CN104802777B - A kind of analog EHB of pedal sense active - Google Patents
A kind of analog EHB of pedal sense active Download PDFInfo
- Publication number
- CN104802777B CN104802777B CN201510123178.XA CN201510123178A CN104802777B CN 104802777 B CN104802777 B CN 104802777B CN 201510123178 A CN201510123178 A CN 201510123178A CN 104802777 B CN104802777 B CN 104802777B
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- Prior art keywords
- cylinder
- pedal sense
- pedal
- brake
- magnetic valve
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Classifications
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/06—Adjustment of accelerator pedal reaction forces
Abstract
The invention discloses a kind of analog EHB of pedal sense active, including：Brake pedal, fluid reservoir, pedal sense simulation cylinder, including piston, cylinder body and return spring, for providing pedal sense to driver；Electronic control unit, for receiving sensor signal, calculating and sending control instruction, each sensor and magnetic valve are connected to by wire；Automatically controlled linear drives module, it directly contacts with the master cylinder and moved along a straight line according to the piston of the signal driving master cylinder from the sensor；Master cylinder, it is connected with wheel cylinder by brake piping, plays a part of establishing hydraulic coupling；Magnetic valve, for opening and closing the fluid pressure line being connected with the master cylinder and pedal sense simulation cylinder, pedal sense is actively simulated so as to realize, and ensure that there is brake efficiency in the event of failure.The present invention realizes the active simulation of pedal sense, can correctly reflect the braking intention of driver, meet the brake request of automatic driving vehicle, and can realize and maximize Brake energy recovery, and control is accurate, fast response time.
Description
Technical field
The invention belongs to automobile brake technical field, is related to a kind of EHB.It is embodied in and passes through control
Two electromagnetic valve switch actions of system are controlled hydraulic coupling in pedal sense simulation cylinder, realize the active simulation to pedal sense, together
When corresponding hydraulic braking force produced by motor, and ensure that system still has certain brake efficiency in failure.
Background technology
It is polynary that the environmental pollution of the oil crisis and getting worse of the 1970s makes automotive engineering just experiencing fuel
The important technicals such as change, power electrification are changed.Electric automobile with energy-efficient, low emission or zero-emission advantage regains
Life, and be the main direction of international energy-saving and environment-friendly automobile development by the extensive attention of countries in the world, in the world many states
Family all starts to put into substantial contribution exploitation electric automobile.Under the inspiration of incentive policy, auto enterprises increase to electricity one after another
The Innovation Input of electrical automobile and related components, China's ev industry are going into the new stage of high speed development.Due to electricity
Electrical automobile structure is very big with orthodox car structural difference, and to realize the functions such as Brake energy recovery, many electric automobiles employ
Brake-by-wire technology, including the extensive electro-hydraulic brake of application prospect.
EHB, refers to the brakes that a kind of brake pedal mutually disconnects with hydraulic braking force, and its is usual
The energy needed for braking is provided by relevant energy delivery system.Due to the continuous lifting of engine efficiency, what it can be provided
Vacuum is just more and more limited.Therefore, many vehicles take the scheme of addition of vacuum pump to increase vacuum.However, this party
Case is an interim solution.Because EHB has the characteristics of response is fast, and function is strong, just increasingly
Attract attention.
Japanese Toyota Company was proposed the hybrid power car Prius with deceleration of electrons function in 1997.This electricity
The pressure regulating mechanism of the Electro-hydraulic brake system of motor-car is realized by electronic devices such as pressure-reducing valve and high pressure accumulators
, and stroke simulator is added in systems to ensure the brake feel of driver, while it is furnished with ABS antilock devices,
Double brake loop is employed in brake circuit, there is carrying out safety backup brakes, but the systematic comparison is complicated, and cost compares
It is high.The inertia energy of this car brake can be recycled by regeneration brake system, and the energy of recovery can about provide automobile
5% ~ 23% driving force, so as to improve the fuel economy of car 10% or so.Yet with the leakage of high pressure accumulator
And the problems such as security, make it carry out repeatedly recalling at 2010 or so.
Bosch was in the electric-hydraulic combined electric brake system of the hybrid vehicle just applied based on ESP hardware in 1998
Patents, main operation principle be using ESP hydraulic regulations unit to regeneration brake system carry out pressure coordinate control.
Bosch in 2009 is proposed his RBS composite braking systems, is proposed within 2012 ESP hev and HAS hev (CRBS).In addition,
Bosch also cooperates with companies such as Toyota, Ford, and being equipped with for its related hybrid power product has electronic stability sexual function
Regeneration brake system.Continental AG is also proposed the product MK25E5 of oneself in this respect, and has successfully been provided to Golf and has mixed
Close in power version.
