CN102795219A - Motor-assisted integrated automobile brake system - Google Patents
Motor-assisted integrated automobile brake system Download PDFInfo
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- CN102795219A CN102795219A CN2012102724526A CN201210272452A CN102795219A CN 102795219 A CN102795219 A CN 102795219A CN 2012102724526 A CN2012102724526 A CN 2012102724526A CN 201210272452 A CN201210272452 A CN 201210272452A CN 102795219 A CN102795219 A CN 102795219A
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Abstract
The invention discloses a motor-assisted integrated automobile brake system. The motor-assisted integrated automobile brake system comprises a pedal input unit, a power unit, a hydraulic unit, a brake master cylinder, and a liquid storage chamber, wherein the pedal input unit is connected with the power unit; the power unit is connected with the brake master cylinder; the brake master cylinder is respectively connected with the liquid storage chamber and the hydraulic unit; an electric control unit is electrically connected with the pedal input unit, the power unit and the hydraulic unit respectively; and the hydraulic unit is connected with each brake cylinder. According to the invention, a direct current motor drives a ball screw to push the brake master cylinder through a rubber reaction disc to generate assisting power, thereby realizing three braking modes of driver braking, motor braking, and coordinated braking of driver and motor. When the motor fails, the driver can also realize large braking intensity by executing braking independently so as to ensure safe and reliable braking. The motor-assisted integrated automobile brake system disclosed by the invention has the advantages of small size of the overall brake system, light weight and low cost, can integrate a plurality of functions of ABS (anti-lock brake system), TCS (traction control system), ESP (electronic stability program) and the like, and can effectively reduce the braking distance.
Description
Technical field
The present invention relates to a kind of booster type brake system of car, especially relate to the integrated brake system of car of a kind of motor booster type.
Background technology
Brake system of car is an extremely important component part that guarantees traffic safety, and present most of automobiles all adopt the energy assisted braking system system to reduce the treadle effort that chaufeur is implemented glancing impact, alleviate chaufeur driving fatigue intensity, guarantee that traffic safety is reliable.Two kinds of forms of the main employing of tradition energy assisted braking system system: vacuum servo formula and hydraulic booster formula.Vacuum servo formula brake system has obtained widespread use on traditional fuel-engined vehicle; Hydraulic booster formula brake system is owing to adopted high pressure accumulator to make system architecture complicated, and very high to the working accuracy and the control policy requirement of electromagnetic valve, technical risk is big, and productive costs is high, is not used widely.In recent years along with the penetration and promotion of new-energy automobile; If adopt traditional vacuum servo formula brake system certainly will need additive incrementation vacuum pump and vacuum reservoir, this makes the originally very complicated brake system of structure become complicated more, and not only cost increases; Volume increases, and reliability also descends.
(application number is 200710111537.5 to the patent of invention of " a kind of electric booster braking system "; Publication number is CN 10132778A; Open day be 2008.12.24), this system architecture is complicated, volume is bigger, and has potential safety hazard when the motor power-assisted lost efficacy and ABS works.
Therefore, under the prerequisite that guarantees brake safe, further simplify the structure of energy assisted braking system system, the reliability of cost-cutting, raising brake system, the brake system that satisfies various automobile demands is a difficult point of current brake system of car.
Summary of the invention
In order to overcome the deficiency of prior art, the purpose of this invention is to provide that a kind of volume is little, light weight, simple in structure, cost is low, commonality the is good integrated brake system of car of motor booster type (Integrated Braking System).
For realizing above-mentioned purpose, the technical scheme that the present invention adopts:
The present invention includes pedal input block, power unit, hydraulic pressure unit, master brake cylinder and fluid reservoir; The pedal input block links to each other with power unit; Power unit links to each other with master brake cylinder; Master brake cylinder links to each other with hydraulic pressure unit with fluid reservoir respectively, and ECU is connected with pedal input block, power unit and hydraulic pressure unit circuit respectively, and hydraulic pressure unit links to each other with the Ge Lu brake wheel cylinder.
Described pedal input block, its brake pedal link to each other with an end of brake switch, brake pedal position sensor and pipe link respectively, and the other end of pipe link is connected with master cylinder connecting link in the power unit.
