CN104648362A - Wheel cylinder hydraulic pressure control method based on mechanical electronic hydraulic brake system - Google Patents
Wheel cylinder hydraulic pressure control method based on mechanical electronic hydraulic brake system Download PDFInfo
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- CN104648362A CN104648362A CN201510073132.1A CN201510073132A CN104648362A CN 104648362 A CN104648362 A CN 104648362A CN 201510073132 A CN201510073132 A CN 201510073132A CN 104648362 A CN104648362 A CN 104648362A
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- wheel cylinder
- wheel
- hydraulic
- hydraulic pressure
- hydraulic coupling
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a wheel cylinder hydraulic pressure control method based on a mechanical electronic hydraulic brake system. The wheel cylinder hydraulic pressure control method comprises the following steps: selecting different brake modes according to the difference of brake working conditions; building pressure according to motor output by a main cylinder under a conventional brake working condition, and maintaining the hydraulic pressure of each wheel cylinder to be the same as that of the main cylinder; under an emergency working condition that different hydraulic pressures are required for the wheel cylinders, generating constantly fluctuant hydraulic pressures in the main cylinder by the motor to meet different hydraulic pressure requirements in the wheel cylinders, thus using electromagnetic valves to realize the functions such as anti-lock brake or electronic stability control. The method disclosed by the invention cancels eight electromagnetic valves for realizing an ABS (Anti-lock Brake System) or twelve electromagnetic valves for realizing an ESC (Electronic Stability Control system) in a traditional brake system, corresponding functions can be realized by using only four electromagnetic valves, and the method is high in control precision, safe and reliable and has a good control effect.
Description
Technical field
The invention belongs to automobile technical field, relate to automobile brake technology, particularly relate to a kind of wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system.
Background technology
Due to petering out and the problem such as destruction of environment of oil, the advantages such as energy-saving and environmental protection make battery-driven car become the Main way 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 are are all researching and developing electronlmobil energetically; due to the restriction of motor, battery technology etc., the universal and commercialization that electronlmobil continual mileage is short, cost this two problems high hinders electronlmobil.
Existing EHB, the HAS hev system of such as Bosch company and the SCB system of TRW Ltd. (US) One Space Park, Redondo Beach CA 90278 U.S.A., general is all coordinate motor and the braking Input Forces of pump to hydraulic efficiency pressure system to carry out ACTIVE CONTROL by installation high-voltage energy storage, its braking energy reclaimed is many, braking response is fast, accurately can identify braking intention and the simulation pedal sense of chaufeur.But high pressure accumulator technology is also immature at present, and reliability and safety also exist hidden danger, also improves the difficulty of control and the risk of inefficacy in addition owing to which increasing multiple electromagnetic valve.
High pressure accumulator, pump, hydraulic tubing and electromagnetic valve is replaced with motor and speed reduction gearing in mechanical electronic hydraulic brake system, also ACTIVE CONTROL and the adjustment of hydraulic coupling can be realized, by control path transmission of signal, master cylinder is promoted by motor drive machinery structure, there is not the problem such as high pressure accumulator potential safety hazard, electromagnetic valve inefficacy, its structure is simple, reduce cost, and the reliability of mechanical connection and safety are compared to full decoupling Shi Genggao, directly controlled by ECU, be easy to realize the functions such as ABS, TCS, ESC, ACC.The brake system of this form has a bright future, and is the important developing direction of following brake system.
Although the more traditional hydraulic brake system of mechanical electronic mode EHB has obvious advantage, control difficulty also corresponding increase.Based on mechanical electronic hydraulic brake system, in HCU (hydraulic control unit), four electromagnetic valves control the wheel cylinder hydraulic pressure power of four wheels respectively, require not only can complete braking function, can also integrate the functions such as ABS and ESC by control algorithm.Thus, need to develop a kind of wheel cylinder hydraulic pressure force control method based on mechanical electronic hydraulic brake system.
