CN103010199A - Brake-by-wire system of automobile - Google Patents
Brake-by-wire system of automobile Download PDFInfo
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- CN103010199A CN103010199A CN2012105818826A CN201210581882A CN103010199A CN 103010199 A CN103010199 A CN 103010199A CN 2012105818826 A CN2012105818826 A CN 2012105818826A CN 201210581882 A CN201210581882 A CN 201210581882A CN 103010199 A CN103010199 A CN 103010199A
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Abstract
The invention relates to a brake-by-wire system of an automobile and belongs to the technical field of automobile brake systems. In the brake system, a vacuum booster of the traditional vacuum booster hydraulic brake system is replaced with a motor, and a piston in a brake main cylinder is pushed to move to generate brake hydraulic pressure, so that dependence on vacuum degree of an engine is canceled; through the adoption of a pedal simulator, influences on feelings of a brake pedal during coordinated control of feedback and brake are eliminated; a hydraulic control unit of the traditional brake system is kept to implement hydraulic adjustment; and as a standby hydraulic brake system is integrated, braking with certain strength can be implemented by a driver under a situation that the power supply of the system is ineffective. Compared with the traditional distributed brake-by-wire scheme, the brake-by-wire system provided by the invention has the advantages as follows: the structure is changed when compared with the structure of the traditional vacuum booster hydraulic brake system, the system can be mounted on the automobile more conveniently, and more existing technologies in the traditional brake system can be succeeded in the control aspect.
Description
Technical field
The present invention relates to a kind of automobile line control brake system, belong to the brake system of car technical field.
Background technology
The development of hybrid vehicle, electronlmobil has proposed Secretary to brake system of car.The brake system that is used for hybrid vehicle, electronlmobil (is called friction braking system, so that with the regenerative braking difference), in order to realize good cooperating with the regenerative braking system of hybrid vehicle, electronlmobil itself, make regenerative braking system recoveries braking energy as much as possible on the basis of brake safe, at first should cancel the dependence to driving engine degree of vacuum, secondly can not affect brake pedal feel with regenerative braking system coordination control.Existing vacuum assisted hydraulic brake system, vacuum booster depend on driving engine degree of vacuum, and when coordinating control with regenerative braking, its fluid control can affect master cylinder capacity and hydraulic pressure, thereby affects brake pedal feel.In order to overcome the above-mentioned deficiency of existing brake system, engineers is researched and developed some novel braking systems since the nineties in last century, and some systems wherein began to use at hybrid vehicle, electronlmobil this century.The novel braking system of announcing at present has following scheme: the first kind is take the ECB system of Toyota as representative (SAE paper 2002-01-0300): with the driven by motor pump, pump into braking liquid to energy storage, in energy storage, set up high pressure, directly supply with braking required, thereby make the brake system cancellation to the dependence of driving engine degree of vacuum; Adopt the brake-by-wire technology, disconnect brake pedal and be connected (being the pedal decoupling zero) with the mechanical/hydraulic of drg, adopt pedal simulator to provide brake pedal feel for chaufeur, thereby make the coordination control of friction braking and regenerative braking not affect brake pedal feel.A shortcoming of this type systematic is: the high pressure of keeping in the energy storage is a potential safety hazard, if bump, energy storage will become one " shell ", and the occupant is threatened.Equations of The Second Kind system and first kind system class are seemingly, the scheme of announcing in SAE paper 2007-01-0868 take Honda is as representative, also be in energy storage, to set up hydraulic pressure by motor and pump, different is that energy storage does not directly provide braking liquid to drg, but with hydraulic action on master cylinder piston, braking liquid by in the master cylinder piston promotion master cylinder produces brake fluid pressure.There is the problem identical with first kind system in this type systematic.Another kind of scheme is take the RBS system of Continental AG as representative (SAE paper 2009-01-1217), use a vacuum pump to provide degree of vacuum to the electronic vacuum servo-unit, thereby cancellation is to the dependence of driving engine degree of vacuum, and the use pedal