Said power unit comprises DC machine and ball-screw; The rotor of DC machine links to each other with feed screw nut; Bearing is equipped with at the two ends of feed screw nut respectively; Feed screw nut and leading screw are connected to form ball-screw; Leading screw is equipped with electromagnet and bearing pin near an end of pedal input block, and bearing pin can make leading screw and the master cylinder connecting link that is installed in the lead screw hole be connected as a single entity, and master cylinder connecting link one end is connected with the other end of pipe link.
Said hydraulic pressure unit; Its valve body first input end links to each other with master brake cylinder housing first mouth; Valve body second input end links to each other with master brake cylinder housing second mouth; The first low pressure accumulator normally closed solenoid valve input end, the first normally open solenoid valve input end and the second normally open solenoid valve input end all link to each other with valve body second input end, and the second low pressure accumulator normally closed solenoid valve input end, the 3rd normally open solenoid valve input end and the 4th normally open solenoid valve input end all link to each other with the valve body first input end, and the first low pressure accumulator normally closed solenoid valve mouth links to each other with first low pressure accumulator; The second low pressure accumulator normally closed solenoid valve mouth links to each other with second low pressure accumulator; The first normally open solenoid valve mouth links to each other with first brake wheel cylinder, and the second normally open solenoid valve mouth links to each other with second brake wheel cylinder, and the 3rd normally open solenoid valve mouth links to each other with the 3rd brake wheel cylinder; The 4th normally open solenoid valve mouth links to each other with the 4th brake wheel cylinder, and pressure sensor links to each other with the 4th normally open solenoid valve input end.
Said master brake cylinder; Its master brake cylinder housing is near first master cylinder piston and second master cylinder piston outwards are housed in DC machine one side opening successively; In an equal perforate in the first master cylinder piston two ends and the stomidium guide finger is arranged; In one end perforate of second master cylinder piston and the hole guide finger is arranged, first master cylinder piston has the stomidium bottom of guide finger to be supported on second master cylinder piston through first pull back spring and does not have on the end face of guide finger, and the other end of first master cylinder piston is by the bearing axial limiting; Rubber reaction plate and effect ring are housed in another stomidium of first master cylinder piston; Second master cylinder piston has guide finger one end to be supported on master brake cylinder housing bore bottom through second pull back spring, and the effect ring is between rubber reaction plate and leading screw, and the effect ring can move in the hole of first piston one end under leading screw promotes.
Said ECU respectively with the pedal input block in brake pedal position sensor link to each other with brake switch; Leading screw displacement pickup in the power unit links to each other with the rotor angular-motion transducer, and first normally open solenoid valve in the hydraulic pressure unit, second normally open solenoid valve, the 3rd normally open solenoid valve, the 4th normally open solenoid valve, the first low pressure accumulator normally closed solenoid valve, the second low pressure accumulator normally closed solenoid valve, second wheel speed sensors, first round speed sensors, four-wheel speed sensors link to each other with the third round speed sensors.
Compare with background technology, the beneficial effect that the present invention has is:
(1) compare with the traditional braking system, adopt the motor power-assisted to replace vacuum servo, simple in structure, volume is little, in light weight, and cost is low, is easy to realize batch manufacturing;
(2) this motor plays the power-assisted effect when pressure boost, and when the ABS need of work reduces pressure, plays depressurization;
(3) optimal control and low power consuming can be realized, stopping distance can both be effectively reduced under various conditions;
(4) when the motor power-assisted lost efficacy, chaufeur is implemented braking separately, can realize bigger rate of braking;
(5) can integrated ABS, multiple function such as TCS and ESP, can effectively reduce stopping distance;
(6) can satisfy the various demands of following brake system, be applicable to various vehicles, meet the development tendency of following brake system.
Description of drawings
Fig. 1 is that the integrated brake system of car of motor booster type is formed scheme drawing.
Fig. 2 is the integrated brake system of car structural representation of motor booster type.
Fig. 3 is the return view of bearing pin under the electromagnet effect.
Fig. 4 is that bearing pin moves down view under the electromagnet effect.
Fig. 5 is a motor power operated control functional block diagram in the normal brake application process.