The Focus FCV brakes of Ford Motor Company in 2002 employs brake pedal and brakes on-mechanical side
The brake-by-wire of formula connection.In Frankfort car exhibition in 1999, it is considered as electric mechanical braking system that Bosch companies, which have put on display,
System（EMB）The EHB of predecessor（EHB）.Hereafter, Bosch and Daimler-Chrysler companies begin one's study use
In the EHB systems of business.Motorola Inc. has carried out the research in terms of embedded software.Have some manufacturers at present by EHB
System is applied in the batch production of automobile, such as 2004 benz CLK VW New Beetle convertibles, SL500.
In addition, the company such as Hitachi, TRW and Honda has also carried out the scheme for coordinating decelerator for Novel brake motor
Research, but the specific marketization of the technology distance also has a certain distance.Each company temporarily also all lists without specific product.
Found by the investigation to the domestic and international present Research of electric brake system, nowadays, most of EBS electronic brake system
The shortcomings that system generally uses passive type pedal sense analogue means, pedal sense be present and is not easy to adjust, and simulation effect is undesirable, and
Fail-safe mode needs complicated fail-safe mechanism, and structure is complex, increases fault rate, adds cost.In addition,
These systems will generally drive multiple magnetic valves under the operating mode of normal work.This is for power supply and what one larger bears
Load, generally has 200-300W power, this is also unfavorable for energy-conserving and environment-protective.
In order to solve these shortcomings, a kind of EHB is developed.Saved while simplifying system architecture
The energy, alleviate the load of power supply.
The content of the invention
It is an object of the invention to provide a kind of EHB, to overcome above-mentioned described electro-hydraulic brake system
The shortcomings that system.
According to an aspect of the invention, there is provided a kind of analog electro-hydraulic system of pedal sense active for vehicle
Dynamic system, including：Brake pedal, it is connected with pedal sense simulation cylinder；Fluid reservoir, cylinder is simulated by magnetic valve and pedal sense and connected
Connect, store or supplement brake fluid in fluid reservoir；Pedal sense simulates cylinder, including piston, cylinder body and return spring, for driving
Member provides pedal sense；Electronic control unit（Alternatively referred to as ECU）, refer to for receiving sensor signal, calculating and sending control
Order, each sensor and magnetic valve are connected to by wire；Automatically controlled linear drives module, it is directly contacted simultaneously with the master cylinder
Moved along a straight line according to the piston of the signal driving master cylinder from the sensor；Master cylinder, lead to wheel cylinder
Brake piping connection is crossed, plays a part of establishing hydraulic coupling；Magnetic valve, for opening and closing and the master cylinder and pedal
Feel the fluid pressure line that simulation cylinder is connected, pedal sense is actively simulated so as to realize, and ensure that there is system in the event of failure
Dynamic efficiency.
On the basis of such scheme, the master cylinder, with pedal sense simulate cylinder and wheel cylinder by threeway and
Fluid pressure line connects.
One magnetic valve is connected between the pedal sense simulation cylinder cylinder body and fluid reservoir, is normally close valve；It is described
Another magnetic valve is connected between pedal sense simulation cylinder cylinder body and described threeway, is normally open valve.
Magnetic valve between the master cylinder and the threeway on institute's connecting line is suitching type magnetic valve, is normal
Valve closing.
Preferably, the magnetic valve being connected with pedal sense simulation cylinder is linear solenoid valve.
Preferably, ECU simulates the switch motion realization for two magnetic valves that cylinder cylinder body is connected by controlling with pedal sense
The control of in-cylinder pressure is simulated, so as to realize the active control of pedal sense.
The automatically controlled linear drives module connects firmly with the brake master cylinder piston, promotes piston to do straight reciprocating motion.Institute
Electric rotating machine can be included and suitable for the rotary motion of electric rotating machine is converted into linear motion by stating automatically controlled linear drives module
Transmission mechanism；The automatically controlled linear drives module can include the straight-line electric for the piston linear motion for being suitable to driving master cylinder
Machine；The automatically controlled linear drives module can also include the electric-controlled hydraulic list for the piston linear motion for being suitable to driving master cylinder
Member.
The integrated level and function of the brakes of the present invention significantly increase, and simplify system architecture, can active control pedal
Feel, while ensure traffic safety in thrashing.