simulator, eliminate when cooperating with regenerative braking the impact on brake pedal feel.There are the problems such as heat fade in the electromagnet of electronic vacuum servo-unit in this scheme.Another kind of scheme is used a motor to carry out power-assisted, thereby has been cancelled the dependence to driving engine degree of vacuum take the e-ACT system of Nissan as representative (SAE paper 2011-01-0572); Master cylinder the first chamber piston hollow is equipped with a plunger in its hole, between plunger and the first chamber piston a pair of pressure compensation spring is installed; The first chamber piston is by motor pushing, and plunger is promoted by brake pedal; Electric machine control the first chamber piston carries out pressure regulation, thereby eliminates the impact on plunger stroke and brake-pedal travel, and a pair of pressure compensation spring is used for eliminating the pressure control process to the impact of treadle effort, thereby guarantees that brake pedal feel is unaffected.The shortcoming of this scheme is: be subjected to electric machine control master cylinder the first chamber piston can't initial position backward exercise reduce pressure, in the situation that rate of braking is smaller, the rate of braking demand can be independently satisfied in regenerative braking, chaufeur is stepped on brake pedal, plunger in promotion master cylinder the first chamber piston travels forward and sets up certain brake fluid pressure, this hydraulic pressure should be subtracted, but since be subjected to electric machine control master cylinder the first chamber piston can't initial position backward exercise reduce pressure, so can produce harmful effect to total braking force, regenerative braking power.Another kind of scheme adopts distributed line control brake system, originates as braking force with motor, and cancellation is used pedal simulator to the dependence of driving engine degree of vacuum, eliminates when cooperating with regenerative braking the harmful effect to pedal sense.Do not use in this class scheme the scheme of braking liquid with the EWB of the EMB of Continental AG, Siemens Company as representative, brake actuator need to place the wheel limit, working environment is comparatively abominable.The scheme of using braking liquid with the DEHB of Delphi company, Tsing-Hua University as representative, brake actuator can place more than the suspension, working environment is greatly improved, but distributed structure has been compared larger change with the structure of traditional braking system, is installing and cloth is set up and has certain inconvenience.
Summary of the invention
The objective of the invention is to propose a kind of automobile line control brake system, replace the vacuum booster of traditional vacuum power-assisted hydraulic brake system with a motor, the piston movement that promotes in the master brake cylinder produces brake fluid pressure, thereby has cancelled the dependence to driving engine degree of vacuum; Use pedal simulator, eliminate when coordinating control with regenerative braking the impact on brake pedal feel; The hydraulic control unit that keeps existing brake system is implemented hydraulic efficiency governing; An integrated reserve hydraulic brake system can be implemented by chaufeur the braking of some strength in the situation that system power supply loses efficacy.
The automobile line control brake system that the present invention proposes comprises master cylinder shell, master cylinder the first inner chamber piston, master cylinder the first inner chamber spring, master cylinder the second inner chamber piston, master cylinder the second inner chamber spring, motor, nut, screw mandrel, clutch shaft bearing, the second bearing, push rod housing, push rod, brake pedal, simulator valve, disconnecting valve, simulator, hydraulic control unit, left front brake, right front brake, left back drg, right back drg, brake pedal sensor and controller;
Valve piston centered by described master cylinder the first inner chamber piston and master cylinder the second inner chamber piston, master cylinder the first inner chamber piston and master cylinder the second inner chamber piston place the master cylinder shell, master cylinder the first inner chamber piston, master cylinder the second inner chamber piston and master cylinder shell surround master cylinder the first inner chamber, described master cylinder the first inner chamber spring places master cylinder the first inner chamber, master cylinder the second inner chamber piston and master cylinder shell surround master cylinder the second inner chamber, and master cylinder the second inner chamber spring places master cylinder the second inner chamber; The left end of described screw mandrel places the master cylinder shell, and screw mandrel, master cylinder the first inner chamber piston and master cylinder shell surround the screw mandrel inner chamber, and master cylinder the first inner chamber links to each other with hydraulic control unit by brake piping respectively with master cylinder the second inner chamber;