Among the figure: 101, master brake cylinder housing, 102, fluid reservoir, 103, the rubber reaction plate, 104, the effect ring, 105, rotor; 106, motor fore shell, 107, motor stator, 108, feed screw nut, 109, bearing brackett, 110, the motor back cover; 111, electromagnet, 112, bearing pin, 113, pipe link, 114, brake pedal position sensor, 115, brake switch; 116, brake pedal, 117, master cylinder connecting link, 118, leading screw, 119, the leading screw displacement pickup, 120, bearing; 121, rotor angular-motion transducer, 122, bearing, 123, bearing, 124, bearing, 125, first master cylinder piston; 126, pressure sensor, 127, the four-wheel speed sensors, the 128, the 4th brake wheel cylinder, 129, the third round speed sensors, the 130, the 3rd brake wheel cylinder; 131, second wheel speed sensors, 132, first round speed sensors, 133, second brake wheel cylinder, 134, first brake wheel cylinder, 135, valve body; 136, first normally open solenoid valve, 137, second normally open solenoid valve, 138, first low pressure accumulator, 139, the first low pressure accumulator normally closed solenoid valve, the 140, the 3rd normally open solenoid valve; 141, the 4th normally open solenoid valve, 142, second low pressure accumulator, 143, the second low pressure accumulator normally closed solenoid valve, 144, second master cylinder piston.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
As shown in Figure 1, be that the integrated brake system of car of motor booster type is formed scheme drawing.
The present invention includes pedal input block, power unit, hydraulic pressure unit, ECU, master brake cylinder and fluid reservoir; The pedal input block links to each other with power unit; Power unit links to each other with master brake cylinder; Master brake cylinder links to each other with hydraulic pressure unit with fluid reservoir respectively, and ECU is connected with pedal input block, power unit and hydraulic pressure unit circuit respectively, and hydraulic pressure unit links to each other with each road brake wheel cylinder.
As shown in Figure 2, be the integrated brake system of car structural representation of motor booster type.
Described pedal input block, its brake pedal 116 link to each other with an end of brake switch 115, brake pedal position sensor 114 and pipe link 113 respectively, and the other end of pipe link 113 is connected with master cylinder connecting link 117 in the power unit.
Said power unit comprises DC machine and ball-screw; The rotor 105 of DC machine links to each other with feed screw nut 108; Bearing is equipped with at the two ends of feed screw nut 108 respectively; Feed screw nut 108 is connected to form ball-screw with leading screw 118; Leading screw 118 is equipped with electromagnet 111 and bearing pin 112 near an end of pedal input block, and bearing pin 112 can make leading screw 118 and the master cylinder connecting link 117 that is installed in leading screw 118 holes be connected as a single entity, and master cylinder connecting link 117 1 ends are connected with the other end of pipe link 113.
Said hydraulic pressure unit; Its valve body 135 first input ends link to each other with master brake cylinder housing 101 first mouths; Valve body 135 second input ends link to each other with master brake cylinder housing 101 second mouths; The first low pressure accumulator normally closed solenoid valve, 139 input ends, first normally open solenoid valve, 136 input ends and second normally open solenoid valve, 137 input ends all link to each other with valve body 135 second input ends; The second low pressure accumulator normally closed solenoid valve, 143 input ends, the 3rd normally open solenoid valve 140 input ends and the 4th normally open solenoid valve 141 input ends all link to each other with valve body 135 first input ends; The first low pressure accumulator normally closed solenoid valve, 139 mouths link to each other with first low pressure accumulator 138, and the second low pressure accumulator normally closed solenoid valve, 143 mouths link to each other with second low pressure accumulator 142, and first normally open solenoid valve, 136 mouths link to each other with first brake wheel cylinder 134; Second normally open solenoid valve, 137 mouths link to each other with second brake wheel cylinder 133; The 3rd normally open solenoid valve 140 mouths link to each other with the 3rd brake wheel cylinder 130, and the 4th normally open solenoid valve 141 mouths link to each other with the 4th brake wheel cylinder 128, and pressure sensor 126 links to each other with the 4th normally open solenoid valve 141 input ends.
Said master brake cylinder; Its master brake cylinder housing 101 is near first master cylinder piston 125 and second master cylinder piston 144 outwards are housed in DC machine one side opening successively; In an equal perforate in first master cylinder piston, 125 two ends and the stomidium guide finger is arranged; In 144 1 end perforates of second master cylinder piston and the hole guide finger is arranged; First master cylinder piston 125 has the stomidium bottom of guide finger to be supported on the end face of second master cylinder piston, 144 no guide fingers through first pull back spring; The other end of first master cylinder piston 125 is by the bearing axial limiting, and rubber reaction plate 103 is housed in another stomidium of first master cylinder piston 125 has guide finger one end to be supported on bottom, master brake cylinder housing 101 holes through second pull back spring with effect ring 104, the second master cylinder pistons 144; Effect ring 104 is between rubber reaction plate 103 and leading screw 118, and effect ring 104 can move in the hole of first piston one end under leading screw 118 promotes.
