CN103754204A - Electromagnetic hydraulic brake system with active pedal movement controlling function - Google Patents
Electromagnetic hydraulic brake system with active pedal movement controlling function Download PDFInfo
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- CN103754204A CN103754204A CN201410008747.1A CN201410008747A CN103754204A CN 103754204 A CN103754204 A CN 103754204A CN 201410008747 A CN201410008747 A CN 201410008747A CN 103754204 A CN103754204 A CN 103754204A
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Abstract
An electromagnetic hydraulic brake system with an active pedal movement controlling function comprises a brake pedal, a pedal movement sensor, a movement sensor, a brake main cylinder, a first electronic control linear movement module, a second electronic control linear movement module and an ABS/ESP (anti-lock brake system/electronic stability program) module, wherein the movement sensor is used for acquiring movement of the second electronic control linear movement module, and is hydraulically coupled with a vehicle wheel rim brake via the ABS/ESP module; the first electronic control linear movement module is connected with the brake main cylinder; a motor of the first electronic control linear movement module can actively control the movement of the pedal; the second electronic control linear movement module is connected with the brake main cylinder, and regulates the magnitude of the hydraulic brake force of the main cylinder according to signals of the pedal movement sensor; a transmission mechanism of the second electronic control linear movement module is a lead screw and nut mechanism with a self-locking function; and the ABS/ESP module is used for regulating the hydraulic brake force of various wheel cylinders. The electromagnetic hydraulic brake system is high in response and accurate in control; the brake intension of a driver can be correctly reflected; the hydraulic force is actively controlled; the driver can feel comfortable when in brake by controlling the movement of the pedal; brake energy can be recycled in a maximization manner; and the reliability and the safety of the system can be guaranteed when the electromagnetic hydraulic brake system is failed.
Description
Technical field
The invention belongs to automobile technical field, relate to automobile brake technology, especially a kind of EHB of pedal displacement ACTIVE CONTROL.
Background technology
Due to problems such as the exhaustion of oil and the destructions of environment, the advantages such as energy-saving and environmental protection make battery-driven car become the main direction of auto-industry future development.In order to improve energy utilization rate, economize on resources, protection of the environment; the auto-industry of various countries being are all are being researched and developed electronlmobil energetically; due to the restriction of motor, battery technology etc., the universal and commercialization that electronlmobil continual mileage is short, high these two problems of cost have hindered electronlmobil.
Composite brakig is normally comprised of a set of motor braking system and a set of hydraulic brake system.Due to high-power driving motor being housed on electronlmobil, so when car deceleration is braked, can utilize motor to drag and brake.The dragging of motor during simultaneously due to braking, by reverse power connection, produces inverse electromotive force, makes electrical motor change electrical generator into, generates electricity, and the kinetic energy of automobile is converted into electrical power storage and enters in storage battery, and regenerative brake or braking energy reclaim.The electric energy of these storages can increase the continual mileage of automobile in large quantities, changes electronlmobil continual mileage short, the shortcoming that battery size is large.In battery technology perfect not enough today, can greatly make up battery technology and be short of the problem of bringing.
Composite braking system is mainly divided into Das Gaspedal formula and brake pedal formula, and brake pedal formula is divided into again full decoupling composite braking system and decoupling zero composite braking system not.
Das Gaspedal composite braking system is as drive motor, to brake intrusion signal source by Das Gaspedal, and this system is changed less to original brake system, and it is convenient to control, but it does not meet the traditional braking pedal sense of chaufeur, and callable energy is also few.
Decoupling type composite braking system is not generally to load certain idle travel on original brake boost part, in this section of idle travel, by drive motor, provide regenerative brake power, after overcoming this section of idle travel, hydraulic braking gets involved, total braking force is provided together with regenerative brake, this composite braking system has retained the mechanical connection of pedal and hydraulic efficiency pressure system, reliability and safe, but its callable braking energy is few, has deviation with traditional brake pedal feel.
Full decoupling composite braking system belongs to EHB, the HAS hev system of Bosch company and the SCB system of TRW Ltd. (US) One Space Park, Redondo Beach CA 90278 U.S.A. all belong to full decoupling formula, its brake pedal and hydraulic efficiency pressure system do not have mechanical connection completely, generally to coordinate motor and pump to carry out ACTIVE CONTROL to the braking Input Forces of hydraulic efficiency pressure system by installation high-voltage energy storage, the braking energy of its recovery is many, braking response is fast, the accurately braking of identification of driver intention and simulation pedal sense, but high pressure accumulator technology is also immature, also there is hidden danger in reliability and safety, it has increased multiple electromagnetic valves and has also improved the difficulty of control and the risk of inefficacy in addition.