Described motor comprises motor casing, motor stator, rotor and nut; Described motor casing and master cylinder shell are connected, motor stator is fixed on the motor casing, and rotor is bearing in the motor casing by clutch shaft bearing and the second bearing, and rotor is hollow structure, described nut places the hole of rotor hollow, and is connected with rotor; Described screw mandrel and the coaxial assembling of described nut consist of kinematic pair, rotatablely moving of rotor are converted into the translation of screw mandrel;
Described push rod housing and motor casing are connected, described push rod places the push rod housing, push rod and push rod housing surround the push rod inner chamber, push rod and described brake pedal are hinged, and the push rod inner chamber links to each other with described simulator valve by brake piping, and links to each other with described disconnecting valve by brake piping, the simulator valve is normally closed two-position two-way solenoid valve, link to each other with simulator by brake piping, disconnecting valve links to each other with the screw mandrel inner chamber by brake piping for often opening two-position two-way solenoid valve;
Described simulator comprises emulator piston, simulator spring and simulator shell, and emulator piston and simulator spring place the simulator shell;
Described hydraulic control unit is ABS (Anti-lock Braking System) hydraulic control unit or Vehicle Stability Control hydraulic control unit;
Described left front brake, right front brake, left back drg and right back drg link to each other with described hydraulic control unit by brake piping respectively;
Described brake pedal sensor is installed on the shell of push rod chamber, is used for gathering the brake pedal signal, and this signal is passed to controller, and brake pedal sensor links to each other with controller by signal wire (SW);
Described controller is used for gathering the brake pedal signal of brake pedal sensor transmission and the signal of wheel speed sensors, steering wheel angle sensor, yaw-rate sensor and lateral acceleration sensor, control described motor, simulator valve, disconnecting valve and hydraulic control unit, realize braking function.
The automobile line control brake system that the present invention proposes, its advantage is: compare with using the scheme of energy storage in the prior art, its advantage is need not put aside high pressure at ordinary times, thereby has reduced potential safety hazard; Compare with the scheme of electronic vacuum servo-unit with the use vacuum pump in the prior art, its advantage is that pressure controling precision is high, the heat fade impact is little; Compare with the scheme of the use hollow master cylinder first chamber piston+plunger of prior art+force compensating spring, because the present invention is line control brake system, in the situation that the total braking force demand is less, braking requirement can be independently satisfied in regenerative braking, step on brake pedal, friction braking system is not set up brake fluid pressure, has eliminated the harmful effect to total braking force, regenerative braking power; Compare with the distributed brake-by-wire scheme of prior art, relatively traditional vacuum assisted hydraulic brake system structural development is little, and the layout on vehicle is convenient, and can inherit the prior art of more traditional braking system aspect control.
Description of drawings
Fig. 1 is the structural representation that the present invention proposes automobile line control brake system.
Among Fig. 1,1 is the master cylinder shell, and 2 is master cylinder the second inner chamber, 3 is master cylinder the second inner chamber spring, and 4 is master cylinder the second inner chamber piston, and 5 is master cylinder the first inner chamber, 6 is master cylinder the first inner chamber spring, and 7 is master cylinder the first inner chamber piston, and 8 is the screw mandrel inner chamber, 9 is screw mandrel, and 10 is nut, and 11 is clutch shaft bearing, 12 is motor casing, and 13 is motor stator, and 14 is rotor, 15 is the second bearing, and 16 is the push rod inner chamber, and 17 is push rod, 18 is the push rod housing, and 19 is brake pedal, and 21 is the simulator valve, 23 is emulator piston, and 24 is the simulator spring, and 25 is simulator, 27 is disconnecting valve, and 31 is hydraulic control unit, and 36 is left front brake, 37 is right front brake, 38 is left back drg, and 39 is right back drg, 20,22,26,28,29,30,32,33,34,35 is brake piping, 40 is brake pedal sensor, and 41 is controller.
