CN102490707B - Brake control method - Google Patents
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- CN102490707B CN102490707B CN201110426311.0A CN201110426311A CN102490707B CN 102490707 B CN102490707 B CN 102490707B CN 201110426311 A CN201110426311 A CN 201110426311A CN 102490707 B CN102490707 B CN 102490707B
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Abstract
The invention provides a brake control method. The method comprises the following steps of: 1) in the braking process, acquiring the speed of a wheel in real time; 2) calculating the speed of an automobile according to the acquired speed of the wheel, judging whether the automobile enters an antilock brake system (ABS) braking stage or not according to the obtained speed of the automobile, if so, performing subsequent steps, and otherwise, returning to the step 1); 3) calculating the slippage rate of the wheel according to the acquired speed of the wheel; and 4) controlling an electronic mechanical brake to operate according to the calculated slippage rate of the wheel. The method is simple and practicable.
Description
Technical field
The invention belongs to automobile brake technical field, be specifically related to a kind of brake control method.
Background technology
In automobile, ABS system (Anti-lock Brake System, i.e. anti-skid brake system) has the feature of himself: have stronger antijamming capability and high reliability; Its control process requires that response fast, and most of control process all requires to respond within the time of millisecond magnitude.But automobile ABS system often cannot realize because of system complex, or can to realize but the cost realized is too high, so just significantly limit ABS systematic difference scope.
At present, domestic and international most automobile-used brake system still reaches braking object based on fluid control mechanical pressure.Traditional hydraulic brake system is by electromagnetic valve comprises pressure charging valve, reducing valve realizes braking force control, described hydraulic brake system also exists complex structure, installing inconvenient, expensive, fault can not Real-Time Monitoring, the defects such as braking response is slow, will realize the control for brake based on ABS in this brake system, it is very large to implement difficulty.
Along with the development of automobile brake technology, there is electromechanical braking system.First, it no longer needs the vacuum booster, hydraulic tubing etc. that adopt conventional hydraulic braking, change into and rely on electric machine rotation output torque to drive corresponding kinematic mechanism to move, the rotary motion of motor can be converted to straight-line motion by described kinematic mechanism, braking clamping force is produced with the brake clearance eliminated between brake disc and brake facing, thus realize braking, enormously simplify the structure of brake system, also mitigate complete vehicle weight simultaneously.Meanwhile, this brake system can eliminate sticking of brakes phenomenon completely, shortens the braking response time, also improves the Performance And Reliability of brake system.Secondly, it adopts electronic brake pedal to substitute traditional mechanical drive pedal, and brake pedal is manipulated more flexibly with convenient, it also avoid in hydraulic brake system simultaneously and carries out when abs braking controls because pedal feedback shakes the human discomfort brought.
But, to adopt the control for brake based on ABS in electromechanical braking system, then there is problem below: first, due to still longer to the time producing braking clamping force from motor output torque, the real-time of braking effect is poor, can not meet vehicle completely when carrying out emergency braking for the requirement of braking response time; The second, the braking clamping force that motor output torque produces is less, can not realize braking under larger braking clamping force; 3rd, because motor cannot realize long stall, the maintenance of braking clamping force thus cannot be realized.
Summary of the invention
Technical matters to be solved by this invention is for the above-mentioned problems in the prior art, there is provided a kind of brake control method, it is a kind of brake control method based on ABS, can realize the control for brake of ABS, and mode is simple, braking effect is better.The technical scheme that solution the technology of the present invention problem adopts is that this brake control method comprises the following steps:
1) in braking procedure, Real-time Obtaining wheel wheel speed;
2) calculate the speed of a motor vehicle according to the wheel wheel speed obtained, and judge whether automobile enters the AB S deboost phase according to the speed of a motor vehicle obtained: if then perform subsequent step; Otherwise return step 1);
3) according to the wheel wheel speed calculation wheel slip obtained;
4) work of electromechanical brake is controlled according to the wheel slip calculated.
