CN102556034B - Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator - Google Patents
Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator Download PDFInfo
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- CN102556034B CN102556034B CN201210015013.7A CN201210015013A CN102556034B CN 102556034 B CN102556034 B CN 102556034B CN 201210015013 A CN201210015013 A CN 201210015013A CN 102556034 B CN102556034 B CN 102556034B
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Abstract
The invention discloses a braking energy recovery system based on a hydraulic ABS pressure regulator. The braking energy recovery system comprises a pressure regulator with hydraulic ABS function, a main braking cylinder, a main cylinder vacuum booster, a drive motor, a braking controller, a vehicle control unit and a motor controller. The braking energy recovery system is characterized in that a pressure sensor is arranged on an oil outlet pipe of the main braking cylinder; a pressure sensor is arranged on the front wheel cylinder in the ABS pressure regulator; the signals of the two sensors are fed back to the braking controller; the drive motor is controlled by the motor controller; the braking controller keeps CAN (controller area network) communication with the vehicle control unit; the vehicle control unit keeps CAN communication with the motor controller; and the pressure regulator is used for controlling two braking oil circuits from a left front wheel to a right rear wheel and from a right front wheel to a left rear wheel. According to the invention, the braking energy can be recovered by using the motor to feed back the braking force, and the pressure of the wheel cylinder can be boosted, maintained and reduced by using the ABS pressure regulator, thereby realizing integrated control of braking energy recovery and ABS.
Description
Technical field
The present invention relates to the hydraulic brake system of vehicle, particularly about a kind of brake system that realizes braking energy recovering function based on hydraulic ABS pressure regulator that is applicable to mixed power electric car or pure electric automobile.
Background technology
Along with the aggravation of energy problem and problem of environmental pollution, the research of electronlmobil is significant with application.One of key issue facing in electronlmobil research process is exactly that the specific energy of electrokinetic cell is lower, has larger inferior position thereby cause the continual mileage of electronlmobil to compare traditional combustion engine vehicle.Address this problem, except seeking breakthrough on this Pinch technology of battery, how to optimize electronlmobil general design, set up the energy management system of highly effective and safe, rationally use and save the energy and become the important topic that designer faces in electronlmobil development and development process.
Braking energy recovery technology is the pioneering technology that electronlmobil maker extensively adopts both at home and abroad at present, in braking procedure, by driving motor electric voltage reverse-connection, make it be operated in generating state, utilize the regenerative braking power of motor to brake vehicle, the energy of its feedback is stored into the form with electric energy in battery, thereby reclaims the part kinetic energy of vehicle in braking procedure, has greatly improved the capacity usage ratio of electronlmobil.At present the external advanced brake system with braking energy recovering function proposing comprises: sharp this brake system of Toyota-Pu, continent-composite braking system, thus these two kinds of brake system are carried out larger transformation to original brake system and have been realized feedback braking function.These two kinds of systems can not only realize braking energy feedback function, and can ensure ABS function under limiting condition, can be by improving and expanded function controlling software.Sharp this brake system of Toyota-Pu, continent-composite braking system are representing the forward position of feedback braking function development, and still, these systems are all that brake system is redesigned to realize braking energy feedback function.
Summary of the invention
For the problems referred to above, the object of the invention is to utilize hydraulic ABS pressure regulator in conventional truck and the drive motor of pure electric automobile or hybrid vehicle, propose a kind of brake energy recovering system based on hydraulic ABS pressure regulator, can realize braking energy simultaneously and reclaim and braking anti-lock function.
For achieving the above object, the present invention takes following technical scheme: a kind of brake energy recovering system based on hydraulic ABS pressure regulator, it comprises the pressure regulator with ABS function, master brake cylinder, fluid reservoir, electric vacuum pump, brake pedal, vacuum booster, drive motor, brake controller, entire car controller and electric machine controller, it is characterized in that: a master cylinder pressure sensor is set on the fuel-displaced pipeline of described master brake cylinder, a front-wheel wheel cylinder place in described abs pressure regulating control arranges a front-wheel pressure of wheel braking cylinder sensor, each sensor is all connected with brake controller, carry out signal feedback, described drive motor is by motor controller controls, brake controller and entire car controller carry out CAN communication, entire car controller and electric machine controller carry out CAN communication.