The specific embodiment
The automobile line control brake system that the present invention proposes, its structure comprises master cylinder shell 1, master cylinder the first inner chamber piston 7, master cylinder the first inner chamber spring 6, master cylinder the second inner chamber piston 4, master cylinder the second inner chamber spring 3, motor, nut 10, screw mandrel 9, clutch shaft bearing 11, the second bearing 15, push rod housing 18, push rod 17, brake pedal 19, simulator valve 21, disconnecting valve 27, simulator, hydraulic control unit 31, left front brake 36, right front brake 37, left back drg 38, right back drg 39 as shown in Figure 1.
Described master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4 use the center valve piston that uses in the prior art; Master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4 place master cylinder shell 1; Master cylinder the first inner chamber piston 7, master cylinder the second inner chamber piston 4 and master cylinder shell 1 surround master cylinder the first inner chamber 5, and master cylinder the first inner chamber spring 6 places master cylinder the first inner chamber 5; Master cylinder the second inner chamber piston 4 and master cylinder shell 1 surround master cylinder the second inner chamber 2, and master cylinder the second inner chamber spring 3 places master cylinder the second inner chamber 2; The left end of screw mandrel 9 places master cylinder shell 1, and screw mandrel 9, master cylinder the first inner chamber piston 7 and master cylinder shell 1 surround screw mandrel inner chamber 8; Master cylinder the first inner chamber 5 links to each other with hydraulic control unit 31 by brake piping 30, and master cylinder the second inner chamber 2 links to each other with hydraulic control unit 31 by brake piping 29; Following three technology uses the prior art of traditional vacuum power-assisted hydraulic brake system: the injection of braking liquid realizes by oil can in master cylinder the first inner chamber 5 and master cylinder the second inner chamber 2, the sealing of braking liquid realizes by the seal ring on master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4 in master cylinder the first inner chamber 5 and master cylinder the second inner chamber 2, the spacing of master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4 can be realized by the control pin, not expression among the figure such as oil can wherein, seal ring, control pin.
Described motor comprises motor casing 12, motor stator 13, rotor 14; Described motor casing 12 is connected by the fasteners such as screw and master cylinder shell 1; Described motor stator 13 is fixed on the motor casing 12; Described rotor 14 is bearing in the motor casing 12 by described clutch shaft bearing 11 and the second bearing 15; Described rotor 14 hollows, described nut 10 places the hole of described rotor 14 hollows, and is connected with rotor 14; Described screw mandrel 9 and described nut 10 coaxial assemblings consist of kinematic pair, rotatablely moving of rotor 14 are converted into the translation of screw mandrel 9.
Described push rod housing 18 is connected by the fasteners such as screw and motor casing 12; Described push rod 17 places push rod housing 18; Described push rod 17 surrounds push rod inner chamber 16 with described push rod housing 18; Described push rod 17 is hinged with described brake pedal 19; Described push rod inner chamber 16 links to each other with simulator valve 21 by brake piping 20, and links to each other with disconnecting valve 27 by brake piping 26; Described simulator valve 21 is normally closed two-position two-way solenoid valves, links to each other with described simulator by brake piping 22; Described disconnecting valve 27 is often to open two-position two-way solenoid valve, links to each other with screw mandrel inner chamber 8 by brake piping 28.
Described simulator comprises emulator piston 23, simulator spring 24, simulator shell 25; Emulator piston 23 and simulator spring 24 place simulator shell 25.
Described hydraulic control unit 31 is the ABS (Anti-lock Braking System) hydraulic control units that use in the prior art, or the Vehicle Stability Control hydraulic control unit that uses in the prior art, preferred Vehicle Stability Control hydraulic control unit.
Described left front brake 36, right front brake 37, left back drg 38, right back drg 39 link to each other with hydraulic control unit 31 by brake piping 32,33,34,35 respectively.
Described brake pedal sensor 40 gathers the brake pedal signal, passes to described controller 41;
The signal of the sensor passes such as the brake pedal signal that the described brake pedal sensor 40 of described controller 41 collections is transmitted and wheel speed sensors, steering wheel angle sensor, yaw-rate sensor, lateral acceleration sensor, control described motor, simulator valve 21, disconnecting valve 27 and hydraulic control unit 31, thereby realize various braking functions.Described wheel speed sensors, steering wheel angle sensor, yaw-rate sensor, lateral acceleration sensor are the technology of generally using on the present manned vehicle, therefore yet not expression among the figure is not described in detail in detail among the present invention.