Preferably, in step 2) in, when the speed of a motor vehicle reaches or exceed a certain preset vehicle speed value, judge that automobile enters the abs braking stage; When the speed of a motor vehicle is less than described preset vehicle speed value, judge that automobile does not enter the abs braking stage.
Preferably, described preset vehicle speed value is 10km/h.
In step 4) in, when the slip rate calculated is less than a certain default slip rate, control electromechanical brake increasing brake clamping force; When the slip rate calculated equals described default slip rate, control electromechanical brake and keep braking clamping force; When the slip rate calculated is greater than described default slip rate, controls electromechanical brake and reduce braking clamping force.
The span of preferred described default slip rate is 15% ~ 20%.
Wherein, brake facing, brake disc, motor, the kinematic mechanism be connected with the output shaft of motor and self-locking mechanism is included in described electromechanical brake, described kinematic mechanism can moving linearly and contacting with brake facing forward, and promote brake facing and travel forward thus clamp brake disc, and described kinematic mechanism adopt can the non-self-lock-ing kinematic mechanism of free rollback, described self-locking mechanism is used for locked for the output shaft of motor, when the slip rate calculated is less than described default slip rate, control motor and increase output torque, with increasing brake clamping force; When the slip rate calculated equals described default slip rate value, control self-locking mechanism by locked for the output shaft of motor, and disable motor, to keep braking clamping force; When the slip rate calculated is greater than described default slip rate value, controls motor and reduce output torque or control disable motor, thus reduce braking clamping force.
Preferably, described non-self-lock-ing kinematic mechanism adopts ball wire rod mechanism, described ball wire rod mechanism comprises ball screw axle, be sleeved on the stop gear that feed screw nut on ball screw axle and restriction ball screw axle can only do translation and can not rotate, described feed screw nut is connected with the output shaft of motor, described brake facing is arranged on the front of ball screw axle, and ball screw axle can contact with brake facing; Described self-locking mechanism adopts power down drg, is pull-in on the output shaft of motor during described power down drg power-off, during energising and the output shaft of motor disconnect.
Further preferably, also stored energy mechanism is included in described actuating unit, described stored energy mechanism adopts elastic mechanism, described elastic construction is sleeved on ball screw axle, before described kinematic mechanism travels forward, elastic mechanism is in compressive state, when kinematic mechanism forward moving linearly time, the elastic potential energy in elastic mechanism be released thus promote ball screw axle accelerate travel forward.
Preferably, described electromechanical brake comprises housing, brake disc, brake facing, can promote brake facing and travel forward thus the actuating unit and the power down drg that clamp brake disc; The kinematic mechanism that described actuating unit comprises motor and is connected with the mouth of motor; The rotary motion of motor can be converted to straight-line motion by described kinematic mechanism, and kinematic mechanism is located in housing, and described brake facing is arranged on the front of kinematic mechanism; Be pull-in on the output shaft of motor during described power down drg power-off, during energising and the output shaft of motor disconnect; Described kinematic mechanism adopts ball wire rod mechanism, described ball wire rod mechanism comprises ball screw axle, be sleeved on the stop gear that feed screw nut on ball screw axle and restriction ball screw axle can only do translation and can not rotate, the output shaft rotation of motor drives feed screw nut to rotate, feed screw nut rotate promote screw mandrel forward moving linearly contact with brake facing, and promote brake facing and travel forward thus clamp brake disc.
Preferably, the output duty cycle by controlling motor controls the rotating speed of motor.
Preferably, described motor adopts brshless DC motor.
Preferably, in step 1) in, obtain wheel wheel speed by wheel speed sensors.
The invention has the beneficial effects as follows: this brake control method can meet vehicle when carrying out emergency braking for the requirement of braking response time and the requirement of braking force period regulation, and achieve and can brake under larger braking clamping force, this control method is adopted to brake, can real-time control braking clamping force increase, maintenance and reduce, and just can realize above-mentioned control process without the need to motor reversal, also can not there is the situation of the long-time stall of motor simultaneously, its control process is simple, and braking effect is better.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of brake control method of the present invention;
Fig. 2 is the structure principle chart of a kind of electromechanical braking system adopted according to the brake control method in the embodiment of the present invention 1;
Fig. 3 is the structural representation of the electromechanical brake adopted in brake control method described in the embodiment of the present invention 1.
