CN102849059A - Electronic parking braking method and braking releasing method - Google Patents
Electronic parking braking method and braking releasing method Download PDFInfo
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- CN102849059A CN102849059A CN2011101777771A CN201110177777A CN102849059A CN 102849059 A CN102849059 A CN 102849059A CN 2011101777771 A CN2011101777771 A CN 2011101777771A CN 201110177777 A CN201110177777 A CN 201110177777A CN 102849059 A CN102849059 A CN 102849059A
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Abstract
The invention discloses an electronic parking braking method, which comprises the following steps of: an electronic control unit receives a braking instruction; the electronic control unit controls a motor to be electrified and started, and simultaneously drives a screw to rotate, so that a barrel pushes a piston to move towards the direction of a friction plate; and when a motor current collected by the electronic control unit reaches a first preset current value I1, the electronic control unit controls the motor to stop rotating. The invention also discloses an electronic parking braking releasing method, which comprises the following steps of: the electronic control unit receives a braking releasing instruction; the electronic control unit controls the motor to be electrified and started, and simultaneously drives the screw to move away from the direction of the friction plate; and when the motor current collected by the electronic control unit reaches a second preset current value I2, a second preset time is delayed, and the electronic control unit controls the motor to stop rotating. The electronic parking braking method and braking releasing method disclosed by the invention do not need additional hardware, but have high working efficiency, and can save energy.
Description
Technical field
The invention belongs to the car brakeing field, be specifically related to a kind of electronic parking braking method and brake off method.
Background technology
Along with the continuous progress of auto technology, increasing automobile gradually becomes electronic type control from traditional machinery control, and electronic brake system utilizes electric energy to realize the function of traditional emergency brake system.Existing electronic brake system as shown in Figure 1, generally comprise ECU (Electrical Control Unit) (not shown), motor 1, be used for the drive assembly 2, screw rod 3, swivel nut 4, piston 5 and the friction lining (friction lining is not shown in FIG.) that subtract motor speed, increase the motor output torque, when vehicle need be braked, ECU (Electrical Control Unit) control motor forward, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, thus the braking of control friction lining; And when vehicle needed brake off, ECU (Electrical Control Unit) control motor reversal drove bolt rotary to retreat simultaneously, until there is not pressure on the piston, and produced some gaps and stopped, and this moment, piston just can not have application force to friction lining, namely reached the brake off of vehicle.
For so that above-mentioned existing brake system realize well braking and remove braking, following two kinds of electronic brake systems have appearred at present, the first is, increased the rotation number of turns motor speed sensor that is used for directly measuring motor on the basis of existing electronic brake system, when car brakeing and releasing braking, the turning collar numerical control motor processed that ECU (Electrical Control Unit) is passed through to survey stops operating like this.The method not only so that hardware configuration is complicated, has increased cost, and original just very little wheel place is not too applicable in the position; Second method is, between screw rod and swivel nut, be provided with limit point, be vehicle when brake off, swivel nut need be got back to the limit point rear motor and just can stop, however along with the wearing and tearing of friction lining, its thickness is more and more thinner, then so that swivel nut to get back to the stroke of limit point also more and more longer, in like manner, also increase the stroke of spending when next time braking, therefore increase the work-hours of motor, wasted the energy.
Summary of the invention
The above-mentioned technical matters that exists for solving existing electronic brake system provides a kind of do not need additionally to increase hardware and high efficiency, energy-conservation electronic parking braking method and brake off method.
Technical scheme of the present invention is:
A kind of electronic parking braking method may further comprise the steps:
Step S1: ECU (Electrical Control Unit) receives braking instruction;
Step S2: the starting of ECU (Electrical Control Unit) control electrical power, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the first predetermined current value I1, the control motor stopped operating.
Current value when further, described the first predetermined current value I1 can provide the required maximum Parking power of vehicle for motor.
