CN104908735A - Active intervention system for overheating and invalidation of automotive brake and control method of active intervention system - Google Patents

Active intervention system for overheating and invalidation of automotive brake and control method of active intervention system Download PDF

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Publication number
CN104908735A
CN104908735A CN201410584728.3A CN201410584728A CN104908735A CN 104908735 A CN104908735 A CN 104908735A CN 201410584728 A CN201410584728 A CN 201410584728A CN 104908735 A CN104908735 A CN 104908735A
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CN
China
Prior art keywords
processing unit
central processing
gear
intervention system
active intervention
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CN201410584728.3A
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Chinese (zh)
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CN104908735B (en
Inventor
王佳琦
刘志龙
刘向阳
白弘基
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Zhejiang Geely Holding Group Co Ltd
Hunan Geely Automobile Parts Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Hunan Geely Automobile Parts Co Ltd
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Priority to CN201410584728.3A priority Critical patent/CN104908735B/en
Publication of CN104908735A publication Critical patent/CN104908735A/en
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Expired - Fee Related legal-status Critical Current
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T17/00Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18Safety devices; Monitoring
    • B60T17/22Devices for monitoring or checking brake systems; Signal devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems

Abstract

The invention discloses an active intervention system for overheating and invalidation of an automotive brake and a control method of the active intervention system. The active intervention system comprises a central processing unit, an electronic braking pedal, a brake, an inclination sensor, a temperature sensor, an automotive gearbox and a gear detecting module, wherein the inclination sensor is arranged on an automobile, the temperature sensor is arranged on a braking component of the brake, and the gear detecting module is arranged on the automotive gearbox; the central processing unit is electrically connected with the electronic braking pedal, the brake, the inclination sensor, the temperature sensor, the automotive gearbox and the gear detecting module respectively. According to the active intervention system and the control method, which are disclosed by the invention, in a downhill process of an automatic transmission automobile, a gear of the automotive gearbox is automatically shifted into a low gear when the temperature of the braking component of the brake is too high, so that the automotive speed is limited through the reverse drawing of an engine, and the situation that the braking component of the brake is invalid because the temperature is too high and a driver adopts the driving brake to limit the automotive speed for a long time is avoided.