In figure: 1-motor; 2-power down drg; 3-ball bearing of main shaft; 4-feed screw nut; 5-stop gear; 6-ball screw axle; 7-belleville spring; 8-caliper; 9,10-brake facing; 11-brake disc; 12-housing.
Detailed description of the invention
For making those skilled in the art understand technical scheme of the present invention better, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Brake control method of the present invention comprises the following steps:
1) in braking procedure, Real-time Obtaining wheel wheel speed;
2) calculate the speed of a motor vehicle according to the wheel wheel speed obtained, and judge whether automobile enters the abs braking stage according to the speed of a motor vehicle obtained, if so, then perform subsequent step; Otherwise return step 1);
3) according to the wheel wheel speed calculation wheel slip obtained;
4) work of electromechanical brake is controlled according to the slip rate calculated.
Embodiment 1:
As shown in Figure 1, brake control method of the present invention comprises the following steps:
1) in braking procedure, Real-time Obtaining wheel wheel speed:
2) calculate the speed of a motor vehicle according to the wheel wheel speed obtained, and judge whether automobile enters the abs braking stage according to the speed of a motor vehicle obtained, if so, then perform subsequent step; Otherwise return step 1):
By the wheel wheel speed calculation speed of a motor vehicle obtained, common method has two: one to be four wheel speeds that basis is measured, and uses certain algorithm to draw the speed of a motor vehicle, such as utilizes quadravalence RUNGE-KUTTA method in conjunction with the method for machine solution ternary once differentiation equation; Two is measure output shaft of gear-box rotating speed, obtains the speed of a motor vehicle as calculated.
When the speed of a motor vehicle reaches or exceed a certain preset vehicle speed value, judge that automobile enters the abs braking stage; When the speed of a motor vehicle is less than described preset vehicle speed value, judge that automobile does not enter the abs braking stage.
In the present embodiment, described preset vehicle speed value is 10km/h.When the speed of a motor vehicle reach or more than 10km/h time, judge that automobile enters the abs braking stage; When the speed of a motor vehicle is less than 10km/h, judge that automobile does not enter the abs braking stage.
3) according to the wheel wheel speed calculation wheel slip obtained:
In the present embodiment, the span of described default slip rate is 15%-20%.
Can calculate wheel slip by wheel wheel speed, the computing formula of wheel slip is: δ=(v-wr)/v × 100%, in formula: δ-slip rate; Speed (m/s) the i.e. wheel speed of v-wheel center; R-vehicle wheel roll radius (m); W-angular speed of wheel (rad/s), during wheel pure rolling, δ=0; During simple sliding, δ=100%, when the span of wheel slip is 15% ~ 20%, wheel adhesion value now reaches maximum, thus can obtain best braking effect.
4) work of electromechanical brake is controlled according to the slip rate calculated.
When the slip rate calculated is less than a certain default slip rate, control electromechanical brake increasing brake clamping force; When the slip rate calculated equals described default slip rate, control electromechanical brake and keep braking clamping force; When the slip rate calculated is greater than described default slip rate, controls electromechanical brake and reduce braking clamping force.
The schematic diagram according to a kind of electromechanical braking system of brake control method employing in the present embodiment as shown in Figure 2.This electromechanical braking system comprises measuring wheel speed unit, EMB controls driver element and electromechanical brake.
Measuring wheel speed unit, for Real-time Collection wheel wheel speed, and exports the wheel wheel speed signal collected.In the present embodiment, described measuring wheel speed unit adopts wheel speed sensors.
EMB controls driver element and comprises EMB control unit and EMB driver element.
