CN103010199B - Brake-by-wire system of automobile - Google Patents
Brake-by-wire system of automobile Download PDFInfo
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- CN103010199B CN103010199B CN201210581882.6A CN201210581882A CN103010199B CN 103010199 B CN103010199 B CN 103010199B CN 201210581882 A CN201210581882 A CN 201210581882A CN 103010199 B CN103010199 B CN 103010199B
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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 brake system of car technical field.
Background technology
The development of hybrid vehicle, electronlmobil, has proposed new requirement to brake system of car.Brake system for hybrid vehicle, electronlmobil (is called friction braking system, so that with regenerative braking difference), in order to realize good coordinating with the regenerative braking system of hybrid vehicle, electronlmobil itself, on the basis of brake safe, make regenerative braking system recoveries braking energy how as far as possible, first the dependence to driving engine degree of vacuum should be cancelled, secondly brake pedal feel can not be affected with regenerative braking system coordination control.Existing vacuum assisted hydraulic brake system, vacuum booster depends on driving engine degree of vacuum, and with regenerative braking coordinate control time, 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 started to use on hybrid vehicle, electronlmobil this century.The novel braking system of announcing at present has following scheme: the first kind is taking the ECB system of Toyota as representative (SAE paper 2002-01-0300): with 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 brake system cancel the dependence to driving engine degree of vacuum; Adopt brake-by-wire technology, disconnect brake pedal and be connected (being 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 maintaining in energy storage is a potential safety hazard, if bumped, energy storage will become one " shell ", and 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 taking 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 by hydraulic action on master cylinder piston, promote the braking liquid in master cylinder by master cylinder piston, produce brake fluid pressure.There is the problem identical with first kind system in this type systematic.Another kind of scheme is taking the RBS system of Continental AG as representative (SAE paper 2009-01-1217), use a vacuum pump to provide degree of vacuum to electronic vacuum servo-unit, thereby cancel the dependence to driving engine degree of vacuum, and use pedal simulator, eliminate the impact on brake pedal feel while cooperation with regenerative braking.In this scheme there is the problems such as heat fade in the electromagnet of electronic vacuum servo-unit.Another kind of scheme, taking the e-ACT system of Nissan as representative (SAE paper 2011-01-0572), is used a motor to carry out power-assisted, thereby has cancelled the dependence to driving engine degree of vacuum; 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 for eliminating the impact of pressure control process on treadle effort, thereby guarantee brake pedal feel is unaffected.The shortcoming of this scheme is: be subject to electric machine control master cylinder the first chamber piston cannot initial position backward exercise reduce pressure, the in the situation that, regenerative braking smaller at rate of braking can independently meeting rate of braking demand, 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 due to be subject to electric machine control master cylinder the first chamber piston cannot 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 using motor, cancels the dependence to driving engine degree of vacuum, uses pedal simulator, eliminates the harmful effect to pedal sense while cooperation with regenerative braking.In this class scheme, do not use the scheme of braking liquid taking the EWB of the EMB of Continental AG, Siemens Company as representative, brake actuator need to be placed in wheel limit, and working environment is comparatively severe.Use the scheme of braking liquid taking the DEHB of Delphi company, Tsing-Hua University as representative, more than brake actuator can be placed in suspension, working environment is greatly improved, but has larger change compared with the structure of distributed structure and traditional braking system, is installing and cloth is set up and has certain inconvenience.
Summary of the invention
The object 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 promoting in master brake cylinder produces brake fluid pressure, thereby has cancelled the dependence to driving engine degree of vacuum; Use pedal simulator, eliminate the impact on brake pedal feel while coordinating to control with regenerative braking; The hydraulic control unit that retains existing brake system is implemented hydraulic efficiency governing; An integrated standby hydraulic brake system can be implemented by chaufeur the braking of some strength in the situation that system power supply lost 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 are placed in 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 is placed in 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 is placed in master cylinder the second inner chamber; The left end of described screw mandrel is placed in master cylinder shell, and screw mandrel, master cylinder the first inner chamber piston and master cylinder shell surround screw mandrel inner chamber, and master cylinder the first inner chamber is connected 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 motor casing, and rotor is bearing in motor casing by clutch shaft bearing and the second bearing, and rotor is hollow structure, described nut is placed in the hole of rotor hollow, and is connected with rotor; Described screw mandrel and described nut coaxially assemble, and form 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 is placed in push rod housing, push rod and push rod housing surround push rod inner chamber, push rod and described brake pedal are hinged, and push rod inner chamber is connected with described simulator valve by brake piping, and is connected with described disconnecting valve by brake piping, simulator valve is normally closed two-position two-way solenoid valve, be connected with simulator by brake piping, disconnecting valve, for often opening two-position two-way solenoid valve, is connected with screw mandrel inner chamber by brake piping;
Described simulator comprises emulator piston, simulator spring and simulator shell, and emulator piston and simulator spring are placed in 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 are connected with described hydraulic control unit by brake piping respectively;
Described brake pedal sensor is installed on the shell of push rod chamber, for gathering brake pedal signal, and this signal is passed to controller, and brake pedal sensor is connected with controller by signal wire (SW);
Described controller is 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: compared with using the scheme of energy storage in prior art, its advantage is to 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 prior art, its advantage is that pressure controling precision is high, heat fade impact is little; Compared with the scheme of use hollow master cylinder first chamber piston+plunger+force compensating spring of prior art, because the present invention is line control brake system, the in the situation that, regenerative braking less in total braking force demand can independently meeting braking requirement, 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; Compared 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 aspect control, can inherit the prior art of more traditional braking system.