Further, described step S2 is specially:
The starting of ECU (Electrical Control Unit) control electrical power, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, and ECU (Electrical Control Unit) begins timing when current of electric reaches the second predetermined current value I2, when current of electric reaches the first predetermined current value I1, and record timing time t;
ECU (Electrical Control Unit) judges whether this time t is less than or equal to the first Preset Time, when this time, t was less than or equal to the first Preset Time, illustrated that hydraulic efficiency pressure system participates in braking, ECU (Electrical Control Unit) control motor stops operating, and when ECU (Electrical Control Unit) detects hydraulic efficiency pressure system and has neither part nor lot in work, the starting of again switching on of control motor, and when current of electric reaches the first predetermined current value I1 again, stop electric machine rotation;
When this time, t was greater than the first Preset Time, illustrate without hydraulic pressure to participate in braking, then ECU (Electrical Control Unit) control motor stops operating.
Further, described the first Preset Time is 0.8s-1.2s, described the second predetermined current value I2 is less than or equal to 5/3 of motor idle electric current value, and the second predetermined current value I2 is at t1 corresponding current of electric constantly, wherein at the variable quantity of the time period of t1-1ms-t1 current of electric in the 0.02A-0.03A scope.
A kind of electronic parking brake off method may further comprise the steps:
Step T1: ECU (Electrical Control Unit) receives the brake off instruction;
Step T2: the starting of ECU (Electrical Control Unit) control electrical power, drive simultaneously screw rod and move to the direction away from friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the second predetermined current value I2, behind second Preset Time of delaying time, the control motor stopped operating.
Further, described the second predetermined current value I2 is less than or equal to 5/3 of motor idle electric current value, and the second predetermined current value I2 is at t1 corresponding current of electric constantly, wherein at the variable quantity of the time period of t1-1ms-t1 current of electric in the 0.02A-0.03A scope; Described the second Preset Time is 0.7s-1s.
Further, described step T2 is specially:
The starting of ECU (Electrical Control Unit) control electrical power drives simultaneously screw rod and moves to the direction away from friction lining, and ECU (Electrical Control Unit) begins timing from electric motor starting, when current of electric reaches the second predetermined current value I2, and record timing time s;
ECU (Electrical Control Unit) judges whether this time s is less than or equal to the 3rd Preset Time, when this time, s was less than or equal to the 3rd Preset Time, has illustrated that hydraulic efficiency pressure system participates in braking, and ECU (Electrical Control Unit) control motor is delayed time and stopped operating behind the 4th Preset Time;
When this time, s was greater than the second Preset Time, illustrate without hydraulic pressure to participate in braking, then ECU (Electrical Control Unit) control motor is delayed time and is stopped operating behind the 5th Preset Time.
Further, described the 3rd Preset Time is 0.5s-0.9s, and described the 4th Preset Time is got the difference of time a and time s, and described the 5th Preset Time is 0.3s-0.4s, and wherein, time a is 1.2s-1.5s.
Advantage of the present invention: by the technical scheme of above-mentioned electronic parking braking method and brake off method as can be known, during braking, when the current of electric of ECU (Electrical Control Unit) collection reaches the first predetermined current value I1, the control motor stops operating, and during brake off, when the current of electric of ECU (Electrical Control Unit) collection reached the second predetermined current value I2, behind second Preset Time of delaying time, the control motor stopped operating.With respect to prior art, the scheme of this braking and releasing braking does not only need to increase extra hardware, reduced system cost, and, no matter whether friction lining weares and teares, method according to braking of the present invention and brake off, all can be issued in the prerequisite that does not prolong braking and minimizing brake off stroke the purpose of braking and brake off, therefore, with respect to prior art, the present invention also has high efficiency, and energy-conservation effect.
Description of drawings
Fig. 1 is the structural representation of existing electronic brake system.
The method flow diagram that Fig. 2 provides for electronic parking braking method of the present invention.
The method flow diagram of the preferred embodiment that Fig. 3 provides for electronic parking braking method of the present invention.
The method flow diagram that Fig. 4 provides for electronic parking brake off method of the present invention.
The method flow diagram of the preferred embodiment that Fig. 5 provides for electronic parking brake off method of the present invention.