The wheel speed signal that described EMB control unit transmits for receiving measuring wheel speed unit, and calculate the speed of a motor vehicle according to the wheel speed signal received, preset vehicle speed value is stored in described EMB control unit, the speed of a motor vehicle obtained and preset vehicle speed value are compared, and judge whether vehicle enters the abs braking stage according to comparative result, in the present embodiment, described preset vehicle speed value is 10km/h.Be about to the speed of a motor vehicle that obtains and preset vehicle speed value 10km/h compares, when the speed of a motor vehicle is less than 10km/h, judge that automobile does not enter the abs braking stage, now EMB control unit according to displacement pickup collection and the displacement signal of stretcher pressure simulation device transmitted process, and send according to result and different control signal to EMB driver element; When the speed of a motor vehicle reach or more than 10km/h time, judge that automobile enters the abs braking stage, default slip rate is stored in described EMB control unit, the span of described default slip rate is 15% ~ 20%, EMB control unit is according to the wheel wheel speed calculation wheel slip received, again the wheel slip calculated and the default slip rate that stores in it are compared, then output control signals to EMB driver element according to comparative result.
The control signal that EMB driver element exports for receiving EMB control unit, and drive electromechanical brake work according to the control signal received, the control signal that EMB control unit exports is 3 kinds: boost pressure signal (namely increasing braking force), pressurize signal (namely keeping braking force), or depression signal (namely reducing braking force).
Specifically, when the wheel slip that EMB control unit calculates is less than default slip rate, EMB control unit exports boost pressure signal to EMB driver element, and EMB driver element drives electromechanical brake increasing brake clamping force according to the boost pressure signal received; When the slip rate that EMB control unit calculates equals default slip rate, EMB control unit exports pressurize signal to EMB driver element, and EMB driver element drives electromechanical brake to keep braking clamping force according to the pressurize signal received; When the slip rate that EMB control unit calculates is greater than default slip rate, EMB control unit exports depression signal to EMB driver element, and EMB driver element drives electromechanical brake to reduce braking clamping force according to the depression signal received.
As Fig. 3, in the present embodiment, electromechanical brake comprises: housing 12, brake disc 11, brake facing 9 and brake facing 10, actuating unit and self-locking mechanism,
Described actuating unit can promote brake facing 9 and brake facing 10 travels forward thus clamps brake disc 11.In the present embodiment, actuating unit comprises motor 1, moment of torsion enlarger and kinematic mechanism.Kinematic mechanism is located in housing 12, and the rotary motion of motor 1 can be converted to straight-line motion by described kinematic mechanism, and brake facing 9 and brake facing 10 are arranged on the front of kinematic mechanism.Described moment of torsion enlarger is arranged between motor 1 and kinematic mechanism, in the present embodiment, moment of torsion enlarger adopts can realize slowing down and increases the speed reduction gearing of square, and the input end of described speed reduction gearing is connected with the output shaft of motor 1, and the mouth of speed reduction gearing is connected with kinematic mechanism.
In the present embodiment, described kinematic mechanism adopts non-self-lock-ing mechanism, non-self-lock-ing mechanism can automatic rollback under the antagonistic force of brake facing 9 and brake disc 11, achieving motor only rotates forward nonreversible, by the adjustment regulating motor forward output torque just can realize braking force, solve in practice the following problem of braking existence: the first, by motor to rotate and reverse reversing time long; The second, easily cause motor acutely to shake by motor commutation, and the reverse electro-motive force caused by commutation easily impact and damage to components and parts etc. such as the driving circuits of motor internal.
Non-self-lock-ing kinematic mechanism adopts ball wire rod mechanism, and described ball wire rod mechanism comprises ball screw axle 6, being sleeved on feed screw nut 4 on ball screw axle 6 and restriction ball screw axle 6 can only the translation stop gear 5 that can not rotate.Described feed screw nut 4 is connected with the mouth of speed reduction gearing, rotated by motor 1 and drive speed reduction gearing to rotate and then drive feed screw nut 4 to rotate, feed screw nut 4 rotates and can promote ball screw axle 6 moving linearly and contacting with brake facing 9 forward, and promotes brake facing 9 and travel forward thus clamp brake disc 11.