Said ECU respectively with the pedal input block in brake pedal position sensor 114 link to each other with brake switch 115; Leading screw displacement pickup 119 in the power unit links to each other with rotor angular-motion transducer 121; First normally open solenoid valve 136 in the hydraulic pressure unit, second normally open solenoid valve 137, the 3rd normally open solenoid valve 140, the 4th normally open solenoid valve 141, the first low pressure accumulator normally closed solenoid valve 139, the second low pressure accumulator normally closed solenoid valve 143, second wheel speed sensors 131, first round speed sensors 132, four-wheel speed sensors 127 link to each other with third round speed sensors 129.
Like Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, working process practical implementation of the present invention is following:
In car running process, system can realize chaufeur braking, motor braking and chaufeur and three kinds of braking modes of motor coordination braking, when functions such as ABS, TCS and ESP do not work; Electromagnet 111 is in off-position; Bearing pin 112 makes leading screw 118 separate with master cylinder connecting link 117, and when functions such as ABS, TCS and ESP worked, electromagnet 111 was in "on" position; Bearing pin 112 is connected as a single entity leading screw 118 and master cylinder connecting link 117; The two can move axially among a small circle one, and purpose is when work such as ABS, TCS and ESP, guarantees reliably decompression.
One, chaufeur braking mode:
When the motor power-assisted lost efficacy, chaufeur was stepped on brake pedal 116 and is driven master cylinder connecting link 117, promoted 125 work of first master cylinder piston through rubber reaction plate 103, implemented braking separately.
Two, motor braking pattern:
When the needs brake snub, the work of ECU control DC machine, DC machine drive ball-screw acts on rubber reaction plate 103 through effect ring 104 and promotes the 125 enforcement brakings of first master cylinder piston, makes car deceleration.
Three, chaufeur and motor coordination braking mode:
In the normal brake application process, chaufeur is stepped on brake pedal 116, and pipe link 113 promotes master cylinder connecting link 117 and advances; Master cylinder connecting link 117 acts on rubber reaction plate 103; Motor rotating band movable wire thick stick 118 moves simultaneously, and leading screw 118 acts on rubber reaction plate 103 through effect ring 104, and rubber reaction plate 103 acts on first master cylinder piston 125; Produce brake fluid pressure, and then produce braking force.In this process; ECU is all the time according to brake pedal position sensor 114 signals; Obtain rotor 105 target angle displacements and leading screw 118 target locations; The control DC machine drives leading screw 118 and follows the tracks of its target locations, through rotor angular-motion transducer 121 signals the correction of leading screw displacement pickup 119 signals is drawn actual accurately leading screw 118 positions.In braking procedure; ECU constantly receives leading screw 118 actual position signals of leading screw displacement pickup 119 and makes comparisons with leading screw 118 target locations and draws leading screw 118 position deviation e (e=leading screw target location-leading screw actual position); 118 position deviation e judge whether to arrive the target location according to leading screw, and e1 is the deviation threshold value that sets.Work as e>e1, the motor power-assisted is not enough, the driven by motor leading screw 118 increasing power-assisted of advancing; When-e1≤e≤e1, the motor power-assisted is suitable, and motor maintains the original state; When e＜-e1, the motor power-assisted is excessive, driven by motor leading screw 118 is retreated and is reduced power-assisted.
In order to utilize native system to realize functions such as ABS, TCS and ESP, promptly realize supercharging, pressurize and the decompression of each brake wheel cylinder.The method that adopts is: when having one or more wheel cylinders that the decompression demand is arranged, other wheel cylinder is implemented pressurize; When any one wheel cylinder did not all reduce pressure demand, each wheel cylinder can be implemented pressurize or supercharging, and the power-assisted size of motor is confirmed according to the deviation e of leading screw 118 target locations and leading screw 118 actual positions.When implementing decompression, the motor contrarotation, drive leading screw 118 is retreated and is reduced power-assisted; This moment is because electromagnet 111 is in "on" position; Bearing pin 112 is connected as a single entity leading screw 118 and master cylinder connecting link 117, and the two can move axially among a small circle one, and purpose is that the assurance system reliably reduces pressure.When needs were removed decompression, the power-assisted size of motor was confirmed according to the deviation e of leading screw 118 target locations and leading screw 118 actual positions.