Description

A kind of car brake overheating failure pro-active intervention system and control method thereof
Technical field
The present invention relates to automobile brake technical field, particularly relate to a kind of car brake overheating failure pro-active intervention system and control method thereof.
Background technology
The reduction gradually of manned vehicle price, vehicle uses crowd also more and more wider, and navigating mate driving experience is very different.Overwhelming majority chaufeur is when driving automatic gear car descending, gear can not be linked into manual mode low gear, utilize that driving engine is counter drags restricted speed, and only adopt service brake to carry out speeds control, when braking for a long time in the section longer by way of mountain area length of grade, the braking element temperature of drg can be caused too high, and its friction coefficient is die-offed, cause braking failure, cause unnecessary dangerous situation.
China Patent Publication No. CN202413757, publication date on September 5th, 2012, the name of utility model is called trunk brake device magnetism servo-electric motor water-cooling, this application case discloses a kind of trunk brake device magnetism servo-electric motor water-cooling, it comprises water tank, the electric water pump be connected with water tank, the coolant outlet pipe that is connected with electric water pump, coolant outlet pipe is provided with shower nozzle, together with described shower nozzle to be screwed with drg rear-axle tube by connection bracket, shower nozzle is arranged on the outer circumference surface of brake hub, and described shower nozzle is with level sensor.Its weak point is, this mechanism can only lower the temperature to drg, when refrigerant fluid does not obtain supplementing in time, namely this system lost efficacy, and can not only adopt service brake to carry out the bad habit of speeds control when driving automatic gear car descending by changing section chaufeur.
Summary of the invention
The object of the invention is to overcome current part chaufeur when driving automatic gear car descending, gear can not be linked into low gear, and only adopt service brake to carry out speeds control, easily cause braking element Yin Wendu too high and the technical matters of braking failure, provide a kind of car brake overheating failure pro-active intervention system and control method thereof, it is in automatic gear car descending process, when the braking element temperature of drg is too high, according to the relevant intention of chaufeur, automatically the gear of Automotive transmission is linked into low gear, utilize that driving engine is counter drags restricted speed, thus avoid chaufeur to adopt service brake restricted speed cause the braking element Yin Wendu of drg too high and lost efficacy for a long time.
In order to solve the problem, the present invention is achieved by the following technical solutions:
A kind of car brake overheating failure pro-active intervention system of the present invention, the gear detection module comprising central processing unit, electronic brake pedal, drg, the inclination sensor be arranged on automobile, the temperature sensor be arranged on the braking element of drg, Automotive transmission and be arranged on Automotive transmission, described central processing unit is electrically connected with electronic brake pedal, drg, inclination sensor, temperature sensor, Automotive transmission and gear detection module respectively.
In the technical program, theoretical foundation: Q=F μ S, Q---frictional heating amount, F---the pressure between braking element, μ---the friction coefficient between braking element, S---friction force ranging coverage.
Inclination sensor detects automobile fore-and-aft direction to the degree of dip of horizontal surface, according to degree of dip, central processing unit judges whether automobile is in descending state.When automobile is in descending state, the braking element temperature of temperature sensor monitors drg, when braking element temperature is greater than preset value K, (now braking element temperature is higher, friction coefficient has obvious reduction trend), central processing unit starts the location status of monitoring electronic brake pedal.
If when the amplitude that electronic brake pedal is operated is greater than preset value M (now cannot rely on driving engine is counter has dragged whole brake efficiency), central processing unit judges chaufeur sudden stop, brake system carries out work (namely according to the amplitude control brake work that electronic brake pedal is operated) according to normal logic state, gear is adjusted to deep low gear (1 grade) by simultaneous control of automobile change-speed box, brakes automobile.
(now can only rely on counter the dragging of driving engine to complete brake efficiency) when the amplitude that electronic brake pedal is operated is less than or equal to preset value M, central processing unit judges that chaufeur reduces the speed of a motor vehicle by a mode of stopping.The amplitude that central processing unit is operated according to electronic brake pedal and current gear information calculate the gear that Automotive transmission should be reduced to, and judge whether the gear calculated is less than current gear, and gear detection module is for detecting the current gear of Automotive transmission.If the gear calculated is less than current gear, then gear is adjusted to the gear calculated by central processing unit controls Automotive transmission, though now chaufeur tramples electronic brake pedal, but braking element is failure to actuate and is in released state, mutual without friction, only by driving engine counter dragging, the speed of a motor vehicle is controlled, braking element is in air-cooled state temperature and is reduced to rapidly below K value, thus avoids chaufeur to adopt service brake restricted speed cause the braking element Yin Wendu of drg too high and lost efficacy for a long time; If the gear calculated is more than or equal to current gear, then central processing unit is according to normal circumstances process, according to the amplitude control brake work that electronic brake pedal is operated, brakes automobile.