In the present embodiment, also stored energy mechanism is included in actuating unit, described stored energy mechanism adopts elastic mechanism, described elastic construction to be sleeved on described ball screw axle 6 and to withstand on the inwall of housing 17, before ball wire rod mechanism travels forward, elastic mechanism is in compressive state, when ball wire rod mechanism forward moving linearly time, the elastic potential energy in elastic mechanism be released thus promote ballscrew shaft 6 accelerate travel forward.
Wherein, include spring in described elastic mechanism, described spring housing is contained on ball screw axle 6, and is in ball screw axle one end away from brake facing 10.In the present embodiment, described spring adopts one or more groups belleville spring 7, and described belleville spring 7 adopts the stacked structure of combined type or opposite.
In the present embodiment, self-locking mechanism adopts power down drg 2.Be pull-in on during 2 power-off of described power down drg on the output shaft of motor 1, during energising and the output shaft of motor 1 disconnect.The reason that the present invention introduces power down drg is: motor can not stall for a long time, simultaneously in order to the heat that makes motor produce in braking procedure and electric energy can be utilized effectively.Wherein, power down drg 2 is connected with EMB control unit, while EMB control unit exports control signal, controls energising and the power-off of power down drg 2.
In the present embodiment, motor adopts BLDC motor (Brushless DC Motor, i.e. brshless DC motor).
Stretcher pressure simulation device and displacement pickup is also included in this electromechanical braking system.Described stretcher pressure simulation device is used for simulating brake pedal, institute's displacement sensors is for the displacement that gathers stretcher pressure simulation device simulating brake pedal and obtain and it is sent to EMB and control driver element, when EMB control driver element judges to enter the abs braking stage, described EMB control driver element controls motor according to the displacement signal received and exports corresponding moment of torsion.
The principle of work of the electric mechanical controller adopted in the present invention is: motor 1 exports little moment of torsion, amplified by speed reduction gearing, namely by increasing transmitting ratio to increase thrust, then by ball wire rod mechanism, the rotation of motor is converted into translation, then promotes brake facing motion by the ball screw axle 6 in ball wire rod mechanism thus realize braking.Ball screw axle 6 is proal while, the elastic potential energy in belleville spring 7 is released thus promotes ballscrew shaft 6 and accelerates to travel forward, thus shortens the braking response time further, and can produce larger braking clamping force at short notice.
When EMB control unit exports boost pressure signal to EMB driver element, EMB control unit controls power down drg 2 and is energized, disconnect with the output shaft of motor 1 self-locking namely removing motor after power down drg 2 is energized, the output shaft of motor 1 can freely rotate, EMB driver element receives the boost pressure signal that EMB control unit exports simultaneously, drive motor 1 increases output torque and exports, preferred motor 1 exports with max. output torque, namely motor is made to export with 100% dutycycle, ball screw axle 6 accelerates to travel forward, promote brake facing clamping brake disc, thus increase the braking clamping force of electromechanical brake, when EMB control unit exports pressurize signal to EMB driver element, EMB control unit controls the power-off of power down drg 2, by locked for the output shaft end of motor 1 after power down drg 2 power-off, simultaneously, EMB driver element receives disable motor 1 after the pressurize signal that EMB control unit sends, thus keep electromechanical brake braking clamping force now, braking clamping force is neither increased, does not also reduce, when EMB control unit exports depression signal to EMB driver element, EMB control unit controls power down controller 2 and is energized, disconnect with the output shaft of motor 1 after power down drg 2 is energized, the output shaft of motor 1 can freely rotate, after simultaneously EMB driver element receives the depression signal that EMB control unit sends, control motor 1 and reduce output torque or disable motor 1: when needs gripping power fast speed removal, motor can be controlled to close, when needs make gripping power progressively removal time, progressively can reduce the output torque of motor, progressively to reduce braking clamping force.Ball wire rod mechanism is automatically return backward under the antagonistic force of brake facing and brake disc, thus make motor 1 when nonreversible, can realize automatically unloading power, thus reduce the braking clamping force of electromechanical brake, the braking clamping force governing response time can be shortened.