From the above description it is clear that compared with existing EHB, pedal sense active mould of the present invention
Plan formula EHB has the following advantages that：
1. the present invention's is simple for structure, application module can use for reference ripe design, can apply to all kinds of new energy
The brakes of vehicle.
2. pedal sense can be simulated actively, simulation effect is good, can be liked according to driver and is adjusted.
3. simple in construction, it is necessary to which magnetic valve quantity is few, cost is relatively low and environmentally friendly.
4. control the switch motion of magnetic valve to realize that pedal sense is simulated cylinder hydraulic coupling and controlled by ECU, control method compared with
Simply.
5. the vehicle needs of automatic Pilot can be braked in the case of no driver pedal power, now described automatically controlled
The motor of automatically controlled Linear Moving Module is adjusted according to the signal of reception by ECU, produces hydraulic braking force, meets automatic Pilot
Brake request.
6. the present invention can build pressure by the pedal displacement information of driver, the active simulation of pedal sense is realized, can
Correctly to reflect the braking intention of driver, meet the brake request of automatic driving vehicle, and can realize and maximize braking energy
Recovery, control is accurate, fast response time.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
1 --- brake pedal；2 --- push rod；3 --- piston one；
4 --- magnetic valve one；5 --- magnetic valve two；
6 --- return spring one；7 --- pedal sense simulates cylinder cylinder body；
8 --- fluid reservoir；9 --- electronic control unit；
10 --- magnetic valve three；11 --- return spring two；
12 --- master cylinder；13 --- motor；
14 --- piston two；15 --- helical speed reduction gear structure；
16 --- pedal force sensor；17 --- pedal displacement sensor；
18 --- hydraulic pressure force snesor；19 --- wheel cylinder.
Embodiment
Below, Figure of description is referred to, the present invention is further described.
As shown in figure 1, the EHB mainly includes：Brake pedal 1, push rod 2, piston 1, magnetic valve one
4, magnetic valve 25, return spring 1, pedal sense simulation cylinder cylinder body 7, fluid reservoir 8, electronic control unit 9, magnetic valve 3 10,
Return spring 2 11, master cylinder 12, motor 13, piston 2 14, helical speed reduction gear structure 15, pedal force sensor 16, pedal
Displacement transducer 17, hydraulic pressure force snesor 18, wheel cylinder 19.
Brake pedal 1 is connected to piston 1 by push rod 2, and piston 1 contacts with return spring 1, and piston 1 is with returning
Position spring 1 is installed in inside pedal sense simulation cylinder cylinder body 7, and pedal force sensor 16 and pedal displacement sensor 17 are equal
On brake pedal 1, fluid reservoir 8 is connected to pedal sense by magnetic valve 1 and brake piping and simulates cylinder cylinder body 7, steps on
Plate feels that simulation cylinder cylinder body 7 is connected to wheel cylinder 19 by magnetic valve 25 and brake piping, and hydraulic pressure force snesor 18 is arranged on
On brake piping, the rotation of motor 13 is pivotally connected to helical speed reduction gear structure 15, the linear motion in helical speed reduction gear structure 15
Part is contacted with piston 2 14, and piston 2 14 is installed in inside master cylinder 12 with return spring 2 11, and master cylinder 12 is logical
Cross magnetic valve 3 10 and brake piping is connected to wheel cylinder 19, above-mentioned each magnetic valve is connected to electricity with sensor by wire
Sub-control unit 9.
In this exemplary embodiment, pedal sense simulation cylinder includes pedal sense simulation cylinder cylinder body 7, piston 1 and pushed away
The grade part of bar 2.
During normal work, brake system controller detects that system is normal, and system, which can then open magnetic valve 3 10, makes braking
Liquid can pass through in master cylinder 12.After driver's brake pedal, displacement transducer 17 is obtained when brake pedal is stepped on
Speed and displacement, signal is transmitted to brake system controller by signal wire（As electronic control unit 9）, brakes control
Device analytic signal processed simultaneously calculates the master cylinder thrust corresponding to the desired brake force of driver.Then, brakes controls
Device sends instruction to motor 13, drives helical speed reduction gear structure 15 to move and drive master cylinder piston 2 14, pressure is built so as to realize
Function, liquid is by flowing into each wheel cylinder 19 so as to realizing braking function after magnetic valve 3 10.It is dynamic to stop braking in driver
After work, after brake system controller receives the data of displacement transducer 17, instruction can be sent to motor 13 by analytical Calculation, controlled
Motor movement processed reduces hydraulic coupling in master cylinder 12, so as to reducing hydraulic coupling in each wheel cylinder 19, vehicle is released and made
Dynamic state, and the return under the effect of return spring 2 11 of piston 2 14, prepare for braking next time.