The ECU of control system is provided with control cycle, and (common 10-30ms), each control cycle can carry out assignment to actuating unit electromagnetic valve or assist motor again.The theoretical analysis and verification experimental verification; As long as control cycle and reducing valve cutoff port are selected suitably; A control cycle can be reduced to 0, two control cycle to arbitrary wheel cylinder from maximum pressure and can reduce to 0 to a plurality of wheel cylinders from maximum pressure, and this just provides theoretical basis for the enforcement of control policy.
When detecting brake switch work, ECU begins to judge according to motoring condition the hydraulic efficiency governing conditions of demand of each road brake wheel cylinder, in each control cycle some or a plurality of brake wheel cylinders is carried out pressure control.When needing supercharging, each electromagnetic valve state remains unchanged; When needing pressurize, its hydraulic circuit is closed in the normally open solenoid valve energising that links to each other with corresponding wheel cylinder, and other electromagnetic valve state remains unchanged; When needing decompression, the normally open solenoid valve outage that links to each other with corresponding wheel cylinder is in opening; The low pressure accumulator normally closed solenoid valve energising that links to each other with corresponding wheel cylinder is in opening, and other electromagnetic valves are all closed; Need the wheel cylinder of decompression to link to each other with low pressure accumulator through the low pressure accumulator normally closed solenoid valve, the motor contrarotation drives leading screw 118 and retreats; The braking liquid of low pressure accumulator and wheel cylinder is drawn back master brake cylinder 101, realize the wheel cylinder decompression.Total system comes to this and constantly judges the state of each wheel, and according to its state it is carried out pressure control, reaches the purpose to the vehicle ability of posture control.
The foregoing description is to further explanation of the present invention, is not limitation of the present invention, and any structure after simple transformation on the basis of the present invention all belongs to protection scope of the present invention.
Claims (6)
1. integrated brake system of car of motor booster type, it is characterized in that: this system comprises pedal input block, power unit, hydraulic pressure unit, master brake cylinder and fluid reservoir; The pedal input block links to each other with power unit; Power unit links to each other with master brake cylinder; Master brake cylinder links to each other with hydraulic pressure unit with fluid reservoir respectively, and ECU is connected with pedal input block, power unit and hydraulic pressure unit circuit respectively, and hydraulic pressure unit links to each other with the Ge Lu brake wheel cylinder.
2. the integrated brake system of car of a kind of motor booster type according to claim 1; It is characterized in that: described pedal input block; Its brake pedal (116) links to each other with brake switch (115), brake pedal position sensor (114) and an end of pipe link (113) respectively, and the other end of pipe link (113) is connected with master cylinder connecting link (117) in the power unit.
3. the integrated brake system of car of a kind of motor booster type according to claim 1, it is characterized in that: said power unit comprises DC machine and ball-screw; The rotor of DC machine (105) links to each other with feed screw nut (108); Bearing is equipped with at the two ends of feed screw nut (108) respectively; Feed screw nut (108) is connected to form ball-screw with leading screw (118); Leading screw (118) is equipped with electromagnet (111) and bearing pin (112) near an end of pedal input block; Bearing pin (112) can make leading screw (118) and the master cylinder connecting link (117) that is installed in leading screw (118) hole is connected as a single entity, and master cylinder connecting link (117) one ends are connected with the other end of pipe link (113).
4. the integrated brake system of car of a kind of motor booster type according to claim 1; It is characterized in that: said hydraulic pressure unit; Its valve body (135) first input end links to each other with master brake cylinder housing (101) first mouths; Valve body (135) second input ends link to each other with master brake cylinder housing (101) second mouths; First low pressure accumulator normally closed solenoid valve (139) input end, first normally open solenoid valve (136) input end and second normally open solenoid valve (137) input end all link to each other with valve body (135) second input ends; Second low pressure accumulator normally closed solenoid valve (143) input end, the 3rd normally open solenoid valve (140) input end and the 4th normally open solenoid valve (141) input end all link to each other with valve body (135) first input end; First low pressure accumulator normally closed solenoid valve (139) mouth links to each other with first low pressure accumulator (138); Second low pressure accumulator normally closed solenoid valve (143) mouth links to each other with second low pressure accumulator (142); First normally open solenoid valve (136) mouth links to each other with first brake wheel cylinder (134), and second normally open solenoid valve (137) mouth links to each other with second brake wheel cylinder (133), and the 3rd normally open solenoid valve (140) mouth links to each other with the 3rd brake wheel cylinder (130); The 4th normally open solenoid valve (141) mouth links to each other with the 4th brake wheel cylinder (128), and pressure sensor (126) links to each other with the 4th normally open solenoid valve (141) input end.