In above-mentioned braking procedure, when EMB control unit sends pressurize signal to EMB driver element, if the dwell time is shorter, be such as less than or equal to 2 minutes, also first can not control the power-off of power down drg, but control motor continues stall to keep braking clamping force; When the dwell time is greater than 2 minutes, EMB control unit controls power down drg 2 power-off again with by locked for the output shaft end of motor 1, and then disable motor exports and can realize gripping power and keep.
Be understandable that, the illustrative embodiments that above embodiment is only used to principle of the present invention is described and adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (7)
1. a brake control method, it is in electromechanical braking system, this brake system comprises EMB and controls driver element, electromechanical brake, stretcher pressure simulation device and displacement pickup, described stretcher pressure simulation device is used for simulating brake pedal, institute's displacement sensors is for the displacement that gathers stretcher pressure simulation device simulating brake pedal and obtain and it is sent to EMB and control driver element, and the method comprises the following steps:
1) in braking procedure, Real-time Obtaining wheel wheel speed;
2) calculate the speed of a motor vehicle according to the wheel wheel speed obtained, and judge whether automobile enters the abs braking stage according to the speed of a motor vehicle obtained, if so, then perform subsequent step; Otherwise return step 1);
Wherein, when the speed of a motor vehicle reaches or exceed a certain preset vehicle speed value, judge that automobile enters the abs braking stage; When the speed of a motor vehicle is less than described preset vehicle speed value, judge that automobile does not enter the abs braking stage;
Described EMB controls driver element and comprises EMB control unit and EMB driver element, when judging that automobile does not enter the abs braking stage, EMB control unit to displacement pickup collection and the displacement signal of stretcher pressure simulation device transmitted process, and send according to result and different control signal to EMB driver element, EMB driver element drives electromechanical brake work according to the control signal received;
3) according to the wheel wheel speed calculation wheel slip obtained;
4) work of electromechanical brake is controlled according to the wheel slip calculated;
Wherein, brake facing, brake disc, motor, the kinematic mechanism be connected with the output shaft of motor and self-locking mechanism is included in described electromechanical brake, described kinematic mechanism can moving linearly and contacting with brake facing forward, and promote brake facing and travel forward thus clamp brake disc, and described kinematic mechanism adopt can the non-self-lock-ing kinematic mechanism of free rollback, described self-locking mechanism is used for locked for the output shaft of motor
Described self-locking mechanism adopts power down drg, is pull-in on the output shaft of motor during described power down drg power-off, during energising and the output shaft of motor disconnect;
When the wheel slip that EMB control unit calculates is less than default slip rate, EMB control unit exports boost pressure signal to EMB driver element, EMB driver element drives electromechanical brake increasing brake clamping force according to the boost pressure signal received, namely EMB driver element controls power down brake guaranties, disconnect the self-locking to remove motor with the output shaft of motor after power down brake guaranties, the output shaft of motor can freely rotate, EMB drive unit drives motor increases output torque output simultaneously, thus can increase the braking clamping force of electromechanical brake; When the slip rate that EMB control unit calculates equals default slip rate, EMB control unit exports pressurize signal to EMB driver element, EMB driver element drives electromechanical brake to keep braking clamping force according to the pressurize signal received, namely EMB control unit controls the power-off of power down drg, by locked for the output shaft end of motor after the power-off of power down drg, EMB driver element disable motor simultaneously, thus electromechanical brake braking clamping force now can be kept; When the slip rate that EMB control unit calculates is greater than default slip rate, EMB control unit exports depression signal to EMB driver element, EMB driver element drives electromechanical brake to reduce braking clamping force according to the depression signal received, namely EMB control unit controls the energising of power down controller, disconnect with the output shaft of motor after power down brake guaranties, the output shaft of motor can freely rotate, EMB driver element controls motor reduction output torque or disable motor simultaneously: when needs gripping power fast speed removal, control motor to close; When needs make gripping power progressively removal time, progressively reduce the output torque of motor, progressively to reduce braking clamping force.