Summary of the invention
The object of the present invention is to provide a kind of wheel cylinder hydraulic pressure force control method based on mechanical electronic hydraulic brake system, realizing on basic braking function basis, the functions such as ABS and ESC can be realized by control algorithm Controlling solenoid valve, and have precision high, respond fast feature.
For achieving the above object, solution of the present invention is:
A kind of wheel cylinder hydraulic pressure force control method based on mechanical electronic hydraulic brake system, brake mode that can be different according to damped condition different choice---under conventional brake operating mode, driven by motor speed reduction gearing promotes master cylinder push rod and builds pressure and reach the required hydraulic coupling of braking, and wheel cylinder hydraulic pressure power and master cylinder are consistent; Under emergency work condition, hydraulic coupling needed for each wheel cylinder is different, electric machine controller sends to motor torque signal, controls motor pushing master cylinder push rod and in master cylinder, produces the hydraulic coupling of constantly fluctuation to meet different hydraulic coupling demand in wheel cylinder, thus use electromagnetic valve to realize the functions such as ABS or ESC.
This control method comprises the following steps:
(1) ECU determines chaufeur braking intention or ESC demand for control;
(2) system judges that this damped condition is conventional operating mode or emergency work condition;
If (2-1) be judged as conventional brake operating mode, electric machine control master cylinder builds pressure, and in HCU, each electromagnetic valve keeps often opening, and each wheel cylinder hydraulic pressure power and master cylinder are consistent, the lock torque needed for generation;
If (2-2-1) be judged as emergency work condition, system determines the hydraulic coupling demand that each wheel cylinder liquid is different, and makes master cylinder in the interval meeting this demand, produce the pressure of constantly fluctuation;
(2-2-2) master cylinder hydraulic pressure force snesor detects that master cylinder hydraulic pressure power meets some or certain several wheel cylinder hydraulic pressure power demand just, and ECU exports control signal makes electromagnetic valve that in HCU, this wheel cylinder is corresponding power on closedown, and wheel cylinder inside brake liquid enters packing state;
(2-2-3) each drg produces required braking force;
(3) system judges whether damped condition terminates, if braking procedure terminates, and motor reversal or quit work, master brake cylinder pressure release.
Further, in described step (2-2-1), the master cylinder hydraulic pressure power controlling motor generation ceaselessly changes, and its constant interval is meeting hydraulic coupling maxim P needed for wheel cylinder
wmaxwith minimum value P
wminexpansion area in.
Feature between master cylinder hydraulic pressure fluctuation expansion area is: according to control logic, the hydraulic coupling maxim P that master cylinder produces
mmaxwith minimum value P
mminwheel cylinder hydraulic pressure power requirements P
wmaxand P
wminmultiple:
P
Mmax＝a·P
Wmax
P
Mmin＝b·P
Wmin
Proportionality coefficient a and b is determined by control algorithm.Control algorithm includes but not limited to that PID controls and fuzzy control, thus the hydraulic coupling waving interval that master cylinder is produced comprises and is greater than hydraulic coupling waving interval needed for wheel cylinder.
In waving interval, master cylinder hydraulic pressure power constantly fluctuates with certain curve, can arrive P
mminto P
mmaxbetween any point.Curve form includes but not limited to the sine waveform of fixed cycle, triangular waveform etc.
Further, in described step (2-2-2), master cylinder hydraulic pressure force snesor detect master cylinder hydraulic pressure power reach some or the hydraulic coupling of certain several wheel cylinder demand time, ECU exports the solenoid valves closedown that control signal makes to control in HCU this wheel cylinder, corresponding wheel cylinder pressurize, wheel produces suitable lock torque.
After system judges that braking procedure terminates, under electromagnetic valve, electricity is opened, and controls motor reversal or quit work to make master cylinder pressure release, and braking procedure terminates.
The quantity of described electromagnetic valve is 4.