The specific embodiment
In order to make technical matters solved by the invention, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Existing electronic brake system is when braking or brake off, generally measure the rotation number of turns of motor by the motor speed sensor of setting up, perhaps specifically determine to stop the accurate moment of electric machine rotation by between screw rod and swivel nut, being provided with limit point (the scape technology of specifically passing away part), namely reach the purpose of braking or brake off.Yet the method by setting up motor speed sensor has increased cost not only so that hardware configuration is complicated, and original just very little wheel place is not too applicable in the position; By between screw rod and swivel nut, being provided with the method for limit point, because vehicle is when brake off, swivel nut need be got back to the limit point rear motor and just can stop, therefore along with the wearing and tearing of friction lining, its thickness is more and more thinner, then so that swivel nut to get back to the stroke of limit point also more and more longer, in like manner, also increase the stroke of spending when next time braking, namely increased the work-hours of motor, wasted the energy.
Applicant of the present invention has passed through research many times on existing electronic brake system basis, finally invented a kind of better electronic parking braking method and brake off method, and its concrete technical scheme is as described below:
A kind of electronic parking braking method may further comprise the steps:
Step S1: ECU (Electrical Control Unit) receives braking instruction;
Step S2: the starting of ECU (Electrical Control Unit) control electrical power, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the first predetermined current value I1, the control motor stopped operating.
A kind of electronic parking brake off method may further comprise the steps:
Step T1: ECU (Electrical Control Unit) receives the brake off instruction;
Step T2: the starting of ECU (Electrical Control Unit) control electrical power, drive simultaneously screw rod and move to the direction away from friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the second predetermined current value I2, behind second Preset Time of delaying time, the control motor stopped operating.
By such scheme as can be known, electronic parking braking method of the present invention and brake off method are that the size by motor current value determines when and stops electric machine rotation, when namely braking, when the current of electric of ECU (Electrical Control Unit) collection reached the first predetermined current value I1, the control motor stopped operating; During brake off, when the current of electric of ECU (Electrical Control Unit) collection reached the second predetermined current value I2, behind second Preset Time of delaying time, the control motor stopped operating.Like this with respect to prior art, the scheme of this braking and releasing braking does not only need to increase extra hardware, reduced system cost, and, no matter whether friction lining weares and teares, method according to braking of the present invention and brake off, all can be issued in the prerequisite that does not prolong braking and minimizing brake off stroke the purpose of braking and brake off, therefore, with respect to prior art, the present invention also has high efficiency, and energy-conservation effect.
For so that those skilled in the art understands well and realizes technical scheme of the present invention, describe technology contents of the present invention below in conjunction with accompanying drawing in detail with the form of specific embodiment.
As shown in Figure 2, electronic parking braking method may further comprise the steps:
Step S1: ECU (Electrical Control Unit) receives braking instruction;
Be understandable that, braking instruction herein can for example, when vehicle stop, click parking switch P by chaufeur by manual or pin operation, namely to ECU (Electrical Control Unit) output braking instruction.
Step S2: the starting of ECU (Electrical Control Unit) control electrical power, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the first predetermined current value I1, the control motor stopped operating.
Will be understood that, the current value when above-mentioned the first predetermined current value I1 can provide the required maximum Parking power of vehicle for motor, it is to obtain by many experiments, and deposits ECU (Electrical Control Unit) in.
Existing vehicle, the independent employing electronic brake that has, and some vehicles, when electronic brake, hydraulic efficiency pressure system also participates in having braked.Yet, after the Parking end, chaufeur has also left vehicle, i.e. hydraulic braking is automatically cancellation just, then need this moment electronic brake to realize separately braking, otherwise may bring the serious consequence of slide car, therefore, for the different braking method that adopts for vehicle parking, all can realize safety arrestment, the invention provides a kind of preferably electronic parking braking method, as shown in Figure 3, the method may further comprise the steps:
Step 21: ECU (Electrical Control Unit) receives braking instruction;
Step 22: ECU (Electrical Control Unit) control electrical power starting, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, and ECU (Electrical Control Unit) begins timing when current of electric reaches the second predetermined current value I2, when current of electric reaches the first predetermined current value I1, record timing time t;
Need to prove, timing time t herein refers to current of electric since the second predetermined current value I2 timing, the accumulation timing time when the first predetermined current value I1.