Below in conjunction with accompanying drawing, introduce in detail principle of work and the working process of the automobile line control brake system of the present invention's proposition:
When system worked, the effect of motor was chaufeur and the vacuum booster that replaces in the traditional vacuum power-assisted hydraulic brake system, promotes master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4, thereby produced brake fluid pressure.Particularly, when the pedal signal that transmits by brake pedal sensor 40 when controller 41 detects brake pedal 19 and is operated, 21 energisings of control simulation device valve are opened, so push rod inner chamber 16 links to each other with simulator by brake piping 20, simulator valve 21, brake piping 22; 27 energisings of control disconnecting valve are closed, so push rod inner chamber 16 disconnects with screw mandrel inner chamber 8.Like this, continue to step on brake pedal 19, push rod 17 can be pressed into the braking liquid in the push rod inner chamber 16 in the simulator by brake piping 20, simulator valve 21, brake piping 22, for chaufeur provides brake-pedal travel; The braking liquid that is pressed into simulator promotes 23 pairs of simulator springs 24 of emulator piston and compresses, and the elastic force of simulator spring 24 provides treadle effort for chaufeur.Controller 41 detects the pedal signal that brake pedal sensor 40 is transmitted, and determines the size of motor target output torque, and the actual output torque of control motor is followed motor target output torque.The output torque of motor is by nut 10 and screw mandrel 9, be converted into the thrust output of screw mandrel 9, by the motion of screw mandrel 9 in screw mandrel inner chamber 8, promote the braking liquid in the screw mandrel inner chamber 8, thereby promote master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4, braking liquid in master cylinder the first inner chamber 5 and master cylinder the second inner chamber 2 is passed through respectively brake piping 30, brake piping 29, push hydraulic control unit 31, again by hydraulic control unit 31 and the brake piping that links to each other with each drg, push each drg, thereby vehicle is implemented braking.In case of necessity, for example in the ABS (Anti-lock Braking System) situation, or coordinate in the control situation with regenerative braking, 31 pairs of brake fluid pressures of hydraulic control unit are regulated, and then by brake piping 32,33,34,35, execute braking to left front brake 36, right front brake 37, left back drg 38, the 39 transmission fluid compactings of right back drg.
In the brake system of the present invention, active boost can be realized by motor, is used for realizing the control functions such as initiatively collision avoidance, adaptive cruise.When the Vehicle Stability Control hydraulic control unit in the described hydraulic control unit 31 use prior arts, also can realize active boost by described hydraulic control unit 31, thereby implement Vehicle Stability Control.
When the Vehicle Stability Control hydraulic control unit in the described hydraulic control unit 31 use prior arts, if the motor of system of the present invention lost efficacy, and hydraulic control unit 31 can work, then the at this moment realization of the functions such as conventional brake, ABS (Anti-lock Braking System), stability control is implemented according to prior art by hydraulic control unit 31.
When the motor of brake system of the present invention and hydraulic control unit 31 all lost efficacy, 21 outages of simulator valve are closed, disconnecting valve 27 outage is opened, so push rod inner chamber 16 disconnects and being connected of simulator, and passes through brake piping 26, disconnecting valve 27, brake piping 28 and links to each other with screw mandrel inner chamber 8.Like this, step on brake pedal 19, push rod 17 can be with the braking liquid in the push rod inner chamber 16 by brake piping 26, disconnecting valve 27, brake piping 28 pushes in the screw mandrel inner chamber 8, thereby promote master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4, braking liquid in master cylinder the first inner chamber 5 and master cylinder the second inner chamber 2 is passed through respectively brake piping 30, brake piping 29 pushes hydraulic control unit 31, again respectively by brake piping 32,33,34,35, push left front brake 36, right front brake 37, left back drg 38, right back drg 39, thus the reserve hydraulic braking implemented.