Brief description of the drawings
Fig. 1 is the structural representation that the present invention proposes automobile line control brake system.
In Fig. 1, 1 is master cylinder shell, 2 is master cylinder the second inner chamber, 3 is master cylinder the second inner chamber spring, 4 is master cylinder the second inner chamber piston, 5 is master cylinder the first inner chamber, 6 is master cylinder the first inner chamber spring, 7 is master cylinder the first inner chamber piston, 8 is screw mandrel inner chamber, 9 is screw mandrel, 10 is nut, 11 is clutch shaft bearing, 12 is motor casing, 13 is motor stator, 14 is rotor, 15 is the second bearing, 16 is push rod inner chamber, 17 is push rod, 18 is push rod housing, 19 is brake pedal, 21 is simulator valve, 23 is emulator piston, 24 is simulator spring, 25 is simulator, 27 is disconnecting valve, 31 is hydraulic control unit, 36 is left front brake, 37 is right front brake, 38 is left back drg, 39 is right back drg, 20, 22, 26, 28, 29, 30, 32, 33, 34, 35 is brake piping, 40 is brake pedal sensor, 41 is controller.
Detailed description of the invention
The automobile line control brake system that the present invention proposes, its structure as shown in Figure 1, 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.
Described master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4 use the center valve piston using in prior art; Master cylinder the first inner chamber piston 7 and master cylinder the second inner chamber piston 4 are placed in 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 is placed in 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 is placed in master cylinder the second inner chamber 2; The left end of screw mandrel 9 is placed in 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 is connected with hydraulic control unit 31 by brake piping 30, and master cylinder the second inner chamber 2 is connected with hydraulic control unit 31 by brake piping 29; Following three technology uses the prior art of traditional vacuum power-assisted hydraulic brake system: in master cylinder the first inner chamber 5 and master cylinder the second inner chamber 2, 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, master cylinder the first inner chamber piston 7 and the spacing of master cylinder the second inner chamber piston 4 can be sold realization by control, in the figure such as oil can wherein, seal ring, control pin, do not represent.
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 motor casing 12; Described rotor 14 is bearing in motor casing 12 by described clutch shaft bearing 11 and the second bearing 15; Described rotor 14 hollows, described nut 10 is placed in the hole of described rotor 14 hollows, and is connected with rotor 14; Described screw mandrel 9 coaxially assembles with described nut 10, forms kinematic pair, rotatablely moving of rotor 14 is 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 is placed in 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 is connected with simulator valve 21 by brake piping 20, and is connected with disconnecting valve 27 by brake piping 26; Described simulator valve 21 is normally closed two-position two-way solenoid valves, is connected with described simulator by brake piping 22; Described disconnecting valve 27 is often to open two-position two-way solenoid valve, is connected 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 are placed in simulator shell 25.
Described hydraulic control unit 31 is the ABS (Anti-lock Braking System) hydraulic control units that use in prior art, or the Vehicle Stability Control hydraulic control unit using in prior art, preferably Vehicle Stability Control hydraulic control unit.
Described left front brake 36, right front brake 37, left back drg 38, right back drg 39 are connected with hydraulic control unit 31 by brake piping 32,33,34,35 respectively.
Described brake pedal sensor 40 gathers brake pedal signal, passes to described controller 41;
Described controller 41 gathers the signal of the sensor passes such as brake pedal signal that described brake pedal sensor 40 transmits 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 generally using on current manned vehicle, therefore do not describe in detail in the present invention, in figure, also do not represent.