Step 23: judge whether this time t is less than or equal to the first Preset Time, when this time, whether t was less than or equal to the first Preset Time, illustrated that hydraulic efficiency pressure system participates in braking, execution in step 24, otherwise the explanation non-hydraulic system participates in braking, execution in step 25;
Step 24: ECU (Electrical Control Unit) control motor stops operating, and when ECU (Electrical Control Unit) detects hydraulic efficiency pressure system and has neither part nor lot in braking, controls the motor starting of again switching on, and when current of electric reaches the first predetermined current value I1 again, stops electric machine rotation, process ends;
Be understandable that, above-mentioned ECU (Electrical Control Unit) can detect hydraulic efficiency pressure system by existing several different methods and whether participate in braking, the signal that whether participates in braking that for example can send by detecting hydraulic efficiency pressure system self perhaps passes through the action of detection brake pedal etc., does not do one by one at this and introduces.
Step 25: ECU (Electrical Control Unit) control motor stops operating.
Be understandable that the current value when above-mentioned the first predetermined current value I1 can provide the required maximum Parking power of vehicle for motor; Above-mentioned the first Preset Time refers to that it is preferably 0.8s-1.2s at the required braking time of electronic brake that does not have hydraulic efficiency pressure system to participate in; Above-mentioned the second predetermined current value I2 is less than or equal to 5/3 of motor idle electric current value, and the second predetermined current value I2 is at t1 corresponding current of electric constantly, wherein at the variable quantity of the time period of t1-1ms-t1 current of electric in the 0.02A-0.03A scope.Above-mentioned the first predetermined current value I1, the second predetermined current value I2 and the first Preset Time all are to obtain by many experiments, and all deposit ECU (Electrical Control Unit) in.It should be noted that at this, said motor idle electric current value refers to the current value that motor does not rotate during bringing onto load.
As shown in Figure 4, a kind of electronic parking brake off method may further comprise the steps:
Step T1: ECU (Electrical Control Unit) receives the brake off instruction;
Be understandable that, brake off instruction herein can for example when engine starting, when stepping on brake pedal, click switch P by chaufeur by manual or pin operation, namely to the instruction of ECU (Electrical Control Unit) output brake off.
Step T2: the starting of ECU (Electrical Control Unit) control electrical power, drive simultaneously screw rod and move to the direction away from friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the second predetermined current value I2, behind second Preset Time of delaying time, the control motor stopped operating.
Be understandable that, above-mentioned the second predetermined current value I2 is less than or equal to 5/3 of motor idle electric current value, and the second predetermined current value I2 is at t1 current of electric corresponding to the moment, wherein at the variable quantity of the time period of t1-1ms-t1 current of electric in the 0.02A-0.03A scope, above-mentioned the second Preset Time is 0.7s-1s.Above-mentioned the second predetermined current value I2 and the second Preset Time all are to obtain by many experiments, and all deposit ECU (Electrical Control Unit) in.
In like manner, when existing vehicle is removed the car braking at electronic parking, might there be hydraulic efficiency pressure system to participate in, might there be hydraulic efficiency pressure system to participate in braking, therefore, for the different braking method (the brake off method that namely has hydraulic efficiency pressure system to participate in or do not have hydraulic efficiency pressure system to participate in) that adopts for the vehicle brake off, all can realize fully brake off function, the invention provides a kind of method of preferred electronic parking brake off, as shown in Figure 5, the method may further comprise the steps:
Step 41: ECU (Electrical Control Unit) receives the brake off instruction;
Step 42: the starting of ECU (Electrical Control Unit) control electrical power, drive simultaneously screw rod and move to the direction away from friction lining, ECU (Electrical Control Unit) begins timing from electric motor starting, when current of electric reaches the second predetermined current value I2, record timing time s;
Need to prove, timing time s herein refers to begin timing from electric motor starting, until the accumulation timing time of current of electric during to the first predetermined current value I1.
Step 43: judge whether work as this time s is less than or equal to the 3rd Preset Time, when this time, s was less than or equal to the 3rd Preset Time, illustrated that hydraulic efficiency pressure system participates in braking, execution in step 44, otherwise the explanation non-hydraulic system participates in braking execution in step 45;
Step 44: ECU (Electrical Control Unit) control motor is delayed time and is stopped operating process ends behind the 4th Preset Time;
Step 45: ECU (Electrical Control Unit) control motor is delayed time and is stopped operating behind the 5th Preset Time.