In EHB, with motor and physical construction, replace high pressure accumulator, pump, hydraulic tubing and electromagnetic valve, also can realize ACTIVE CONTROL and the adjusting of hydraulic coupling, by control path transmission of signal, promote master cylinder by motor driving device structure, between brake pedal and master cylinder, there is no hydraulic tubing, do not exist hydraulic tubing to reveal, high pressure accumulator potential safety hazard, the problems such as electromagnetic valve inefficacy, it is simple in structure, without master cylinder is changed, reduced cost, and the reliability of mechanical connection and safety are than full decoupling Shi Genggao, by ECU, directly control, be easy to realize ABS, TCS, ESP, the functions such as ACC.The composite braking system of this form has a bright future, and is the important developing direction of following brake system.
When the motor of master cylinder hydraulic pressure power driver module adopts the transmission device with self-locking, stressed when self-locking have a fluctuation, cannot reach good control effect by power control, therefore developed a kind of EHB of pedal displacement ACTIVE CONTROL, by treadle effort/pedal displacement graph of a relation of simulate ideal, give the good pedal sense of chaufeur, and can maximized recovery braking energy.
Summary of the invention
The object of the present invention is to provide a kind of EHB of pedal displacement ACTIVE CONTROL, object is to reclaim the braking intention of more braking energy, raising system response time, accurate identification of driver, realize the ACTIVE CONTROL of hydraulic coupling and pedal displacement, give the good brake feel of chaufeur, between brake pedal and master cylinder, adopt mechanical connection, guaranteed safety and reliability.
Object of the present invention can be achieved through the following technical solutions: a kind of EHB of pedal displacement ACTIVE CONTROL, comprising: brake pedal; For obtaining chaufeur, step on the pedal displacement sensor of brake pedal displacement; For obtaining the displacement pickup of the second Linear Moving Module displacement; Master brake cylinder, it is through ABS/ESP module and vehicle rim brake Hydraulic coupling; The first automatically controlled Linear Moving Module, it is by motor adjustment mechanism and rod hinge connection, thereby is connected with master brake cylinder, works in coordination with to regulate the hydraulic braking force size of master cylinder with the second automatically controlled Linear Moving Module, the motor of this module can ACTIVE CONTROL pedal displacement, with this simulating brake pedal sense; The second automatically controlled Linear Moving Module, it is connected with master brake cylinder by connecting rod, and according to the signal of pedal displacement sensor, regulates the hydraulic braking force size of master cylinder; ABS/ESP module, described master brake cylinder is connected to described anti-skid brake system/electronic stability controlling system module by first, second hydraulic tubing, regulates the hydraulic braking force of each wheel cylinder; ECU (Electrical Control Unit) ECU, receives the signal that pedal displacement sensor and hydraulic coupling sensor record, and calculates size and first, second automatically controlled Linear Moving Module moving displacement separately of hydraulic braking force in this time braking.
Preferably, described the first automatically controlled Linear Moving Module comprises ECU (Electrical Control Unit) ECU, motor and straight-line motion mechanism, and described motor is accepted the Torque-adjusting signal control straight-line motion mechanism that ECU (Electrical Control Unit) ECU sends.
Preferably, described the second automatically controlled Linear Moving Module comprises ECU (Electrical Control Unit) ECU, motor and straight-line motion mechanism, and described motor is accepted the Torque-adjusting signal control straight-line motion mechanism that ECU (Electrical Control Unit) ECU sends.
Preferably, pedal displacement sensor, hydraulic coupling sensor, displacement pickup, the motor in first, second automatically controlled Linear Moving Module is connected with transmission of signal with ECU (Electrical Control Unit) ECU by control path.
Preferably, described the first automatically controlled Linear Moving Module comprises rotating machine and will rotatablely move and convert straight-line transmission device to, and transmission device comprises worm-and-wheel gear, pinion and rack, guilde screw mechanism or ball screw framework.
Preferably, described the second automatically controlled Linear Moving Module comprises rotating machine and will rotatablely move and converts straight-line transmission device to, transmission device adopts the guilde screw mechanism with self-locking, because guilde screw mechanism is that 1 o'clock suffered friction force is a stable value at relative velocity, the mode that just can not firmly control when so the second automatically controlled Linear Moving Module adopts this mechanism, can only adopt the mode of displacement control, therefore added displacement pickup at the second automatically controlled Linear Moving Module place, measure the moving displacement of this module, coordinate the first automatically controlled Linear Moving Module to carry out ACTIVE CONTROL pedal displacement.