As preferably, described a kind of car brake overheating failure pro-active intervention system also comprises homing advice, and described homing advice is electrically connected with central processing unit.Homing advice stores the grade information of each bar road, the gradient of place road when central processing unit obtains current automobile downhill from homing advice, and tables look-up according to road grade and determine temperature preset value K.The soft road of braking-force ratio that automobile needs at the road that the gradient is large is large, temperature preset value K corresponding to the therefore larger gradient is lower, so that drg can normally work during chaufeur sudden stop, temperature preset value K corresponding to the less gradient is comparatively large, and when ensureing chaufeur sudden stop, drg does not disturb the normal driving operations of chaufeur as far as possible while can normally working.
As preferably, described a kind of car brake overheating failure pro-active intervention system also comprises alarm module, and described alarm module is electrically connected with central processing unit.When braking element temperature is greater than preset value K, alarm module sends warning, reminds the braking element temperature of chaufeur drg too high.
As preferably, described alarm module comprises indicator lamp and voice output module, and described indicator lamp and voice output module are electrically connected with central processing unit respectively.
The control method of a kind of car brake overheating failure pro-active intervention system of the present invention, comprises the following steps:
S1: inclination sensor detects automobile fore-and-aft direction to the degree of dip of horizontal surface, and sends it to central processing unit;
S2: according to degree of dip, central processing unit judges whether current automobile is in descending state, if it is performs step S3, otherwise jumps to step S1;
S3: temperature sensor detects the braking element temperature of drg, and sends it to central processing unit;
S4: central processing unit judges whether the temperature value received is greater than preset value K, if it is performs step S5, otherwise jumps to step S1;
S5: central processing unit reads the data that electronic brake pedal exports, and judges whether electronic brake pedal is operated, if it is performs step S6, otherwise jumps to step S1;
S6: central processing unit judges whether the amplitude that electronic brake pedal is operated exceedes setting value M, if it is performs step S7, otherwise performs step S8;
S7: gear is adjusted to deep low gear by central processing unit controls Automotive transmission, normally works according to the amplitude control brake that electronic brake pedal is operated simultaneously, brakes automobile;
S8: central processing unit detects the current gear of Automotive transmission by gear detection module, and the amplitude be operated according to electronic brake pedal and current gear information calculate the gear that Automotive transmission should be reduced to;
S9: central processing unit judges whether the gear calculated is less than current gear, if it is performs step S10, otherwise performs step S11;
S10: central processing unit transmits control signal to Automotive transmission, gear is adjusted to the gear calculated by Automotive transmission, then jumps to step S1;
S11: the amplitude control brake that central processing unit is operated according to electronic brake pedal normally works, and brakes, then jump to step S1 to automobile.
As preferably, also send warning by alarm module while the data that in described step S5, central processing unit reading electronic brake pedal exports, remind the braking element temperature of chaufeur drg too high.
As preferably, the determination of temperature preset value K comprises the following steps: the gradient of place road when central processing unit obtains current automobile downhill from homing advice, and tables look-up according to road grade and determine temperature preset value K.
Substantial effect of the present invention is: (1) is in automatic gear car descending process, when the braking element temperature of drg is too high, automatically the gear of Automotive transmission is linked into low gear, utilize that driving engine is counter drags restricted speed, thus avoid chaufeur to adopt service brake restricted speed cause the braking element Yin Wendu of drg too high and lost efficacy for a long time.(2) can according to the gradient reasonable set temperature preset value K of place road during current automobile downhill, during guarantee chaufeur sudden stop, drg does not disturb the normal driving operations of chaufeur as far as possible while can normally working.
Accompanying drawing explanation
Fig. 1 is that a kind of circuit theory of the present invention connects block diagram;
Fig. 2 is a kind of diagram of circuit of the present invention.
In figure: 1, central processing unit, 2, electronic brake pedal, 3, drg, 4, inclination sensor, 5, temperature sensor, 6, gear detection module, 7, Automotive transmission, 8, homing advice, 9, alarm module.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment: a kind of car brake overheating failure pro-active intervention system of the present invention, as shown in Figure 1, comprise central processing unit 1, electronic brake pedal 2, drg 3, homing advice 8, alarm module 9, be arranged on the inclination sensor 4 on automobile, be arranged on the temperature sensor 5 on the braking element of drg 3, Automotive transmission 7 and the gear detection module 6 be arranged on Automotive transmission 7, central processing unit 1 respectively with electronic brake pedal 2, drg 3, inclination sensor 4, temperature sensor 5, gear detection module 6, Automotive transmission 7, homing advice 8 and alarm module 9 are electrically connected.
Theoretical foundation: Q=F μ S, Q---frictional heating amount, F---the pressure between braking element, μ---the friction coefficient between braking element, S---friction force ranging coverage.