Should be noted that at last, the above specific embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to concrete embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (1)
1. automobile line control brake system, it is characterized in that: this brake system comprises master cylinder shell, master cylinder the first inner chamber piston, master cylinder the first inner chamber spring, master cylinder the second inner chamber piston, master cylinder the second inner chamber spring, motor, nut, screw mandrel, clutch shaft bearing, the second bearing, push rod housing, push rod, brake pedal, simulator valve, disconnecting valve, simulator, hydraulic control unit, left front brake, right front brake, left back drg, right back drg, brake pedal sensor and controller;
Valve piston centered by described master cylinder the first inner chamber piston and master cylinder the second inner chamber piston, master cylinder the first inner chamber piston and master cylinder the second inner chamber piston place the master cylinder shell, master cylinder the first inner chamber piston, master cylinder the second inner chamber piston and master cylinder shell surround master cylinder the first inner chamber, described master cylinder the first inner chamber spring places master cylinder the first inner chamber, master cylinder the second inner chamber piston and master cylinder shell surround master cylinder the second inner chamber, and master cylinder the second inner chamber spring places master cylinder the second inner chamber; The left end of described screw mandrel places the master cylinder shell, and screw mandrel, master cylinder the first inner chamber piston and master cylinder shell surround the screw mandrel inner chamber, and master cylinder the first inner chamber links to each other with hydraulic control unit by brake piping respectively with master cylinder the second inner chamber;
Described motor comprises motor casing, motor stator, rotor and nut; Described motor casing and master cylinder shell are connected, motor stator is fixed on the motor casing, and rotor is bearing in the motor casing by clutch shaft bearing and the second bearing, and rotor is hollow structure, described nut places the hole of rotor hollow, and is connected with rotor; Described screw mandrel and the coaxial assembling of described nut consist of kinematic pair, rotatablely moving of rotor are converted into the translation of screw mandrel;
Described push rod housing and motor casing are connected, described push rod places the push rod housing, push rod and push rod housing surround the push rod inner chamber, push rod and described brake pedal are hinged, and the push rod inner chamber links to each other with described simulator valve by brake piping, and links to each other with described disconnecting valve by brake piping, the simulator valve is normally closed two-position two-way solenoid valve, link to each other with simulator by brake piping, disconnecting valve links to each other with the screw mandrel inner chamber by brake piping for often opening two-position two-way solenoid valve;
Described simulator comprises emulator piston, simulator spring and simulator shell, and emulator piston and simulator spring place the simulator shell;
Described hydraulic control unit is ABS (Anti-lock Braking System) hydraulic control unit or Vehicle Stability Control hydraulic control unit;
Described left front brake, right front brake, left back drg and right back drg link to each other with described hydraulic control unit by brake piping respectively;
Described brake pedal sensor is installed on the shell of push rod chamber, is used for gathering the brake pedal signal, and this signal is passed to controller, and brake pedal sensor links to each other with controller by signal wire (SW);
Described controller is used for gathering the brake pedal signal of brake pedal sensor transmission and the signal of wheel speed sensors, steering wheel angle sensor, yaw-rate sensor and lateral acceleration sensor, control motor, simulator valve, disconnecting valve and hydraulic control unit are realized braking function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210581882.6A CN103010199B (en) | 2012-12-27 | 2012-12-27 | Brake-by-wire system of automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210581882.6A CN103010199B (en) | 2012-12-27 | 2012-12-27 | Brake-by-wire system of automobile |