Meanwhile in order that the present invention brake pedal 1 when trampling give driver provide brake pedal feel, be equipped with and step on
Plate feels simulation cylinder 7, magnetic valve 1 and magnetic valve 25.Magnetic valve can need constantly to switch to adjust pedal according to pedal sense
In-cylinder pressure is simulated, so as to simulate pedal reaction force, ensures pedal sense.When driver steps on pedal 1, brake system controller
Obtaining the master cylinder thrust corresponding to the desired brake force of driverWhile, obtained according to the signal of pedal force sensor 16
To the pedal force signal of target, electronic control unit 9 passes through the regulation control to magnetic valve 1 and magnetic valve 25 based on this signal
Hydraulic coupling in pedal sense simulation cylinder cylinder body 7 processed, produces target pedal reaction force.When the systems are operating normally, if pedal feedback power
When needing increase, magnetic valve 25 is opened, closed electromagnetic valve 1, now the liquid of master cylinder 12 can be into pedal sense simulation cylinder
So that simulation in-cylinder pressure rise.When pedal feedback power needs to reduce, opening magnetic valve 1, closed electromagnetic valve 25, this
When pedal sense simulation cylinder in liquid can flow into fluid reservoir 8 so that simulation in-cylinder pressure reduce.It is dynamic to stop braking in driver
After work, return spring 1 can promote piston 1, push rod 2, the return of brake pedal 1.
Consider automatically controlled Linear Moving Module failure.Brake system controller will close magnetic valve 1, magnetic valve 25 dozens
To open, magnetic valve 3 10 is closed, and now driver's foot pedal can still simulate in cylinder in pedal sense and produce certain pressure, and
Liquid can flow to brake piping by magnetic valve 25, accordingly even when can still lead to when automatically controlled Linear Moving Module fails
Brake force caused by crossing pedal sense simulation cylinder realizes brake efficiency.
Consider pedal sense simulation cylinder and be attached thereto pipeline failure, if hydraulic pressure force snesor 18 detects that the pipeline loses
Effect, electronic control unit 9 is transmitted a signal to, electronic control unit 9, which can control, closes magnetic valve 25.So as to braking procedure meeting
The simulation of pedal sense is lost, now driver's foot pedal can make motor pushing master cylinder, can still realize brake efficiency.
Another failure conditions, if system dead electricity, because magnetic valve 1, magnetic valve 3 10 are normally close valve, magnetic valve 25
For normally open valve, so magnetic valve 1, magnetic valve 3 10 can still closed, magnetic valve 25 is opened, and now driver's pin is stepped on
Pedal can still simulate in cylinder in pedal sense and produce certain pressure, and liquid can flow to brake pipe by magnetic valve 25
Road, accordingly even when it is real still brake force caused by cylinder can be simulated by pedal sense when automatically controlled Linear Moving Module fails
Existing brake efficiency.
For a person skilled in the art, other advantages of the invention and alternative embodiment are apparent
's.Therefore, shown in the present invention is not limited to for its wider range of meaning and described detail, representative configurations and
Exemplary embodiment.On the contrary, those skilled in the art can be in the case where not departing from the essence spirit of the present invention and scope
Carry out various modifications and substitutions.
Claims (8)
1. a kind of analog EHB of pedal sense active, including：
Brake pedal, it is connected with pedal sense simulation cylinder；
Fluid reservoir, cylinder is simulated with pedal sense by magnetic valve and is connected, brake fluid in storage or supplement fluid reservoir；
Pedal sense simulates cylinder, including piston, cylinder body and return spring, for providing pedal sense to driver；
Electronic control unit, for receiving sensor signal, calculating and sending control instruction, each sensor is connected to by wire
With magnetic valve；
Automatically controlled linear drives module, it directly contacts with the master cylinder and driven according to the signal from the sensor and is made
The piston of dynamic master cylinder is moved along a straight line；
Master cylinder, it is connected with wheel cylinder by brake piping, plays a part of establishing hydraulic coupling；
Magnetic valve, for opening and closing the fluid pressure line being connected with the master cylinder and pedal sense simulation cylinder, so as to
Pedal sense is actively simulated in realization, and ensures there is brake efficiency in the event of failure.
A kind of 2. analog EHB of pedal sense active as claimed in claim 1, it is characterised in that
The master cylinder, simulate cylinder with pedal sense and wheel cylinder is connected by threeway and fluid pressure line.