Inclination sensor 4 detects the degree of dip of automobile fore-and-aft direction to horizontal surface, according to degree of dip, central processing unit 1 judges whether automobile is in descending state.When automobile is in descending state, temperature sensor 5 monitors the braking element temperature of drg, when braking element temperature is greater than preset value K, (now braking element temperature is higher, friction coefficient has obvious reduction trend), central processing unit 1 starts the location status of monitoring electronic brake pedal 2.
If when the amplitude that electronic brake pedal 2 is operated is greater than preset value M (now cannot rely on driving engine is counter has dragged whole brake efficiency), central processing unit 1 judges chaufeur sudden stop, brake system carries out work (the amplitude control brake 3 be namely operated according to electronic brake pedal 2 works) according to normal logic state, gear is adjusted to deep low gear (1 grade) by simultaneous control of automobile change-speed box 7, brakes automobile.
(now can only rely on counter the dragging of driving engine to complete brake efficiency) when the amplitude that electronic brake pedal 2 is operated is less than or equal to preset value M, central processing unit 1 judges that the mode that chaufeur passes through a little to stop reduces the speed of a motor vehicle.The amplitude that central processing unit 1 is operated according to electronic brake pedal 2 and current gear information calculate the gear that Automotive transmission 7 should be reduced to, and judge whether the gear calculated is less than current gear, and gear detection module is for detecting the current gear of Automotive transmission 7.If the gear calculated is less than current gear, then central processing unit 1 controls Automotive transmission 7 and gear is adjusted to the gear calculated, though now chaufeur tramples electronic brake pedal 2, but braking element is failure to actuate and is in released state, mutual without friction, only by driving engine counter dragging, the speed of a motor vehicle is controlled, braking element is in air-cooled state temperature and is reduced to rapidly below K value, thus avoids chaufeur to adopt service brake restricted speed cause the braking element Yin Wendu of drg too high and lost efficacy for a long time; If the gear calculated is more than or equal to current gear, then central processing unit 1 is according to normal circumstances process, works, brake automobile according to the amplitude control brake 3 that electronic brake pedal 2 is operated.
Homing advice 8 stores the grade information of each bar road, the gradient of place road when central processing unit 1 obtains current automobile downhill from homing advice 8, and tables look-up according to road grade and determine temperature preset value K.The soft road of braking-force ratio that automobile needs at the road that the gradient is large is large, temperature preset value K corresponding to the therefore larger gradient is lower, so that drg can normally work during chaufeur sudden stop, temperature preset value K corresponding to the less gradient is comparatively large, and when ensureing chaufeur sudden stop, drg does not disturb the normal driving operations of chaufeur as far as possible while can normally working.
Alarm module 9 comprises indicator lamp and voice output module, and indicator lamp and voice output module are electrically connected with central processing unit respectively.When braking element temperature is greater than preset value K, indicator lamp is lighted, and voice output module sends audio alert, reminds the braking element temperature of chaufeur drg 3 too high.
The control method of a kind of car brake overheating failure pro-active intervention system of the present invention, is applicable to above-mentioned a kind of car brake overheating failure pro-active intervention system, as shown in Figure 2, comprises the following steps:
S1: inclination sensor detects automobile fore-and-aft direction to the degree of dip of horizontal surface, and sends it to central processing unit;
S2: according to degree of dip, central processing unit judges whether current automobile is in descending state, if it is performs step S3, otherwise jumps to step S1;
S3: temperature sensor detects the braking element temperature of drg, and sends it to central processing unit;
S4: central processing unit judges whether the temperature value received is greater than preset value K, if it is performs step S5, otherwise jumps to step S1;
S5: central processing unit reads the data that electronic brake pedal exports, and judges whether electronic brake pedal is operated, if it is performs step S6, otherwise jumps to step S1;
S6: central processing unit judges whether the amplitude that electronic brake pedal is operated exceedes setting value M, if it is performs step S7, otherwise performs step S8;
S7: gear is adjusted to deep low gear by central processing unit controls Automotive transmission, normally works according to the amplitude control brake that electronic brake pedal is operated simultaneously, brakes automobile;
S8: central processing unit detects the current gear of Automotive transmission by gear detection module, and the amplitude be operated according to electronic brake pedal and current gear information calculate the gear that Automotive transmission should be reduced to;
S9: central processing unit judges whether the gear calculated is less than current gear, if it is performs step S10, otherwise performs step S11;
S10: central processing unit transmits control signal to Automotive transmission, gear is adjusted to the gear calculated by Automotive transmission, then jumps to step S1;
S11: the amplitude control brake that central processing unit is operated according to electronic brake pedal normally works, and brakes, then jump to step S1 to automobile.
In step S5, central processing unit also sends warning by alarm module while reading the data of electronic brake pedal output, reminds the braking element temperature of chaufeur drg too high.
The determination of temperature preset value K comprises the following steps: the gradient of place road when central processing unit obtains current automobile downhill from homing advice, and tables look-up according to road grade and determine temperature preset value K.