Utilize the present invention, when vehicle needs braking, calculate four wheel target wheel cylinder pressure by sensor and ECU, and judge it is conventional operating mode or emergency work condition.Under conventional operating mode, needed for each wheel cylinder, hydraulic coupling is identical, and master cylinder keeps hydraulic coupling after building pressure, and in HCU, electromagnetic valve does not work; Under emergency work condition, such as, when vehicle has braking anti-lock or maintains operation stabilization sexual demand, hydraulic coupling needed for each wheel cylinder is different, control constantly to work after motor obtains demand braking force, the hydraulic coupling of the continuous fluctuation met in range of pressure needed for wheel cylinder is produced in master brake cylinder, when master cylinder braking liquid hydraulic pressure fluctuates hydraulic coupling needed for wheel cylinder, ECU controls corresponding closed electromagnetic valve and makes this wheel cylinder pressurize, thus provides required lock torque.Eliminate 12 electromagnetic valves for 8 electromagnetic valves or ESC (electronic stabilizing control system) that realize ABS (braking anti-lock control system) in Conventional braking systems, only need 4 electromagnetic valves namely can realize corresponding function, and control accuracy is high, safe and reliable, good control effects can be obtained.
Accompanying drawing explanation
Fig. 1 is the control method diagram of circuit based on mechanical electronic hydraulic brake system of one exemplary embodiment of the present invention;
Fig. 2 is the mechanical electronic hydraulic brake system sketch of one exemplary embodiment of the present invention;
Label in figure represents:
1-electronic control unit (ECU); 2-storage battery; 3-DC/AC; 4-controls motor; 5-turbine and worm decelerator; 6-fluid reservoir; 7-brake pedal; 8-pedal displacement sensor; 9-level master cylinder; 10-adjusting mechanism; 11-decoupling zero cylinder; 12-master brake cylinder; 13-hydraulic coupling sensor; 14-pedal simulator; 15,16,17,18-wheel cylinder Controlling solenoid valve; 19,20,21,22-wheel cylinder hydraulic pressure force snesor; 23,24,25,26-brake wheel cylinder; 27,28,29-Failure Control electromagnetic valve; 30,31-master cylinder hydraulic pressure force snesor.
Fig. 3 is the control method control effects figure based on mechanical electronic hydraulic brake system of one exemplary embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
As shown in Figure 1, a kind of wheel cylinder hydraulic pressure force control method based on mechanical electronic hydraulic brake system, comprises the following steps:
(1) ECU determines chaufeur braking intention or ESC demand for control, exports hydraulic coupling signal needed for 4 wheel cylinders;
(2) system judges that this damped condition is conventional operating mode or emergency work condition;
If (2-1) be judged as conventional brake operating mode, electric machine control master cylinder builds pressure, and in HCU, each electromagnetic valve keeps often opening, and each wheel cylinder hydraulic pressure power and master cylinder are consistent, and produce suitable lock torque;
Such as, chaufeur steps on brake pedal 7, and pedal displacement is converted into electric signal input electronic control unit (ECU) 1 by pedal displacement sensor 8, calculates lock torque needed for chaufeur by ECU.ECU output signal is sent to DC/AC, controls motor 4 energising and exports rotary motion, change the straight-line motion promoting master cylinder push rod after turbine and worm decelerator 5 slows down into.
Fig. 2 is the mechanical electronic hydraulic brake system sketch of one exemplary embodiment of the present invention.Under conventional operating mode, hydraulic coupling needed for each wheel cylinder is consistent, 15,16,17,18 4 wheel cylinder electromagnetic valve no powers, keeps normally open.After master brake cylinder 12 builds pressure, high-pressure brake liquid directly enters 23,24,25,26 brake wheel cylinders, produces required braking force.