Be understandable that, above-mentioned the second predetermined current value I2 is less than or equal to 5/3 of motor idle electric current value, and the second predetermined current value I2 is at t1 corresponding current of electric constantly, wherein at the variable quantity of the time period of t1-1ms-t1 current of electric in the 0.02A-0.03A scope; Above-mentioned the second Preset Time is 0.7s-1s, above-mentioned the 3rd Preset Time refers at the electronic parking brake off that does not have hydraulic efficiency pressure system to participate in, from the electric motor starting to the current of electric, reached for the second required time of predetermined current value I2, it is preferably 0.5s-0.9s, above-mentioned the 4th Preset Time is got the difference of time a and time s, above-mentioned the 5th Preset Time is 0.3s-0.4s, and wherein, time a is 1.2s-1.5s.Be understandable that, above-mentioned the second predetermined current value I2, the second Preset Time, the 3rd Preset Time, the 4th Preset Time and the 5th Preset Time all are to obtain by many experiments, and all deposit ECU (Electrical Control Unit) in.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. an electronic parking braking method is characterized in that, may further comprise the steps:
Step S1: ECU (Electrical Control Unit) receives braking instruction;
Step S2: the starting of ECU (Electrical Control Unit) control electrical power, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the first predetermined current value I1, the control motor stopped operating.
2. electronic parking braking method according to claim 1 is characterized in that, the current value when described the first predetermined current value I1 can provide the required maximum Parking power of vehicle for motor.
3. electronic parking braking method according to claim 1 and 2 is characterized in that, described step S2 is specially:
The starting of ECU (Electrical Control Unit) control electrical power, drive bolt rotary simultaneously so that swivel nut is pushing away piston moves toward the direction of friction lining, and ECU (Electrical Control Unit) begins timing when current of electric reaches the second predetermined current value I2, when current of electric reaches the first predetermined current value I1, and record timing time t;
ECU (Electrical Control Unit) judges whether this time t is less than or equal to the first Preset Time, when this time, t was less than or equal to the first Preset Time, illustrated that hydraulic efficiency pressure system participates in braking, ECU (Electrical Control Unit) control motor stops operating, and when ECU (Electrical Control Unit) detects hydraulic efficiency pressure system and has neither part nor lot in work, the starting of again switching on of control motor, and when current of electric reaches the first predetermined current value I1 again, stop electric machine rotation, wherein, the first Preset Time refers at the required braking time of electronic brake that does not have hydraulic efficiency pressure system to participate in;
When this time, t was greater than the first Preset Time, illustrate without hydraulic pressure to participate in braking, then ECU (Electrical Control Unit) control motor stops operating.
4. electronic parking braking method according to claim 3, it is characterized in that, described the first Preset Time is 0.8s-1.2s, described the second predetermined current value I2 is less than or equal to 5/3 of motor idle electric current value, and the second predetermined current value I2 is at t1 corresponding current of electric constantly, wherein at the variable quantity of the time period of t1-1ms-t1 current of electric in the 0.02A-0.03A scope.
5. an electronic parking brake off method is characterized in that, may further comprise the steps:
Step T1: ECU (Electrical Control Unit) receives the brake off instruction;
Step T2: the starting of ECU (Electrical Control Unit) control electrical power, drive simultaneously screw rod and move to the direction away from friction lining, when the current of electric of ECU (Electrical Control Unit) collection reached the second predetermined current value I2, behind second Preset Time of delaying time, the control motor stopped operating.
6. electronic parking brake off method according to claim 5, it is characterized in that, described the second predetermined current value I2 is less than or equal to 5/3 of motor idle electric current value, and the second predetermined current value I2 is at t1 corresponding current of electric constantly, wherein at the variable quantity of the time period of t1-1ms-t1 current of electric in the 0.02A-0.03A scope; Described the second Preset Time is 0.7s-1s.