Claims (7)

1. a car brake overheating failure pro-active intervention system, it is characterized in that: comprise central processing unit (1), electronic brake pedal (2), drg (3), be arranged on the inclination sensor (4) on automobile, be arranged on the temperature sensor (5) on the braking element of drg (3), Automotive transmission (7) and the gear detection module (6) be arranged on Automotive transmission (7), described central processing unit (1) respectively with electronic brake pedal (2), drg (3), inclination sensor (4), temperature sensor (5), Automotive transmission (7) and gear detection module (6) electrical connection.
2. a kind of car brake overheating failure pro-active intervention system according to claim 1, it is characterized in that: also comprise homing advice (8), described homing advice (8) is electrically connected with central processing unit (1).
3. a kind of car brake overheating failure pro-active intervention system according to claim 1 and 2, it is characterized in that: also comprise alarm module (9), described alarm module (9) is electrically connected with central processing unit (1).
4. a kind of car brake overheating failure pro-active intervention system according to claim 4, it is characterized in that: described alarm module (9) comprises indicator lamp and voice output module, described indicator lamp and voice output module are electrically connected with central processing unit (1) respectively.
5. a control method for car brake overheating failure pro-active intervention system, is characterized in that, comprise the following steps:
S1: inclination sensor detects automobile fore-and-aft direction to the degree of dip of horizontal surface, and sends it to central processing unit;
S2: according to degree of dip, central processing unit judges whether current automobile is in descending state, if it is performs step S3, otherwise jumps to step S1;
S3: temperature sensor detects the braking element temperature of drg, and sends it to central processing unit;
S4: central processing unit judges whether the temperature value received is greater than preset value K, if it is performs step S5, otherwise jumps to step S1;
S5: central processing unit reads the data that electronic brake pedal exports, and judges whether electronic brake pedal is operated, if it is performs step S6, otherwise jumps to step S1;
S6: central processing unit judges whether the amplitude that electronic brake pedal is operated exceedes setting value M, if it is performs step S7, otherwise performs step S8;
S7: gear is adjusted to deep low gear by central processing unit controls Automotive transmission, normally works according to the amplitude control brake that electronic brake pedal is operated simultaneously, brakes automobile;
S8: central processing unit detects the current gear of Automotive transmission by gear detection module, and the amplitude be operated according to electronic brake pedal and current gear information calculate the gear that Automotive transmission should be reduced to;
S9: central processing unit judges whether the gear calculated is less than current gear, if it is performs step S10, otherwise performs step S11;
S10: central processing unit transmits control signal to Automotive transmission, gear is adjusted to the gear calculated by Automotive transmission, then jumps to step S1;
S11: the amplitude control brake that central processing unit is operated according to electronic brake pedal normally works, and brakes, then jump to step S1 to automobile.
6. the control method of a kind of car brake overheating failure pro-active intervention system according to claim 5, it is characterized in that: in described step S5, central processing unit also sends warning by alarm module while reading the data of electronic brake pedal output, remind the braking element temperature of chaufeur drg too high.
7. the control method of a kind of car brake overheating failure pro-active intervention system according to claim 5 or 6, it is characterized in that, the determination of described temperature preset value K comprises the following steps: the gradient of place road when central processing unit obtains current automobile downhill from homing advice, and tables look-up according to road grade and determine temperature preset value K.
CN201410584728.3A 2014-10-28 2014-10-28 A kind of automotive brake overheating failure pro-active intervention system and its control method Expired - Fee Related CN104908735B (en)