5. the integrated brake system of car of a kind of motor booster type according to claim 1; It is characterized in that: said master brake cylinder; Its master brake cylinder housing (101) is near first master cylinder piston (125) and second master cylinder piston (144) outwards are housed in DC machine one side opening successively; In an equal perforate in first master cylinder piston (125) two ends and the stomidium guide finger is arranged; In (144) one end perforates of second master cylinder piston and the hole guide finger is arranged; First master cylinder piston (125) has the stomidium bottom of guide finger to be supported on the end face of the no guide finger of second master cylinder piston (144) through first pull back spring; Rubber reaction plate (103) and effect ring (104) are equipped with by the bearing axial limiting in the other end of first master cylinder piston (125) in another stomidium of first master cylinder piston (125), second master cylinder piston (144) has guide finger one end to be supported on bottom, master brake cylinder housing (101) hole through second pull back spring; Effect ring (104) is between rubber reaction plate (103) and leading screw (118), and effect ring (104) can move in the hole of first piston one end under leading screw (118) promotes.
6. the integrated brake system of car of a kind of motor booster type according to claim 1; It is characterized in that: said ECU respectively with the pedal input block in brake pedal position sensor (114) link to each other with brake switch (115); Leading screw displacement pickup (119) in the power unit links to each other with rotor angular-motion transducer (121), and first normally open solenoid valve (136) in the hydraulic pressure unit, second normally open solenoid valve (137), the 3rd normally open solenoid valve (140), the 4th normally open solenoid valve (141), the first low pressure accumulator normally closed solenoid valve (139), the second low pressure accumulator normally closed solenoid valve (143), second wheel speed sensors (131), first round speed sensors (132), four-wheel speed sensors (127) link to each other with third round speed sensors (129).
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| CN104442784A (en) * | 2014-11-28 | 2015-03-25 | 吉林大学 | Motor-integrated electric control brake master cylinder driving system |
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| CN103847711A (en) * | 2012-12-07 | 2014-06-11 | 上海汽车集团股份有限公司 | Power-assisted brake system and automobile |
| CN103496362B (en) * | 2013-10-24 | 2016-05-18 | 吉林大学 | A kind of compensation integrate motor electric controlled brake system |
| CN103496362A (en) * | 2013-10-24 | 2014-01-08 | 吉林大学 | Compensation type integrated-motor electronic control brake system |
| CN103909916A (en) * | 2014-01-08 | 2014-07-09 | 同济大学 | Wheel cylinder hydraulic pressure control system and method of electronic hydraulic braking system |
| CN104828054B (en) * | 2014-04-10 | 2017-10-13 | 北汽福田汽车股份有限公司 | The brake control method and vehicle of vehicle |
| CN104828054A (en) * | 2014-04-10 | 2015-08-12 | 北汽福田汽车股份有限公司 | Brake control method of vehicle and vehicle |
| CN104442784A (en) * | 2014-11-28 | 2015-03-25 | 吉林大学 | Motor-integrated electric control brake master cylinder driving system |
| CN106143163A (en) * | 2016-07-06 | 2016-11-23 | 郭恬 | A kind of braking system of electric car with energy feedback |
| CN106143163B (en) * | 2016-07-06 | 2018-08-07 | 郭恬 | A kind of braking system of electric car with energy feedback |
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| CN107618496A (en) * | 2017-07-12 | 2018-01-23 | 格陆博科技有限公司 | A kind of electric control braking booster |
| CN108162942A (en) * | 2018-02-06 | 2018-06-15 | 吉林大学 | The line traffic control brake fluid system and its brake control method of four-wheel pressure independent control |
| CN110316173A (en) * | 2019-06-21 | 2019-10-11 | 芜湖伯特利电子控制系统有限公司 | A method of ESC function and active safety control are realized by automatically controlled Booster and ABS linkage |
| CN113119935A (en) * | 2019-12-31 | 2021-07-16 | 罗伯特·博世有限公司 | Electric brake booster with stop lock |
| CN114148302A (en) * | 2021-12-15 | 2022-03-08 | 安徽江淮汽车集团股份有限公司 | Brake control method and system of electric automobile |
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