Compared with existing composite brakig technology, the EHB tool of pedal displacement ACTIVE CONTROL of the present invention has the following advantages:
1. adopt double-motor to collaborate control straight-line motion mechanism, speed of response is very fast, and hydraulic braking force is controlled in real time, and active adjustment, can correctly reflect that the braking of chaufeur is intended to.
2. the regenerative brake power changing according to electric car drive electromotor regulates the size of hydraulic braking force, so that total braking force to be provided, thereby reclaims substantially braking energy.
3. by the electric machine control pedal displacement of the first automatically controlled Linear Moving Module, guaranteed the good brake pedal feel of chaufeur.
4. between brake pedal and master brake cylinder, keep mechanical connection, reduced the risk of thrashing, the treadle effort of chaufeur is also a part for hydraulic braking force simultaneously, does not waste treadle effort.When the first automatically controlled Linear Moving Module or the second automatically controlled Linear Moving Module inefficacy, brake pedal still can provide required hydraulic braking force together with the automatically controlled Linear Moving Module of mechanical connection and inefficacy; When two automatically controlled Linear Moving Module lost efficacy simultaneously, chaufeur is stepped on brake pedal suddenly, and system also can provide certain braking force, has guaranteed reliability and the safety of motor vehicle braking system.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the EHB of the pedal displacement ACTIVE CONTROL of one exemplary embodiment of the present invention.
Label in accompanying drawing represents:
1-motor; The stator of 2-motor; The rotor of 3-motor; The 4-the first automatically controlled Linear Moving Module; The screw rod of 5-ball-screw; The nut of 6-ball-screw; 7-connecting rod; The rotor of 8-motor; 9-motor; The 10-the second automatically controlled Linear Moving Module; The stator of 11-motor; The screw rod of 12-guilde screw; The nut of 13-guilde screw; 14-pedal displacement sensor; 15-brake pedal; 16,17,18,19,20-control path; 21-hydraulic coupling sensor; 22-master cylinder first piston; 23-fluid reservoir; 24-master cylinder the second piston; 25-master brake cylinder; 26-master cylinder the first epitrochoidal chamber; 27-master cylinder the second epitrochoidal chamber; 28,29-hydraulic tubing; 30-ABS/ESP module; 31-ECU (Electrical Control Unit); 32,33-straight-line motion mechanism; 34-displacement pickup
The specific embodiment
As shown in Figure 1, the EHB of this pedal displacement ACTIVE CONTROL mainly comprises brake pedal 15, the first automatically controlled Linear Moving Module 4, the second automatically controlled Linear Moving Module 10, master brake cylinder 25, pedal displacement sensor 14, hydraulic coupling sensor 21, displacement pickup 34
In this exemplary embodiment, the first automatically controlled Linear Moving Module 4 comprises ECU (Electrical Control Unit) 31, motor 1, straight-line motion mechanism 32.Motor 1 is connected with ECU (Electrical Control Unit) 31 by control path 19, the motor torque signal control straight-line motion mechanism 32 transmitting according to ECU (Electrical Control Unit) 31.The second automatically controlled Linear Moving Module 10 comprises ECU (Electrical Control Unit) 31, motor 9, straight-line motion mechanism 33, what in Fig. 1, represent is that the one of first, second automatically controlled Linear Moving Module is preferred, motor 1 and motor 9 are that rotating machine, straight-line motion mechanism 32 are ball screw frameworks, straight-line motion mechanism 33 is the guilde screw mechanisms with self-locking, its function is locking straight-line motion mechanism 33 when the second automatically controlled Linear Moving Module lost efficacy, and it can not be moved.Master brake cylinder 25 comprises that first piston 22, the first epitrochoidal chamber 26, the second piston 24, the second epitrochoidal chamber 27, the first epitrochoidal chambers 26 and the second epitrochoidal chamber 27 separated by the second piston 24, and has the compensation orifice that connects fluid reservoir.The first epitrochoidal chamber 26 is connected with ABS/ESP module 30 with hydraulic tubing 29 by hydraulic tubing 28 respectively with the second epitrochoidal chamber 27.ABS/ESP module is connected on four rim brakes by hydraulic tubing again.Between straight-line motion mechanism 32 and connecting rod 7, be provided with motor adjustment mechanism (not shown in FIG.), it act as and guarantees that straight-line motion mechanism drives pedal push rod to do straight-line motion, connecting rod 7 is connected with first piston 22, promote first piston 22, then promote the second piston 24 and produce the hydraulic braking force of expecting.