Described pressure regulator control the near front wheel-off hind wheel, off front wheel-left rear wheel two-way brake circuit, every road brake circuit includes a dump pump, ABS oil return motor, low pressure accumulator, front-wheel oil-feed electromagnetic valve, front-wheel and goes out solenoid, a trailing wheel oil-feed electromagnetic valve, a trailing wheel and go out solenoid, a front-wheel wheel cylinder, a trailing wheel wheel cylinder.
The dump pump of described two-way brake circuit shares an ABS oil return motor.
Described vacuum booster is connected between the push rod and brake pedal of master brake cylinder, provides power-assisted by described electric vacuum pump.For pure electric vehicle, described electric vacuum pump needs to work all the time in vehicle operating process; For hybrid vehicle, if driving engine is in running order, Motorized vacuum air pump inoperative, if driving engine is not worked, Motorized vacuum pump startup is worked.
The present invention is owing to taking above technical scheme, it has the following advantages: braking energy that 1, application of the present invention is hydraulic brake system reclaims, and motor vehicle driven by mixed power or pure electric vehicle hydraulic brake system is carried out to less transformation and can realize braking energy feedback function.Particularly, the present invention utilizes traditional hydraulic ABS pressure regulator, at master brake cylinder place, one pressure sensor is set, and at arbitrary front-wheel wheel cylinder, place arranges a pressure sensor.Each sensor is all connected with brake controller, carry out signal feedback, brake controller and entire car controller communication, entire car controller and electric machine controller communication, to control Loading opportunity and the size etc. of motor Return moment in car brakeing process, thereby realize braking energy recovering function.2, most manned vehicles of selling in the market have all been equipped hydraulic ABS system, the present invention only need to simply transform the hydraulic brake system of existing vehicle, utilize the drive motor in conventional hydraulic abs pressure regulating control and motor vehicle driven by mixed power or elec. vehicle, carry out rationally controlling software, Reliable Design can be realized the integrated control of braking energy feedback and ABS, improved brake system does not affect the driving habit of chaufeur, deceleration and stopping performance meets laws and regulations requirement, improve Vehicle Economy, reduce motor vehicle driven by mixed power, the cost of development of pure electric vehicle system, therefore, can be widely used in electric drive manned vehicle.
Brief description of the drawings
Fig. 1 is systematic schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
The present invention is the drive motor in abs pressure regulating control and motor vehicle driven by mixed power or the elec. vehicle utilizing in conventional truck hydraulic brake system, and to controlling, software carries out rationally, Reliable Design, the novel braking system with braking energy recovering function of proposition.
As shown in Figure 1, traditional abs pressure regulating control comprises two-way brake circuit: the near front wheel-off hind wheel brake circuit and off front wheel-left rear wheel brake circuit.On each brake circuit, all comprise two wheel wheel cylinders, four electromagnetic valves, a dump pump, an oil return motor, a low pressure accumulator.Under this oil circuit control, that does disposes: master brake cylinder 1, fluid reservoir 2, electric vacuum pump 3, brake pedal 4, vacuum booster 5, master cylinder pressure sensor S1, front-wheel pressure of wheel braking cylinder sensor S2, dump pump P1 and P2 (splitting at two-way), ABS oil return motor M (work of oil return driven by motor dump pump), low pressure accumulator A1 and A2 (splitting at two-way), the near front wheel oil-feed electromagnetic valve LF-EV, the near front wheel goes out solenoid LF-AV, off front wheel oil-feed electromagnetic valve RF-EV, off front wheel goes out solenoid RF-AV, left rear wheel oil-feed electromagnetic valve LR-EV, left rear wheel goes out solenoid LR-AV, off hind wheel oil-feed electromagnetic valve RR-EV, off hind wheel goes out solenoid RR-AV, left front wheel cylinder LF, right front wheel cylinder RF, left back wheel cylinder LR, right back wheel cylinder RR.
Particularly, the near front wheel-off hind wheel brake circuit comprises: dump pump P2, ABS oil return motor M, low pressure accumulator A2, the near front wheel oil-feed electromagnetic valve LF-EV, off hind wheel oil-feed electromagnetic valve RR-EV, the near front wheel go out solenoid LF-AV, off hind wheel goes out solenoid RR-AV, left front wheel cylinder LF, right back wheel cylinder RR.