2. brake control method according to claim 1, is characterized in that, described preset vehicle speed value is 10km/h.
3. brake control method according to claim 1, is characterized in that, the scope of described default slip rate is 15% ~ 20%.
4. brake control method according to claim 1, it is characterized in that, described non-self-lock-ing kinematic mechanism adopts ball wire rod mechanism, described ball wire rod mechanism comprises ball screw axle, be sleeved on the stop gear that feed screw nut on ball screw axle and restriction ball screw axle can only do translation and can not rotate, described feed screw nut is connected with the output shaft of motor, described brake facing is arranged on the front of ball screw axle, and ball screw axle can contact with brake facing.
5. brake control method according to claim 4, it is characterized in that, also stored energy mechanism is included in described electromechanical brake, described stored energy mechanism adopts elastic mechanism, described elastic mechanism is sleeved on ball screw axle, and before described kinematic mechanism travels forward, elastic mechanism is in compressive state, when kinematic mechanism forward moving linearly time, the elastic potential energy in this elastic mechanism be released thus promote ball screw axle accelerate travel forward.
6. brake control method according to claim 1, is characterized in that, is controlled the rotating speed of motor by the output duty cycle controlling motor, and described motor adopts brshless DC motor.
7. according to the brake control method one of claim 1-6 Suo Shu, it is characterized in that, in step 1) in, obtain wheel wheel speed by wheel speed sensors.
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| CN201110426311.0A CN102490707B (en) | 2011-12-15 | 2011-12-15 | Brake control method |
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| CN201110426311.0A CN102490707B (en) | 2011-12-15 | 2011-12-15 | Brake control method |
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| CN102490707B true CN102490707B (en) | 2015-06-10 |
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| CN104828044A (en) * | 2014-07-03 | 2015-08-12 | 北汽福田汽车股份有限公司 | Braking control method and braking control system of vehicle |
| JP6420199B2 (en) * | 2015-04-28 | 2018-11-07 | 株式会社シマノ | Bicycle equipment |
| CN108105292B (en) * | 2016-11-24 | 2020-05-19 | 比亚迪股份有限公司 | Brake actuator, automobile brake system and electric automobile |
| CN108105293B (en) * | 2016-11-24 | 2020-05-22 | 比亚迪股份有限公司 | Brake actuator, automobile brake system and electric automobile |
| CN108105295A (en) * | 2016-11-24 | 2018-06-01 | 比亚迪股份有限公司 | Brake actuator, brake system of car and electric vehicle |
| CN109910850B (en) * | 2017-12-13 | 2020-06-19 | 比亚迪股份有限公司 | Vehicle and brake control method and device thereof |
| CN108639035B (en) * | 2018-06-29 | 2020-06-23 | 滨州职业学院 | High-speed bridge type robot power-off anti-falling system and method |
| CN111252048B (en) * | 2018-11-30 | 2021-04-20 | 比亚迪股份有限公司 | Method and device for controlling vehicle brake, storage medium and vehicle |
| CN109667849A (en) * | 2018-12-29 | 2019-04-23 | 联合汽车电子有限公司 | A kind of electric-liquid type automatic clutch actuator |
| JP7201807B2 (en) * | 2019-06-27 | 2023-01-10 | アルプスアルパイン株式会社 | Operating device |
| CN113335241A (en) * | 2021-05-11 | 2021-09-03 | 一汽奔腾轿车有限公司 | Optimized active emergency braking method |
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| CN201677873U (en) * | 2010-03-30 | 2010-12-22 | 比亚迪股份有限公司 | Hydraulic brake system |
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