The EHB specific works process of pedal displacement ACTIVE CONTROL of the present invention is as follows: chaufeur is stepped on brake pedal 15, displacement pickup 14 obtains pedal displacement, receive the braking intention of chaufeur, the signal collecting is delivered in ECU (Electrical Control Unit) 31 by control path 17, ECU (Electrical Control Unit) 31 obtains the size of drive motor braking force in this time braking, by total demand braking force, deduct drive motor braking force, obtain hydraulic braking force size Fh required in this time braking, by brake system P-V characteristic map, obtain corresponding master cylinder piston displacement Sh, the required displacement S2(S of the second automatically controlled Linear Moving Module 10
2=S
hl
1/ L, L=L
1+ L
2), then by control path 18 drive motor 9, first piston 22 straight-line motions that promotion is connected with connecting rod 7, when first piston 22 blocks the first compensation orifice, the first epitrochoidal chamber starts to build pressure, then by spring, promote the second piston 24 straight-line motions, when the second piston 24 blocks the second compensation orifice, the second epitrochoidal chamber starts to build pressure, and braking liquid flows to ABS/ESP module 30 through hydraulic tubing 28 and hydraulic tubing 29, then flows to each wheel cylinder and produces braking force.Hydraulic pressure transducer 21 records the force value of hydraulic tubing 28, and signal is passed to ECU (Electrical Control Unit) 31, and the actual hydraulic braking force size providing is provided ECU (Electrical Control Unit) 31, draws corresponding pedal displacement SP, the required displacement S1(S of the first automatically controlled Linear Moving Module 4
1=S
2l
2/ L
1-S
p), ECU (Electrical Control Unit) 31 is by control path 19 drive motor 1.
According to a preferred embodiment of the present invention, between straight-line motion mechanism 32 and connecting rod 7, be provided with motor adjustment mechanism, guarantee that straight-line motion mechanism 32 does straight-line motion.
According to a preferred embodiment of the present invention, the first automatically controlled Linear Moving Module 4 comprises rotating machine 1 and will rotatablely move and converts straight-line transmission device to, transmission device comprises ball screw framework, the nut of ball-screw is connected on the rotor of rotating machine 1, by motor rotatablely move drive nut rotate, nut passes through ball power transmission to screw rod, thereby drives screw rod to do straight-line motion.
According to a preferred embodiment of the present invention, above-mentioned transmission device can be also worm and gear, pinion and rack or guilde screw mechanism.
According to a preferred embodiment of the present invention, the second automatically controlled Linear Moving Module 10 comprises that rotating machine 9 will rotatablely move and converts straight-line transmission device to, and transmission device adopts the guilde screw mechanism with auto-lock function.Nut is connected on the rotor of rotating machine 9, by motor rotatablely move drive nut rotate, nut drive leading screw do straight-line motion.
Preferably, the invention provides fault localization system, when certain brake component inefficacy et out of order, failure message can be passed to ECU (Electrical Control Unit) 31.
Preferably, the present invention also provides failure warning system, when fault localization system diagnoses out pedal displacement ACTIVE CONTROL motor hydraulic brake system to break down, and alarm activation, the very first time provides warning to chaufeur.
While requiring brake system must consider the generation of failure conditions and some brake component et out of order according to national legislation, also must be able to allow the power of chaufeur pedal be transferred in brake system, carry out the braking of some strength.The EHB of pedal displacement ACTIVE CONTROL of the present invention has also designed fail safe scheme.
Middle motor 1 is carried out in braking beginning or braking cannot provide moment or straight-line motion mechanism 32 damage so that cannot transmit motion, fault localization system is diagnosed the information that is out of order, pass to ECU (Electrical Control Unit) 31, (required master cylinder piston displacement Sh is determined by pedal displacement motor 9 torque adjusting in the automatically controlled Linear Moving Module 10 of ECU (Electrical Control Unit) 31 second, the second automatically controlled Linear Moving Module displacement S
2=S
hl
1/ L), by connecting rod 7, drive first piston 22 to do the straight-line motion of expecting together with the treadle effort that the power that drives the automatically controlled Linear Moving Module of straight-line motion mechanism 33, the second to produce provides with chaufeur.