7. according to claim 5 or 6 described electronic parking brake off methods, it is characterized in that, described step T2 is specially:
The starting of ECU (Electrical Control Unit) control electrical power drives simultaneously screw rod and moves to the direction away from friction lining, and ECU (Electrical Control Unit) begins timing from electric motor starting, when current of electric reaches the second predetermined current value I2, and record timing time s;
ECU (Electrical Control Unit) judges whether this time s is less than or equal to the 3rd Preset Time, when this time, s was less than or equal to the 3rd Preset Time, illustrated that hydraulic efficiency pressure system participates in braking, ECU (Electrical Control Unit) control motor is delayed time and is stopped operating behind the 4th Preset Time, wherein, the 3rd Preset Time refers to reach for the second required time of predetermined current value I2 at the electronic parking brake off that does not have hydraulic efficiency pressure system to participate in from the electric motor starting to the current of electric;
When this time, s was greater than the second Preset Time, illustrate without hydraulic pressure to participate in braking, then ECU (Electrical Control Unit) control motor is delayed time and is stopped operating behind the 5th Preset Time.
8. electronic parking brake off method according to claim 7 is characterized in that, described the 3rd Preset Time is 0.5s-0.9s, described the 4th Preset Time is got the difference of time a and time s, described the 5th Preset Time is 0.3s-0.4s, and wherein, time a is 1.2s-1.5s.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110177777.1A CN102849059B (en) | 2011-06-29 | 2011-06-29 | Electronic parking braking method and braking releasing method |
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| CN201110177777.1A CN102849059B (en) | 2011-06-29 | 2011-06-29 | Electronic parking braking method and braking releasing method |
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| CN102849059A true CN102849059A (en) | 2013-01-02 |
| CN102849059B CN102849059B (en) | 2015-06-24 |
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| CN201110177777.1A Active CN102849059B (en) | 2011-06-29 | 2011-06-29 | Electronic parking braking method and braking releasing method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264489A (en) * | 2017-05-17 | 2017-10-20 | 广汽本田汽车有限公司 | Emergency release method and device for electronic brake system |
| CN109649366A (en) * | 2018-12-11 | 2019-04-19 | 湖南三智能控制设备有限公司 | A kind of car slipping braking method, car slipping brake apparatus and vehicle |
| CN110509855A (en) * | 2019-08-19 | 2019-11-29 | 一汽解放汽车有限公司 | A kind of telescopic footboard device and vehicle |
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| CN101391603A (en) * | 2008-10-27 | 2009-03-25 | 浙江亚太机电股份有限公司 | Electric-controlled unit for vehicle electric halt vehicle brake system |
| JP2009226964A (en) * | 2008-03-19 | 2009-10-08 | Advics Co Ltd | Parking brake control device |
| CN101823481A (en) * | 2010-03-31 | 2010-09-08 | 奇瑞汽车股份有限公司 | Electronic parking brake system and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009226964A (en) * | 2008-03-19 | 2009-10-08 | Advics Co Ltd | Parking brake control device |
| CN101391603A (en) * | 2008-10-27 | 2009-03-25 | 浙江亚太机电股份有限公司 | Electric-controlled unit for vehicle electric halt vehicle brake system |
| CN101823481A (en) * | 2010-03-31 | 2010-09-08 | 奇瑞汽车股份有限公司 | Electronic parking brake system and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264489A (en) * | 2017-05-17 | 2017-10-20 | 广汽本田汽车有限公司 | Emergency release method and device for electronic brake system |
| CN107264489B (en) * | 2017-05-17 | 2019-08-23 | 广汽本田汽车有限公司 | Emergency release method and device for electronic brake system |
| CN109649366A (en) * | 2018-12-11 | 2019-04-19 | 湖南三智能控制设备有限公司 | A kind of car slipping braking method, car slipping brake apparatus and vehicle |
| CN110509855A (en) * | 2019-08-19 | 2019-11-29 | 一汽解放汽车有限公司 | A kind of telescopic footboard device and vehicle |
| CN110509855B (en) * | 2019-08-19 | 2022-01-07 | 一汽解放汽车有限公司 | Flexible footboard device and vehicle |
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| Publication number | Publication date |
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| CN102849059B (en) | 2015-06-24 |
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