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| CN103010199A true CN103010199A (en) | 2013-04-03 |
| CN103010199B CN103010199B (en) | 2014-12-10 |
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Cited By (11)
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| CN103950444A (en) * | 2014-04-14 | 2014-07-30 | 同济大学 | Electronic hydraulic brake system capable of reducing liquid outlets of main cylinder |
| CN104015717A (en) * | 2014-06-16 | 2014-09-03 | 清华大学 | Lockable electronic brake system actuator |
| CN104442783A (en) * | 2013-09-20 | 2015-03-25 | 吉林大学 | Initiative brakeage regulating system with failure backup of motor drive liquid chamber |
| CN106891878A (en) * | 2017-01-17 | 2017-06-27 | 吉林大学 | A kind of motor for improving master cylinder drives EHB |
| CN106945479A (en) * | 2017-03-10 | 2017-07-14 | 江苏大学 | A kind of multi-functional independent suspension control system and its control method |
| CN109278731A (en) * | 2018-11-27 | 2019-01-29 | 辽宁工业大学 | A kind of automobile-used electric-control auxiliary brake device |
| CN110944889A (en) * | 2017-06-20 | 2020-03-31 | 爱皮加特股份公司 | Brake system |
| CN111186426A (en) * | 2018-11-14 | 2020-05-22 | 现代自动车株式会社 | Electric brake booster |
| US10919508B2 (en) | 2019-07-10 | 2021-02-16 | Bwi (Shanghai) Co., Ltd. | Master cylinder and brake-by-wire system |
| CN113135170A (en) * | 2020-01-17 | 2021-07-20 | 扬州五环龙电动车有限公司 | Automobile line control brake system |
| CN116176539A (en) * | 2023-04-24 | 2023-05-30 | 安徽中科星驰自动驾驶技术有限公司 | Anti-collision detection device applied to automatic driving |
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| CN104442783A (en) * | 2013-09-20 | 2015-03-25 | 吉林大学 | Initiative brakeage regulating system with failure backup of motor drive liquid chamber |
| CN104442783B (en) * | 2013-09-20 | 2017-07-11 | 吉林大学 | Motor driven liquid with failure backup presses the active brake draught control system in chamber |
| CN103950444B (en) * | 2014-04-14 | 2017-07-07 | 同济大学 | A kind of EHB for reducing master cylinder liquid outlet |
| CN103950444A (en) * | 2014-04-14 | 2014-07-30 | 同济大学 | Electronic hydraulic brake system capable of reducing liquid outlets of main cylinder |
| CN104015717B (en) * | 2014-06-16 | 2016-08-17 | 清华大学 | A kind of lockable electric brake system actuator |
| CN104015717A (en) * | 2014-06-16 | 2014-09-03 | 清华大学 | Lockable electronic brake system actuator |
| CN106891878A (en) * | 2017-01-17 | 2017-06-27 | 吉林大学 | A kind of motor for improving master cylinder drives EHB |
| CN106945479A (en) * | 2017-03-10 | 2017-07-14 | 江苏大学 | A kind of multi-functional independent suspension control system and its control method |
| CN106945479B (en) * | 2017-03-10 | 2019-03-05 | 江苏大学 | A kind of multi-functional independent suspension control system and its control method |
| US11981316B2 (en) | 2017-06-20 | 2024-05-14 | Ipgate Ag | Brake system |
| CN110944889A (en) * | 2017-06-20 | 2020-03-31 | 爱皮加特股份公司 | Brake system |
| US11987227B2 (en) | 2017-06-20 | 2024-05-21 | Ipgate Ag | Brake system |
| CN111186426A (en) * | 2018-11-14 | 2020-05-22 | 现代自动车株式会社 | Electric brake booster |
| CN109278731A (en) * | 2018-11-27 | 2019-01-29 | 辽宁工业大学 | A kind of automobile-used electric-control auxiliary brake device |
| CN109278731B (en) * | 2018-11-27 | 2024-04-19 | 辽宁工业大学 | Electric control auxiliary braking device for vehicle |
| US10919508B2 (en) | 2019-07-10 | 2021-02-16 | Bwi (Shanghai) Co., Ltd. | Master cylinder and brake-by-wire system |
| CN113135170A (en) * | 2020-01-17 | 2021-07-20 | 扬州五环龙电动车有限公司 | Automobile line control brake system |
| CN116176539A (en) * | 2023-04-24 | 2023-05-30 | 安徽中科星驰自动驾驶技术有限公司 | Anti-collision detection device applied to automatic driving |
| CN116176539B (en) * | 2023-04-24 | 2023-07-11 | 安徽中科星驰自动驾驶技术有限公司 | Anti-collision detection device applied to automatic driving |
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