Off front wheel-left rear wheel brake circuit comprises: dump pump P1, ABS oil return motor M, low pressure accumulator A1, off front wheel oil-feed electromagnetic valve RF-EV, left rear wheel oil-feed electromagnetic valve LR-EV, off front wheel go out solenoid RF-AV, left rear wheel goes out solenoid LR-AV, right front wheel cylinder RF, left back wheel cylinder LR.
The turnover solenoid modular design of oil pump, oil return motor, low pressure accumulator, wheel cylinder forms hydraulic ABS pressure regulator.
Here, two brake circuits share an oil return motor M.Master brake cylinder 1, fluid reservoir 2, electric vacuum pump 3, brake pedal 4, vacuum booster 5 all work to two-way brake circuit, and vacuum booster 5 is connected between the push rod and brake pedal 4 of master brake cylinder 1, provides power-assisted by electric vacuum pump 3.Electric vacuum pump 3 is connected with vacuum booster 5, and for pure electric automobile hydraulic brake system, electric vacuum pump will be worked all the time; For hybrid vehicle hydraulic brake system, if driving engine in running order (comprising idling mode), electric vacuum pump does not need work, otherwise needs.Set up a pressure sensor S1 (as shown in Figure 1, being arranged on the exit that master brake cylinder is connected with the near front wheel-off hind wheel oil circuit) in master brake cylinder 1 exit, to gather master brake cylinder pressure; A pressure sensor S2 (as shown in Figure 1, being arranged on left front wheel cylinder place) is set, to gather front-wheel pressure of wheel braking cylinder at arbitrary front-wheel wheel cylinder place.
Drive motor D is controlled by electric machine controller MCU; Each electromagnetic valve is controlled by brake controller BCU; Brake controller BCU and entire car controller VCU carry out CAN communication, and entire car controller VCU and electric machine controller MCU carry out CAN communication, jointly realize feedback braking function.
The present invention is on the basis of conventional hydraulic abs pressure regulating control, owing to having increased the sensor (master cylinder pressure sensor S1, front-wheel pressure of wheel braking cylinder sensor S2) in hydraulic brake system, and in pressure regulator, associated solenoid valve is controlled by brake controller BCU, drive motor D is controlled by electric machine controller MCU, can realize braking energy recovering function and ABS function.Special feature of the present invention is that hydraulic brake system transformation is less, not only can realize separately braking energy recovery, ABS function, and can realize the integrated control of braking energy recovery and ABS.
As shown in Figure 1, the control method while the each function of brake energy recovering system specific implementation based on hydraulic ABS pressure regulator being described as an example of f-w-d type car example below:
1, feedback braking Function implementation process
In the time that vehicle is braked, entire car controller VCU considers car load running state (comprising the relevant informations such as electrokinetic cell state, drive motor state, the speed of a motor vehicle), and the current maximum Return moment value M that can provide of drive motor is provided
0, and by M
0send to brake controller BCU by CAN bus.Master cylinder pressure sensor S1 brake monitoring master cylinder pressure P
1, front-wheel pressure of wheel braking cylinder sensor S2 monitoring front-wheel pressure of wheel braking cylinder P
2, pressure acquisition value P
1, P
2real-time Feedback is to brake controller BCU.Brake controller BCU is according to master cylinder pressure P
1calculate master cylinder pressure rate of change dP
1/ dt, and the current maximum Return moment value M that can provide of motor is provided
0, master cylinder pressure P
1, master cylinder pressure rate of change dP
1/ dt, and front-wheel pressure of wheel braking cylinder P
2, calculate the current motor regenerative braking torque command value M that should be applied to front-wheel
1, by M
1send to entire car controller VCU by CAN bus, VCU is by M
1send to electric machine controller MCU by CAN bus, drive motor receives the control command of MCU and carries out.Electric machine controller MCU is by current motor actual Return moment value M
2send to entire car controller VCU by CAN bus, VCU is by M
2send to brake controller BCU by CAN bus.Brake controller BCU is to M
1and M
2compare.If M
3=M
1-M
2, work as M
3while equalling zero, brake controller BCU sends front-wheel pressurize instruction to pressure regulator.With reference to Fig. 1, electromagnetic valve RF-EV, LF-EV energising can realize two front-wheel pressure of wheel braking cylinder and keep; Work as M
3be greater than at 1 o'clock, BCU sends front-wheel supercharging instruction to pressure regulator.With reference to Fig. 1, each electromagnetic valve can be realized two front-wheel pressure of wheel braking cylinder in reset mode to be increased; Work as M
3be less than at 1 o'clock, brake controller BCU sends front-wheel decompression instruction to pressure regulator, and electromagnetic valve RF-EV, LF-EV, RF-AV, LF-AV energising can realize two front-wheel pressure of wheel braking cylinder and reduce.Work as M
2while equalling zero, drive motor Return moment is zero, does not carry out braking energy feedback; Work as M
2be greater than at 1 o'clock, drive motor Return moment is non-vanishing, carries out braking energy feedback.