3. the analog EHB of a kind of pedal sense active as claimed in claim 2, it is characterised in that described
Magnetic valve is one and is connected between the pedal sense simulation cylinder cylinder body and fluid reservoir, is normally close valve；Another magnetic valve connects
It is connected between pedal sense simulation cylinder cylinder body and described threeway, is normally open valve.
A kind of 4. analog EHB of pedal sense active as claimed in claim 2, it is characterised in that
Magnetic valve between the master cylinder and the threeway on institute's connecting line is suitching type magnetic valve, is normally closed
Valve.
A kind of 5. analog EHB of pedal sense active as claimed in claim 1, it is characterised in that
The automatically controlled linear drives module connects firmly with the brake master cylinder piston, promotes piston to do straight reciprocating motion.
A kind of 6. analog EHB of pedal sense active as claimed in claim 1, it is characterised in that
The automatically controlled linear drives module includes electric rotating machine and suitable for the rotary motion of electric rotating machine is converted into linear motion
Transmission mechanism.
A kind of 7. analog EHB of pedal sense active as claimed in claim 1, it is characterised in that
The automatically controlled linear drives module includes being suitable to the linear electric motors of the piston linear motion of driving master cylinder.
A kind of 8. analog EHB of pedal sense active as claimed in claim 1, it is characterised in that
The automatically controlled linear drives module includes being suitable to the electric-controlled hydraulic unit of the piston linear motion of driving master cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123178.XA CN104802777B (en) | 2015-03-20 | 2015-03-20 | A kind of analog EHB of pedal sense active |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123178.XA CN104802777B (en) | 2015-03-20 | 2015-03-20 | A kind of analog EHB of pedal sense active |
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| CN104802777A CN104802777A (en) | 2015-07-29 |
| CN104802777B true CN104802777B (en) | 2017-12-15 |
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| CN201510123178.XA Active CN104802777B (en) | 2015-03-20 | 2015-03-20 | A kind of analog EHB of pedal sense active |
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| CN105946837A (en) * | 2016-06-29 | 2016-09-21 | 吉林大学 | Electronic hydraulic braking system with multiple working modes |
| CN107031597B (en) * | 2017-04-18 | 2023-12-29 | 上海同驭汽车科技有限公司 | Integrated electronic hydraulic braking system and method |
| IT201700059733A1 (en) * | 2017-05-31 | 2018-12-01 | Freni Brembo Spa | BRAKING SYSTEM FOR BRAKE BY WIRE TYPE VEHICLES EQUIPPED WITH HYDRAULIC FEEDBACK SIMULATOR, AND METHOD OF IMPLEMENTATION OF A BRAKE SYSTEM FOR VEHICLES |
| US10336302B2 (en) * | 2017-06-27 | 2019-07-02 | GM Global Technology Operations LLC | Contact sensor assembly for brake systems in autonomous vehicles |
| CN110027531B (en) * | 2018-01-12 | 2021-09-03 | 比亚迪股份有限公司 | Pedal feel simulator for vehicle and vehicle with same |
| CN109808663A (en) * | 2019-03-20 | 2019-05-28 | 安徽合力股份有限公司 | A kind of vacuum boosting braking system for small tonnage fork car |
| CN110696795B (en) * | 2019-11-22 | 2023-09-29 | 吉林大学 | Pedal feel simulator based on electromagnetic regulation |
| CN111301371B (en) * | 2019-12-16 | 2022-03-11 | 奇瑞汽车股份有限公司 | Brake pedal feel simulation system, brake control method, brake control device, and storage medium |
| CN114148306B (en) * | 2020-09-08 | 2023-03-10 | 蜂巢智能转向系统(江苏)有限公司 | Automobile brake system and control method thereof |
| CN112339734A (en) * | 2020-11-19 | 2021-02-09 | 宁波拓普集团股份有限公司 | Modular integrated brake-by-wire system |
| CN113306539A (en) * | 2021-06-30 | 2021-08-27 | 吉林东光奥威汽车制动系统有限公司 | Electronic brake boosting system and method |
| DE102022108721A1 (en) | 2022-04-11 | 2023-10-12 | Heinz Leiber | Master brake cylinder with adjustable pedal characteristics |
| CN115384467B (en) * | 2022-09-05 | 2023-11-17 | 浙江极氪智能科技有限公司 | Braking system and vehicle |
| CN115384468B (en) * | 2022-09-05 | 2023-12-12 | 浙江极氪智能科技有限公司 | Braking system and vehicle |
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| CN104802777A (en) | 2015-07-29 |
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