If (2-2-1) be judged as emergency work condition, system determines the hydraulic coupling demand that each wheel cylinder liquid is different, and makes master cylinder in the interval meeting this demand, produce the pressure of constantly fluctuation;
(2-2-2) master cylinder hydraulic pressure force snesor detects that master cylinder hydraulic pressure power meets some or certain several wheel cylinder hydraulic pressure power demand just, and the electromagnetic valve that in HCU, this wheel cylinder is corresponding powers on closedown, and wheel cylinder inside brake liquid enters packing state;
(2-2-3) each drg produces required braking force;
(3) system judges whether damped condition terminates, if braking procedure terminates, and motor reversal or quit work, master brake cylinder pressure release.
Further, in described step (2-2-1), the master cylinder hydraulic pressure power controlling motor generation ceaselessly changes, and its constant interval is meeting hydraulic coupling maxim P needed for wheel cylinder
wmaxwith minimum value P
wminexpansion area in.
Different according to control logic between the expansion area of master cylinder hydraulic pressure power change, the hydraulic coupling maxim P that master cylinder produces
mmaxwith minimum value P
mminp
wmaxand P
wminmultiple:
P
Mmax＝a·P
Wmax
P
Mmin＝b·P
Wmin
Proportionality coefficient a and b is determined by control algorithm.Control algorithm includes but not limited to that PID controls and fuzzy control, thus the hydraulic coupling waving interval that master cylinder is produced comprises and is greater than hydraulic coupling waving interval needed for wheel cylinder.
Preferably, in order to reduce control difficulty, proportionality coefficient a and b adopts fixed value in the present example illustrated in fig. 3.
In waving interval, master cylinder hydraulic pressure power constantly fluctuates with certain curve, can arrive P
mminto P
mmaxbetween any point.Curve form includes but not limited to the sine waveform of fixed cycle, triangular waveform etc.
Preferably, sinusoidal fashion is taked to fluctuate in the present example illustrated in fig. 3.
Master cylinder hydraulic pressure force snesor detect master cylinder hydraulic pressure power reach some or the hydraulic coupling of certain several wheel cylinder demand time, control in HCU this wheel cylinder solenoid valves close pressurize, this wheel produce expection braking force.
As, in experiment embodiment shown in Fig. 3, ECU identifies that information of vehicles is after the emergency state, exports wheel cylinder hydraulic coupling demand maxim P
wmaxfor 60bar, minimum value P
wminfor 20bar.
In control algorithm, interval extension proportionality coefficient a and b is taken as fixed value: a gets 1.15, b and gets 0, such master cylinder hydraulic pressure fluctuation scope is 0-69bar.
In experiment embodiment shown in Fig. 3, in order to P can be covered well
wmaxand P
wminbetween value, master cylinder hydraulic pressure power with sine curve trend fluctuation, cycle of fluctuation is 250ms.
4 smooth curves represent wheel cylinder hydraulic pressure power demand in figure 3, and periodic wave moving curve represents the hydraulic coupling that master cylinder provides, and all the other 4 curves constantly fluctuated along wheel cylinder hydraulic pressure power demand curve are hydraulic couplings of wheel cylinder reality.
As shown in Figure 3, when master cylinder hydraulic pressure force snesor 30,31 detects that master cylinder hydraulic pressure power meets wheel cylinder hydraulic pressure power demand, namely master cylinder hydraulic pressure force curve with some or certain several wheel cylinder hydraulic pressure power demand curve is crossing time, normally open solenoid valve 15,16,17,18 in Fig. 2 powers on cut out, make wheel cylinder hydraulic pressure power equal with this moment hydraulic coupling of master cylinder, thus reach wheel cylinder hydraulic pressure power demand, and wheel cylinder enters packing state.