In the time that the speed of a motor vehicle is reduced to a certain value, drive motor rotating speed drops to a certain lower value thereupon, the Return moment that motor can provide diminish rapidly (this is determined by motor self character), entire car controller VCU informs that BCU and MCU exit regenerative braking pattern after this situation being detected at once, MCU controls drive motor Return moment and is reduced to rapidly zero, BCU reset all electromagnetic valves and ABS oil return motor, recover hydraulic braking.
2, ABS Function implementation process
When vehicle is implemented to emergency braking, wheel there will be locking phenomenon, and ABS function can prevent wheel lockup.In the time that BCU has monitored wheel lockup trend, suppose that this wheel is the near front wheel, electromagnetic valve LF-EV and electromagnetic valve LF-AV switch on simultaneously, the energising of oil return motor M, the near front wheel braking liquid is withdrawn into low pressure accumulator A2 and working connection, realizes the near front wheel Decompression Controlling; In the time that BCU monitors the disappearance of the near front wheel locking trend, electromagnetic valve LF-EV and electromagnetic valve LF-AV reset simultaneously, and because working connection brake-pressure is higher, the near front wheel wheel cylinder brake-pressure is less, and braking liquid can instantaneously enter into left front wheel cylinder the inside, realizes boost control; In ABS control process, need sometimes to carry out holding pressure control, the energising of oil-feed electromagnetic valve can be realized to holding pressure control.
3, the integrated control of feedback braking and ABS
The brake energy feedback system proposing in the present invention can be realized braking energy and reclaim and the integrated control of ABS, and control method can adopt: 1,, in the time that ABS enters control, regenerative braking is exited immediately; 2,, in the time that ABS enters control, regenerative braking participates in ABS and controls.For control method 1: need to carry out ABS while controlling when brake controller BCU monitors, brake controller BCU carries out communication by CAN and entire car controller VCU, inform that entire car controller VCU enters ABS master mode, entire car controller VCU informs that electric machine controller MCU is kept to zero by the regenerative braking moment of drive motor D immediately, in the time that ABS control is exited, brake controller BCU informs that entire car controller VCU recovers regenerative braking pattern, and send feedback torque demand, entire car controller VCU informs electric machine controller MCU, electric machine controller MCU controls drive motor D and loads feedback torque, brake controller BCU, entire car controller VCU, electric machine controller MCU collaborative work, jointly realize braking energy recovering function.For control method 2: need to carry out ABS while controlling when brake controller BCU monitors, brake controller BCU carries out communication by CAN and entire car controller VCU, brake controller BCU informs that entire car controller VCU enters immediately ABS and controls, entire car controller VCU informs that electric machine controller MCU enters immediately ABS and controls, brake controller BCU regulates and realizes ABS hydraulic braking force according to corresponding control policy, electric machine controller MCU regulates and realizes ABS drive motor regenerative braking power according to corresponding control policy, in the time that ABS control is exited, brake controller BCU informs that entire car controller VCU recovers regenerative braking, entire car controller VCU informs that electric machine controller MCU recovers regenerative braking, brake controller BCU, entire car controller VCU and electric machine controller MCU realize regenerative braking jointly.
Above-described embodiment is only for illustrating the present invention, and wherein structure, the connection mode etc. of each parts 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 get rid of outside protection scope of the present invention.