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Cited By (9)

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CN107054341A (en) * 2017-04-24 2017-08-18 公安部道路交通安全研究中心 Vehicle brake brake efficiency monitoring alarm device, system and method
GB2548464A (en) * 2016-01-25 2017-09-20 Ford Global Tech Llc Brake fade and brake capacity gauge
CN107613725A (en) * 2017-09-01 2018-01-19 驭势科技(北京)有限公司 Automobile sensor temprature control method and system
CN107672580A (en) * 2017-09-27 2018-02-09 交通运输部公路科学研究所 A kind of the automobile long dynamic monitoring of down hill braking efficiency, warning system and method
CN108350961A (en) * 2015-09-17 2018-07-31 意大利Itt有限责任公司 The method of brake overheating for the brake apparatus of heavy vehicle and for preventing heavy vehicle
CN109774697A (en) * 2019-01-21 2019-05-21 临沂高新区鸿图电子有限公司 Vehicle security system and its Wear Temperature sensor
CN113799759A (en) * 2021-10-13 2021-12-17 北京福田戴姆勒汽车有限公司 Brake auxiliary system and vehicle with same
CN113830041A (en) * 2021-10-31 2021-12-24 东风商用车有限公司 Auxiliary braking control method, device, equipment and storage medium
CN115675430A (en) * 2022-11-21 2023-02-03 清华大学 System and method for predicting and actively intervening brake thermal failure of automobile on long downhill road section

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CN108350961B (en) * 2015-09-17 2021-05-04 意大利Itt有限责任公司 Braking device for heavy vehicle and method for preventing brake of heavy vehicle from overheating
CN108350961A (en) * 2015-09-17 2018-07-31 意大利Itt有限责任公司 The method of brake overheating for the brake apparatus of heavy vehicle and for preventing heavy vehicle
GB2548464A (en) * 2016-01-25 2017-09-20 Ford Global Tech Llc Brake fade and brake capacity gauge
CN107054341B (en) * 2017-04-24 2023-10-13 公安部道路交通安全研究中心 Vehicle brake braking effectiveness monitoring and alarming device, system and method
CN107054341A (en) * 2017-04-24 2017-08-18 公安部道路交通安全研究中心 Vehicle brake brake efficiency monitoring alarm device, system and method
CN107613725A (en) * 2017-09-01 2018-01-19 驭势科技(北京)有限公司 Automobile sensor temprature control method and system
CN107672580A (en) * 2017-09-27 2018-02-09 交通运输部公路科学研究所 A kind of the automobile long dynamic monitoring of down hill braking efficiency, warning system and method
CN109774697B (en) * 2019-01-21 2021-03-12 临沂高新区鸿图电子有限公司 Vehicle safety system and wear temperature sensor therefor
CN109774697A (en) * 2019-01-21 2019-05-21 临沂高新区鸿图电子有限公司 Vehicle security system and its Wear Temperature sensor
CN113799759A (en) * 2021-10-13 2021-12-17 北京福田戴姆勒汽车有限公司 Brake auxiliary system and vehicle with same
CN113830041A (en) * 2021-10-31 2021-12-24 东风商用车有限公司 Auxiliary braking control method, device, equipment and storage medium
CN113830041B (en) * 2021-10-31 2022-07-05 东风商用车有限公司 Auxiliary braking control method, device, equipment and storage medium
CN115675430A (en) * 2022-11-21 2023-02-03 清华大学 System and method for predicting and actively intervening brake thermal failure of automobile on long downhill road section

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