As shown in Figure 3, at 10.3s, the near front wheel wheel cylinder hydraulic pressure power demand is 32bar, and now master cylinder hydraulic pressure power just fluctuates 32bar, two curve intersections, and the electromagnetic valve 17 controlling the near front wheel powers on closedowns, makes the near front wheel maintenance 32bar braking force.By the signal of the near front wheel wheel cylinder hydraulic pressure force snesor 21, wheel cylinder actual hydraulic pressure power is just 32bar, equal with hydraulic coupling requirements, demonstrates the correctness of control method.
Can realize control overflow well by the visible control method of the present invention of Fig. 3, between actual wheel cylinder hydraulic coupling and requirements, mean deviation is at about 3bar, and response is very fast, and precision is higher.
Above-mentioned is can understand for ease of those skilled in the art and use the present invention to the description of embodiment.Person skilled in the art obviously easily can make various amendment to these embodiments, and General Principle described herein is applied in other embodiments and need not through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, those skilled in the art, according to announcement of the present invention, do not depart from improvement that scope makes and amendment all should within protection scope of the present invention.
Claims (10)
1. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system, it is characterized in that: the brake mode different according to damped condition different choice: under conventional brake operating mode, master cylinder exports according to motor and builds pressure, and wheel cylinder hydraulic pressure power and master cylinder are consistent; Under emergency work condition, hydraulic coupling needed for each wheel cylinder is different, and the hydraulic coupling that motor produces constantly fluctuation in master cylinder meets different hydraulic coupling demand in wheel cylinder, thus uses electromagnetic valve just can realize the functions such as ABS or ESC.
2. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 1, is characterized in that: comprise the following steps:
(1) ECU determines chaufeur braking intention or ESC demand for control;
(2) system judges that this damped condition is conventional operating mode or emergency work condition;
If (2-1) be judged as conventional brake operating mode, electric machine control master cylinder builds pressure, and in HCU, each electromagnetic valve no power keeps often opening, and each wheel cylinder hydraulic pressure power and master cylinder are consistent, and produce suitable lock torque;
If (2-2-1) be judged as emergency work condition, system determines the hydraulic coupling demand that each wheel cylinder liquid is different, and makes master cylinder in the interval meeting this demand, produce the pressure of constantly fluctuation;
(2-2-2) master cylinder hydraulic pressure force snesor detects that master cylinder hydraulic pressure power meets some or certain several wheel cylinder hydraulic pressure power demand just, and ECU exports control signal makes electromagnetic valve that in HCU, this wheel cylinder is corresponding power on closedown, and wheel cylinder inside brake liquid enters packing state;
(2-2-3) each drg produces required braking force;
(3) system judges whether damped condition terminates, if braking procedure terminates, and motor reversal or quit work, master brake cylinder pressure release.
3. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 2, it is characterized in that: in described step (2-2-1), the master cylinder hydraulic pressure power controlling motor generation ceaselessly changes, and its constant interval is meeting hydraulic coupling maxim P needed for wheel cylinder
wmaxwith minimum value P
wminexpansion area in.
4. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 3, is characterized in that: according to control logic, the hydraulic coupling maxim P that master cylinder produces
mmaxwith minimum value P
mminwheel cylinder hydraulic pressure power requirements P
wmaxand P
wminmultiple:
P
Mmax＝a·P
Wmax
P
Mmin＝b·P
Wmin
Wherein a and b is proportionality coefficient.
5. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 4, is characterized in that:
Described proportionality coefficient a and b is determined by control algorithm, thus the hydraulic coupling constant interval that master cylinder is produced comprises and is greater than hydraulic coupling constant interval needed for wheel cylinder.
6. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 5, is characterized in that:
Described control algorithm comprises PID and controls and fuzzy control.
7. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 3, is characterized in that: in constant interval, and master cylinder hydraulic pressure power constantly fluctuates with the curve in fixed cycle or on-fixed cycle, can arrive P
mminto P
mmaxbetween any point.
8. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 7, is characterized in that: the curve form of described fixed cycle comprises sine waveform and triangular waveform.
9. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 2, it is characterized in that: in described step (2-2-2), master cylinder hydraulic pressure force snesor detect master cylinder hydraulic pressure power reach some or the hydraulic coupling of certain several wheel cylinder demand time, the solenoid valves controlling this wheel cylinder in HCU is closed, corresponding wheel cylinder pressurize.
10. the wheel wheel cylinder hydraulic coupling control method based on mechanical electronic hydraulic brake system according to claim 1, is characterized in that: the quantity of described electromagnetic valve is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073132.1A CN104648362A (en) | 2015-02-11 | 2015-02-11 | Wheel cylinder hydraulic pressure control method based on mechanical electronic hydraulic brake system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073132.1A CN104648362A (en) | 2015-02-11 | 2015-02-11 | Wheel cylinder hydraulic pressure control method based on mechanical electronic hydraulic brake system |
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| CN104648362A true CN104648362A (en) | 2015-05-27 |
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|---|---|---|---|
| CN201510073132.1A Pending CN104648362A (en) | 2015-02-11 | 2015-02-11 | Wheel cylinder hydraulic pressure control method based on mechanical electronic hydraulic brake system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501910A (en) * | 2018-03-09 | 2018-09-07 | 同济大学 | A kind of vehicle master cylinder constant frequency pressure regulating formula braking anti-lock method |
| CN108501911A (en) * | 2018-03-09 | 2018-09-07 | 同济大学 | A kind of vehicle integrated type electrical brake fluid system and stability control method |
| CN108501909A (en) * | 2018-03-09 | 2018-09-07 | 同济大学 | A kind of vehicle braking anti locking method based on integrated type electrical brake fluid system |
| CN113460009A (en) * | 2021-07-28 | 2021-10-01 | 中国第一汽车股份有限公司 | Integrated brake system fluid infusion control method and vehicle |
| CN113650595A (en) * | 2021-08-30 | 2021-11-16 | 江苏大学 | Control method of double-loop electronic hydraulic brake system comprising two channels |
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| JP2000085561A (en) * | 1998-09-11 | 2000-03-28 | Toyota Motor Corp | Braking force control device |
| JP2008155736A (en) * | 2006-12-22 | 2008-07-10 | Fujitsu Ten Ltd | Electronic control device |
| US20140136014A1 (en) * | 2012-11-09 | 2014-05-15 | Honda Motor Co., Ltd. | Vehicle behavior stability control apparatus |
| CN103909916A (en) * | 2014-01-08 | 2014-07-09 | 同济大学 | Wheel cylinder hydraulic pressure control system and method of electronic hydraulic braking system |
| CN103950443A (en) * | 2014-04-14 | 2014-07-30 | 同济大学 | Pedal feeding active control type electronic hydraulic braking system |
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2015
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Patent Citations (5)
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| JP2000085561A (en) * | 1998-09-11 | 2000-03-28 | Toyota Motor Corp | Braking force control device |
| JP2008155736A (en) * | 2006-12-22 | 2008-07-10 | Fujitsu Ten Ltd | Electronic control device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501910A (en) * | 2018-03-09 | 2018-09-07 | 同济大学 | A kind of vehicle master cylinder constant frequency pressure regulating formula braking anti-lock method |
| CN108501911A (en) * | 2018-03-09 | 2018-09-07 | 同济大学 | A kind of vehicle integrated type electrical brake fluid system and stability control method |
| CN108501909A (en) * | 2018-03-09 | 2018-09-07 | 同济大学 | A kind of vehicle braking anti locking method based on integrated type electrical brake fluid system |
| CN113460009A (en) * | 2021-07-28 | 2021-10-01 | 中国第一汽车股份有限公司 | Integrated brake system fluid infusion control method and vehicle |
| CN113650595A (en) * | 2021-08-30 | 2021-11-16 | 江苏大学 | Control method of double-loop electronic hydraulic brake system comprising two channels |
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Application publication date: 20150527 |