high-speed switch valve A.So, through improved hydraulic brake system, in the feedback braking process, can not make chaufeur feel the uncomfortable property of brake pedal.
The various embodiments described above only are used for explanation the present invention, and wherein the structure of each parts, connection mode etc. all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement all should not got rid of outside protection scope of the present invention.
Claims (2)
1. H type pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles, it comprises the pressure regulator with ABS function, master brake cylinder, fluid reservoir, the master cylinder push rod vacuum booster, stretcher, drive motor, brake controller and entire car controller, described pressure regulator comprises off front wheel-the near front wheel brake circuit and off hind wheel-left rear wheel brake circuit, include two wheel wheel cylinders on each brake circuit, four electromagnetic valves, a low pressure accumulator, a dump pump, a high-tension damper, article two, brake circuit shares an ABS oil return motor, two brake circuits of described pressure regulator are that the H type is arranged, it is characterized in that:
Set up No. one high-speed switch valve on pipeline between the off front wheel of described pressure regulator-the near front wheel brake circuit and described master brake cylinder; Increase a branch road with No. two high-speed switch valves, No. three high-speed switch valves and intermediate-pressure accumulator in described off front wheel-the near front wheel brake circuit; One end of described No. two high-speed switch valves is connected on pipeline between described master brake cylinder and a described high-speed switch valve, the other end is connected with an end of described No. three high-speed switch valves, the other end of described No. three high-speed switch valves is connected on pipeline between dump pump described in off front wheel-the near front wheel brake circuit and described low pressure accumulator, and described intermediate-pressure accumulator is connected on pipeline between described No. two high-speed switch valves and described No. three high-speed switch valves;
On the off hind wheel of described pressure regulator-left rear wheel brake circuit and pipeline that described master brake cylinder is connected, a master cylinder pressure sensor is set; One pressure of wheel braking cylinder sensor is set respectively on described off front wheel wheel cylinder and the near front wheel wheel cylinder;
Described master cylinder pressure sensor, pressure of wheel braking cylinder sensor and ABS oil return motor are controlled by described brake controller; Described drive motor is by described vehicle control unit controls; Described brake controller and described entire car controller communication also realize the feedback braking function jointly.
2. H type pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles as claimed in claim 1, is characterized in that: for pure electric vehicle, on described master cylinder push rod vacuum booster, an electric vacuum pump is set.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110053564 CN102133891B (en) | 2011-03-07 | 2011-03-07 | H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles |
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|---|---|---|---|
| CN 201110053564 CN102133891B (en) | 2011-03-07 | 2011-03-07 | H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles |
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| CN102133891A CN102133891A (en) | 2011-07-27 |
| CN102133891B true CN102133891B (en) | 2013-05-22 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700537A (en) * | 2012-06-08 | 2012-10-03 | 清华大学 | Vehicle braking energy recovery system |
| CN102765378B (en) * | 2012-07-12 | 2014-07-30 | 清华大学 | Braking energy recycling device of electric automobile and method for controlling braking energy recycling device |
| CN102897157A (en) * | 2012-09-29 | 2013-01-30 | 浙江亚太机电股份有限公司 | Automobile anti-skid braking system with energy recovery function |
| JP2015100149A (en) * | 2013-11-18 | 2015-05-28 | Ntn株式会社 | Anti-loci brake controller |
| CN107415918B (en) * | 2017-07-17 | 2024-01-30 | 安徽工程大学 | Braking system suitable for electric vehicle |
| CN112572388B (en) * | 2021-01-04 | 2022-08-12 | 浙江力邦合信智能制动系统股份有限公司 | Redundant braking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2936852A1 (en) * | 1979-09-12 | 1981-04-02 | Robert Bosch Gmbh, 7000 Stuttgart | BRAKE LOCK PROTECTION DEVICE |
| CN101734164A (en) * | 2009-12-21 | 2010-06-16 | 清华大学 | Automobile composite braking system |
| CN101941430A (en) * | 2010-07-05 | 2011-01-12 | 清华大学 | Hydraulic braking system of four-wheel driven electric vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101090910B1 (en) * | 2009-07-29 | 2011-12-08 | 주식회사 만도 | Electronic Hydraulic Brake System |
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2011
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2936852A1 (en) * | 1979-09-12 | 1981-04-02 | Robert Bosch Gmbh, 7000 Stuttgart | BRAKE LOCK PROTECTION DEVICE |
| CN101734164A (en) * | 2009-12-21 | 2010-06-16 | 清华大学 | Automobile composite braking system |
| CN101941430A (en) * | 2010-07-05 | 2011-01-12 | 清华大学 | Hydraulic braking system of four-wheel driven electric vehicle |
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