Claims (4)
1. a control method for the brake energy recovering system based on hydraulic ABS pressure regulator, it comprises pressure regulator, master brake cylinder, fluid reservoir, electric vacuum pump, brake pedal, vacuum booster, drive motor, brake controller, entire car controller and the electric machine controller with ABS function; A master cylinder pressure sensor is set on the fuel-displaced pipeline of master brake cylinder, a front-wheel wheel cylinder place in abs pressure regulating control arranges a front-wheel pressure of wheel braking cylinder sensor, each sensor is all connected with brake controller, carry out signal feedback, drive motor is by motor controller controls, brake controller and entire car controller carry out CAN communication, and entire car controller and electric machine controller carry out CAN communication; Pressure regulator control the near front wheel-off hind wheel, off front wheel-left rear wheel two-way brake circuit, every road brake circuit includes a dump pump, ABS oil return motor, low pressure accumulator, front-wheel oil-feed electromagnetic valve, front-wheel and goes out solenoid, a trailing wheel oil-feed electromagnetic valve, a trailing wheel and go out solenoid, a front-wheel wheel cylinder, a trailing wheel wheel cylinder, and its control method comprises:
1) feedback braking Function implementation process:
In the time that vehicle is braked, entire car controller considers car load running state, and the current maximum Return moment value M that can provide of drive motor is provided
0, and by M
0send to brake controller by CAN bus; Master cylinder pressure sensor brake monitoring master cylinder pressure P
1, front-wheel pressure of wheel braking cylinder Sensor monitoring front-wheel pressure of wheel braking cylinder P
2, pressure acquisition value P
1, P
2real-time Feedback is to brake controller; Brake controller is according to master cylinder pressure P
1calculate master cylinder pressure rate of change d P
1/ dt, and the current maximum Return moment value M that can provide of drive motor is provided
0, master cylinder pressure P
1, master cylinder pressure rate of change d P
1/ dt, and front-wheel pressure of wheel braking cylinder P
2, calculate the current motor regenerative braking torque command value M that should be applied to front-wheel
1, by M
1send to entire car controller by CAN bus, entire car controller is by M
1send to electric machine controller by CAN bus, drive motor receives the control command of electric machine controller and carries out; Electric machine controller is by current drive motor actual Return moment value M
2send to entire car controller by CAN bus, entire car controller is by M
2send to brake controller by CAN bus; Brake controller is to M
1and M
2compare; If M
3=M
1-M
2, work as M
3while equalling zero, brake controller sends front-wheel pressurize instruction to pressure regulator; Work as M
3be greater than at 1 o'clock, brake controller sends front-wheel supercharging instruction to pressure regulator; Work as M
3be less than at 1 o'clock, brake controller sends front-wheel decompression instruction to pressure regulator; Work as M
2while equalling zero, drive motor Return moment is zero, does not carry out braking energy feedback; Work as M
2be greater than at 1 o'clock, drive motor Return moment is non-vanishing, carries out braking energy feedback;
In the time that the speed of a motor vehicle is reduced to a certain value, drive motor rotating speed drops to a certain lower value thereupon, the Return moment that drive motor can provide diminishes rapidly, entire car controller informs that brake controller and electric machine controller exit regenerative braking pattern after this situation being detected at once, motor controller controls drive motor Return moment is reduced to rapidly zero, brake controller reset all electromagnetic valves and ABS oil return motor, recover hydraulic braking;
2) ABS Function implementation process:
In the time that brake controller monitors certain wheel and has locking trend, the oil-feed electromagnetic valve corresponding with this wheel and go out solenoid and switch on simultaneously, ABS oil return electrical power, the braking liquid of this wheel is withdrawn into low pressure accumulator and working connection, realizes this wheel Decompression Controlling; In the time that brake controller monitors this wheel lockup trend and disappears, the oil-feed electromagnetic valve corresponding with this wheel and go out solenoid and reset simultaneously, braking liquid can instantaneously enter into inside the wheel cylinder corresponding with this wheel, realizes boost control;
3) the integrated control of feedback braking and ABS:
(1) when brake controller monitor need to carry out ABS control time, brake controller carries out communication by CAN bus and entire car controller, inform that entire car controller enters ABS master mode, entire car controller informs that electric machine controller is kept to zero by the regenerative braking moment of drive motor immediately; In the time that ABS control is exited, brake controller informs that entire car controller recovers regenerative braking pattern, and send feedback torque demand, entire car controller is informed electric machine controller, motor controller controls drive motor loads feedback torque, brake controller, entire car controller and electric machine controller collaborative work, realize braking energy recovering function jointly;
(2) when brake controller monitor need to carry out ABS control time, brake controller carries out communication by CAN bus and entire car controller, brake controller informs that entire car controller enters immediately ABS and controls, entire car controller informs that electric machine controller enters immediately ABS and controls, brake controller regulates and realizes ABS hydraulic braking force according to corresponding control policy, and electric machine controller regulates and realizes ABS drive motor regenerative braking power according to corresponding control policy; In the time that ABS control is exited, brake controller informs that entire car controller recovers regenerative braking, and entire car controller informs that electric machine controller recovers regenerative braking, and brake controller, entire car controller and electric machine controller are realized regenerative braking function jointly.