Middle motor 9 is carried out in braking beginning or braking cannot provide moment or straight-line motion mechanism 33 damage so that cannot transmit motion, fault localization system is diagnosed the information that is out of order, pass to ECU (Electrical Control Unit) 31, ECU (Electrical Control Unit) 31 is carried out torque adjusting to motor 1 in the first automatically controlled Linear Moving Module 4, and (required master cylinder piston Sh is determined by pedal displacement, the first automatically controlled Linear Moving Module adjusting displacement S=S
hl
2/ L-S
p), now the straight-line motion mechanism of the second automatically controlled Linear Moving Module is in lockup state,, motor 1 drives straight-line motion mechanism 32 to move, the straight-line motion that then drives piston to do to expect by connecting rod 7.
Braking starts or braking carry out in first, second automatically controlled Linear Moving Module while simultaneously losing efficacy, the second automatically controlled Linear Moving Module is in lockup state, now chaufeur is stepped on brake pedal suddenly, by connecting rod, directly promote master cylinder, although now there is no power-assisted, enough braking forces can not be provided, when emergency braking, braking force to a certain degree still has larger help to the safety of chaufeur.
There are some problems in the brake system of the orthodox car of equipment vacuum booster, vacuum booster cannot provide power-assisted to cause having one section of pedal stroke that there is no power-assisted when emergency braking when exceeding power-assisted scope, due to the restriction in Bus inner layout space, the size of vacuum booster is limited, is difficult to realize better deceleration and stopping performance.When the EHB of pedal displacement ACTIVE CONTROL of the present invention is applied on orthodox car, can give full play to the advantages such as Double-motor speed-adjusting scope is wide, control accuracy is high, dynamic is good, response time is fast, make up this defect.
The EHB of pedal displacement ACTIVE CONTROL of the present invention also can be applicable on new-energy automobile, with drive motor braking energy, reclaim maximum and turn to target, by ECU (Electrical Control Unit), double-motor output torque is regulated, allow regenerative brake form total braking force together with hydraulic braking.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.Person skilled in the art obviously can easily make various modifications to these embodiment, and General Principle described herein is applied in other embodiment and needn't passes through performing creative labour.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not departing from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (9)
1. an EHB for pedal displacement ACTIVE CONTROL, is characterized in that: comprising:
Brake pedal;
For obtaining chaufeur, step on the pedal displacement sensor of brake pedal displacement;
For obtaining the displacement pickup of the second Linear Moving Module displacement;
Master brake cylinder, it is through ABS/ESP module and vehicle rim brake Hydraulic coupling;
The first automatically controlled Linear Moving Module, it is by motion setting device and rod hinge connection, thereby is connected with master brake cylinder, the motor of this module can ACTIVE CONTROL pedal displacement to the good brake feel of chaufeur;
The second automatically controlled Linear Moving Module, it is connected with master brake cylinder by connecting rod, and according to the hydraulic braking force size of the Signal Regulation master cylinder of pedal displacement sensor;
ABS/ESP module, for regulating the hydraulic braking force of each wheel cylinder;
ECU (Electrical Control Unit) ECU, receives the signal that each sensor records, and calculates size and first, second the automatically controlled Linear Moving Module displacement separately of required hydraulic braking force in this time braking.
2. the EHB of pedal displacement ACTIVE CONTROL according to claim 1, is characterized in that:
Described first, second automatically controlled Linear Moving Module comprises ECU (Electrical Control Unit) ECU, motor and straight-line motion mechanism, and described motor receives the Torque-adjusting signal control straight-line motion mechanism that ECU (Electrical Control Unit) ECU sends.
3. the EHB of pedal displacement ACTIVE CONTROL according to claim 2, is characterized in that:
Described pedal displacement sensor by integrated installation on brake pedal, hydraulic coupling sensor is arranged on the brake piping of master cylinder, displacement pickup is installed on the straight-line motion mechanism of the second automatically controlled Linear Moving Module, and sensor, motor are connected with transmission of signal by control path with ECU (Electrical Control Unit) ECU.
4. the EHB of pedal displacement ACTIVE CONTROL according to claim 3, is characterized in that:
Described the first automatically controlled Linear Moving Module comprises rotating machine and will rotatablely move and convert straight-line transmission device to, and transmission device comprises worm-and-wheel gear, pinion and rack, guilde screw or ball-screw; This module can ACTIVE CONTROL chaufeur pedal displacement, give chaufeur brake feel.