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 is normally worked, the effect of motor is chaufeur and the vacuum booster replacing in 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 produces brake fluid pressure.Particularly, when the pedal signal transmitting by brake pedal sensor 40 when controller 41 detects that brake pedal 19 is operated, 21 energisings of control simulation device valve are opened, so push rod inner chamber 16 is connected with simulator by brake piping 20, simulator valve 21, brake piping 22; Control disconnecting valve 27 energisings and close, 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 push rod inner chamber 16 in 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 emulator piston 23 simulator spring 24 is compressed, 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 controls the actual output torque of motor and follow 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, motion by screw mandrel 9 in screw mandrel inner chamber 8, promote the braking liquid in 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 to brake piping 30, brake piping 29, push hydraulic control unit 31, again by hydraulic control unit 31 and the brake piping being connected with each drg, push each drg, thereby vehicle is implemented to braking.If desired, for example, in ABS (Anti-lock Braking System) situation, or coordinate in control situation with regenerative braking, hydraulic control unit 31 regulates brake fluid pressure, 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 brake system of the present invention, active boost can be realized by motor, controls function for realizing initiatively collision avoidance, adaptive cruise etc.In the time that described hydraulic control unit 31 uses the Vehicle Stability Control hydraulic control unit in prior art, also can realize active boost by described hydraulic control unit 31, thereby implement Vehicle Stability Control.
In the time that described hydraulic control unit 31 uses the Vehicle Stability Control hydraulic control unit in prior art, if the motor of system of the present invention lost efficacy, and hydraulic control unit 31 can normally be worked, the realization of the function such as now conventional brake, ABS (Anti-lock Braking System), stability control, implements according to prior art by hydraulic control unit 31.
In the time that the motor of brake system of the present invention and hydraulic control unit 31 all lost efficacy, 21 power-off of simulator valve are closed, disconnecting valve 27 power-off are opened, so push rod inner chamber 16 disconnects and being connected of simulator, and pass through brake piping 26, disconnecting valve 27, brake piping 28 and are connected with screw mandrel inner chamber 8.Like this, step on brake pedal 19, push rod 17 can be by the braking liquid in push rod inner chamber 16 by brake piping 26, disconnecting valve 27, brake piping 28 pushes in 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 to 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, thereby implement standby hydraulic braking.
Finally should be noted that, above detailed description of the invention is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to concrete embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (1)
1. an automobile line control brake system, 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 are placed in 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 is placed in 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 is placed in master cylinder the second inner chamber; The left end of described screw mandrel is placed in master cylinder shell, and screw mandrel, master cylinder the first inner chamber piston and master cylinder shell surround screw mandrel inner chamber, and master cylinder the first inner chamber is connected 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 motor casing, and rotor is bearing in motor casing by clutch shaft bearing and the second bearing, and rotor is hollow structure, described nut is placed in the hole of rotor hollow, and is connected with rotor; Described screw mandrel and described nut coaxially assemble, and form 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 is placed in push rod housing, push rod and push rod housing surround push rod inner chamber, push rod and described brake pedal are hinged, and push rod inner chamber is connected with described simulator valve by brake piping, and is connected with described disconnecting valve by brake piping, simulator valve is normally closed two-position two-way solenoid valve, be connected with simulator by brake piping, disconnecting valve, for often opening two-position two-way solenoid valve, is connected with screw mandrel inner chamber by brake piping;
Described simulator comprises emulator piston, simulator spring and simulator shell, and emulator piston and simulator spring are placed in 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 are connected with described hydraulic control unit by brake piping respectively;
Described brake pedal sensor is installed on push rod housing, for gathering brake pedal signal, and this signal is passed to controller, and brake pedal sensor is connected with controller by signal wire (SW);
Described controller is 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, realize 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 |
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| CN201210581882.6A CN103010199B (en) | 2012-12-27 | 2012-12-27 | Brake-by-wire system of automobile |
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| CN103010199A CN103010199A (en) | 2013-04-03 |
| CN103010199B true CN103010199B (en) | 2014-12-10 |
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| CN201210581882.6A Active CN103010199B (en) | 2012-12-27 | 2012-12-27 | Brake-by-wire system of automobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109515419A (en) * | 2018-12-07 | 2019-03-26 | 长沙理工大学 | A kind of line control brake system of electric car |
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| 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 |
| CN104015717B (en) * | 2014-06-16 | 2016-08-17 | 清华大学 | A kind of lockable electric brake system actuator |
| CN106891878B (en) * | 2017-01-17 | 2023-05-23 | 吉林大学 | Motor-driven electronic hydraulic brake system with improved master cylinder |
| 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 |
| DE102017113563A1 (en) * | 2017-06-20 | 2018-12-20 | Ipgate Ag | braking system |
| KR20200056223A (en) * | 2018-11-14 | 2020-05-22 | 현대자동차주식회사 | Electric brake booster |
| 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 |
| 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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| CN103010199A (en) | 2013-04-03 |
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