2. the control method of the brake energy recovering system based on hydraulic ABS pressure regulator as claimed in claim 1, is characterized in that: the dump pump of described two-way brake circuit shares an ABS oil return motor.
3. the control method of the brake energy recovering system based on hydraulic ABS pressure regulator as claimed in claim 1 or 2, is characterized in that: described vacuum booster is connected between the push rod and brake pedal of master brake cylinder, provides power-assisted by described electric vacuum pump.
4. the control method of the brake energy recovering system based on hydraulic ABS pressure regulator as claimed in claim 3, is characterized in that: for pure electric vehicle, described electric vacuum pump needs to work all the time in vehicle operating process; For hybrid vehicle, if driving engine is in running order, Motorized vacuum air pump inoperative, if driving engine is not worked, Motorized vacuum pump startup is worked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210015013.7A CN102556034B (en) | 2012-01-17 | 2012-01-17 | Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210015013.7A CN102556034B (en) | 2012-01-17 | 2012-01-17 | Braking energy recovery system based on hydraulic ABS (anti-lock braking system) pressure regulator |
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| CN102556034A CN102556034A (en) | 2012-07-11 |
| CN102556034B true CN102556034B (en) | 2014-11-26 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9126570B2 (en) * | 2013-03-14 | 2015-09-08 | Ford Global Technologies, Llc | Control of hydraulic brake system and method |
| CN103204157B (en) * | 2013-04-16 | 2015-10-28 | 同济大学 | A kind of electronics ABS (Anti-lock Braking System) integrated manipulator with whole automobile control function |
| CN103693034A (en) * | 2013-07-15 | 2014-04-02 | 南京工程学院 | Electro-hydraulic proportional valve control pump/motor hydraulic power assisted system of electric automobile |
| CN106379178A (en) * | 2016-08-31 | 2017-02-08 | 吉林大学 | Coordination control method simulating automobile braking |
| CN107933541B (en) * | 2017-11-22 | 2020-05-05 | 江苏理工学院 | Electric automobile decoupling zero distributing type intelligence electromagnetic braking system |
| CN108177641A (en) * | 2018-02-11 | 2018-06-19 | 江苏卡威汽车工业集团股份有限公司 | A kind of picking-up vehicle double brake system |
| CN108674483B (en) * | 2018-04-28 | 2023-05-12 | 东风商用车有限公司 | Control method of electro-hydraulic power-assisted steering braking system |
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| CN101751034A (en) * | 2009-10-12 | 2010-06-23 | 吉林大学 | Test bed of air pressure and regenerative braking coordinated control system of hybrid electric bus |
| CN101837773A (en) * | 2010-05-19 | 2010-09-22 | 清华大学 | Brake energy recovery hydraulic braking system based on VDC (Vehicle Dynamics Control)/VSC (Vehicle Stability Control)/ESP (Electronic Stability Program) pressure regulator |
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| CN101751034A (en) * | 2009-10-12 | 2010-06-23 | 吉林大学 | Test bed of air pressure and regenerative braking coordinated control system of hybrid electric bus |
| CN101837773A (en) * | 2010-05-19 | 2010-09-22 | 清华大学 | Brake energy recovery hydraulic braking system based on VDC (Vehicle Dynamics Control)/VSC (Vehicle Stability Control)/ESP (Electronic Stability Program) pressure regulator |
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