5. the EHB of pedal displacement ACTIVE CONTROL according to claim 4, is characterized in that:
Described the second automatically controlled Linear Moving Module comprises rotating machine and will rotatablely move and convert straight-line transmission device to, and transmission device adopts the guilde screw mechanism with auto-lock function.
6. the EHB of pedal displacement ACTIVE CONTROL according to claim 5, is characterized in that:
Described the first automatically controlled Linear Moving Module, it is by motor adjustment mechanism and rod hinge connection, the second automatically controlled Linear Moving Module and rod hinge connection, connecting rod is connected with the first piston of master brake cylinder, collaborative work by the first automatically controlled Linear Moving Module and the second automatically controlled Linear Moving Module is carried out dynamic adjustments to the hydraulic braking force of master cylinder, drives master cylinder piston to produce the straight-line motion of expecting.
7. the EHB of pedal displacement ACTIVE CONTROL according to claim 6, is characterized in that:
The first epitrochoidal chamber of master cylinder is connected with ABS/ESP module by hydraulic tubing respectively with the second epitrochoidal chamber; Connecting rod is connected with first piston, promotes first piston, and the first epitrochoidal chamber promotes the second piston after building and pressing and produces the straight-line motion of expecting, braking liquid flows to ABS/ESP module through hydraulic tubing, the braking force that then can regulate each wheel cylinder to produce.
8. the EHB of pedal displacement ACTIVE CONTROL according to claim 7, is characterized in that:
The EHB of described pedal displacement ACTIVE CONTROL provides fault localization system, when certain brake component inefficacy et out of order, failure message can be passed to ECU (Electrical Control Unit);
The EHB of described pedal displacement ACTIVE CONTROL provides failure warning system, when fault localization system diagnoses out system to break down, and alarm activation, the very first time provides warning to chaufeur.
9. the EHB of pedal displacement ACTIVE CONTROL according to claim 8, is characterized in that:
When the first or second automatically controlled Linear Moving Module lost efficacy, ECU (Electrical Control Unit) can be carried out torque adjusting to the motor of another automatically controlled Linear Moving Module by the control algorithm under failure mode, guarantees certain hydraulic braking force; When first, second automatically controlled Linear Moving Module lost efficacy simultaneously, system enters manual machine braking mode, and hydraulic coupling is all provided by the treadle effort of chaufeur.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410008747.1A CN103754204B (en) | 2014-01-08 | 2014-01-08 | Electromagnetic hydraulic brake system with active pedal movement controlling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410008747.1A CN103754204B (en) | 2014-01-08 | 2014-01-08 | Electromagnetic hydraulic brake system with active pedal movement controlling function |
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| CN103754204A true CN103754204A (en) | 2014-04-30 |
| CN103754204B CN103754204B (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410008747.1A Active CN103754204B (en) | 2014-01-08 | 2014-01-08 | Electromagnetic hydraulic brake system with active pedal movement controlling function |
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| CN104118329A (en) * | 2014-07-25 | 2014-10-29 | 奇瑞汽车股份有限公司 | Automobile braking energy recovery and control system and control method thereof |
| CN108162941A (en) * | 2017-12-28 | 2018-06-15 | 万向钱潮股份有限公司 | A kind of EHB electro-hydraulic brake systems brake control method |
| CN109204283A (en) * | 2018-10-29 | 2019-01-15 | 华东交通大学 | A kind of electronic hydraulic brake system obtaining braking intention based on motor |
| CN109946102A (en) * | 2019-04-16 | 2019-06-28 | 北京华锴盛泽科技有限公司 | Push-pull effort testboard |
| CN111497811A (en) * | 2020-05-06 | 2020-08-07 | 北京理工大学 | Multi-mode electronic hydraulic brake power assisting system and control method |
| WO2022148220A1 (en) * | 2021-01-11 | 2022-07-14 | 南京航空航天大学 | Brake system having variable pedal displacement - brake force characteristic, and control method therefor |
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| CN111497811A (en) * | 2020-05-06 | 2020-08-07 | 北京理工大学 | Multi-mode electronic hydraulic brake power assisting system and control method |
| WO2022148220A1 (en) * | 2021-01-11 | 2022-07-14 | 南京航空航天大学 | Brake system having variable pedal displacement - brake force characteristic, and control method therefor |
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|---|---|
| CN103754204B (en) | 2017-02-22 |
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