CN105223034B - A kind of braking performance test method and its system - Google Patents
A kind of braking performance test method and its system Download PDFInfo
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- CN105223034B CN105223034B CN201510684354.7A CN201510684354A CN105223034B CN 105223034 B CN105223034 B CN 105223034B CN 201510684354 A CN201510684354 A CN 201510684354A CN 105223034 B CN105223034 B CN 105223034B
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Abstract
The invention discloses a kind of braking performance test method and its system, including sending test signal to control unit；Control unit receives test signal, and after control unit receives the brake signal of braking control system transmission, control unit is using the velocity amplitude of the collected vehicle of velocity sensor at this time as initial speed of braking v0, record time t1 at this time；The velocity amplitude v of the real-time collected vehicle of writing speed sensor of control unit after control unit receives the zero-speed angle value of velocity sensor transmission, records time t2 at this time, according to initial speed of braking v0, velocity amplitude v, preset braking acceleration, time t1 and time t2 calculate standard braking distance range and active braking distance s；Control unit judges active braking distance s whether in the range of standard braking distance, if it is, braking ability is normal；Otherwise, then braking ability is abnormal.This approach reduce the costs of braking performance test, increase the range of measurement, improve the accuracy of test.
Description
Technical field
The present invention relates to vehicle performance test technical field, more particularly to a kind of braking performance test method.The present invention
Further relate to a kind of braking performance test system.
Background technology
The braking ability of rail locomotive is the major criterion for weighing rail locomotive security performance, wherein, weigh rail locomotive
The braking distance that is final and being most directly presented as rail locomotive of braking ability.
At present, the following two kinds is divided into the test method of the braking ability of rail locomotive：
The first is tested in type approval test, i.e., under a certain fixed initial velocity the braking of test tracks locomotive away from
From.Although this method can test the braking distance of rail locomotive, and can be according to standard braking distance to track machine
The active braking distance of vehicle is compared, and so as to judge the braking ability of rail locomotive, but this method is needed on rail locomotive
The equipment such as signal pickup assembly and distance-measuring device are installed, thus testing cost is high；And this method is only capable of specific first
It is tested under speed, the range of test is small.
Second is tested in routine test and current check, i.e. the pipe of the static brake machine of test tracks locomotive
The parameters such as road pressure, rate of pressure change.This method can only be in the state of rail locomotive static state to the braking system of rail locomotive
The parameters such as rate of pressure change, the loine pressure of system are tested, but these parameters can not embody rail locomotive completely
Braking ability, such as when brake rigging failure, brake(-holder) block failure, whether the parameters such as loine pressure meet the requirements
It is whether normal with the braking ability of rail locomotive and be not correspond to.Therefore this method test result there is accuracy it is low lack
Point.
Therefore, how to provide a kind of braking performance test method at low cost, that measurement range is big and accuracy is high is ability
The current problem to be solved of field technique personnel.
Invention content
The object of the present invention is to provide a kind of braking performance test method, this method does not need to vehicle and installs additional set
It is standby, the cost of test can be reduced, and be not limited only to be tested under fixed initial velocity, vehicle braking performances can be increased
The range of measurement, while also there is higher accuracy；It is a further object of the present invention to provide a kind of braking performance test systems.
In order to solve the above technical problems, the present invention provides a kind of braking performance test method, applied to vehicle, including：
Step s101：Test signal is sent to control unit；
Step s102：Described control unit receives the test signal；
Step s103：Described control unit judges whether to receive the brake signal of braking control system transmission, if so,
Enter step s104；Otherwise, step s103 is repeated；
Step s104：Described control unit is using the velocity amplitude of the collected vehicle of velocity sensor at this time as braking
Initial velocity v0, and record time t1 at this time；
Step s105：Described control unit records the velocity amplitude v of the collected vehicle of the velocity sensor in real time,
After described control unit receives the zero-speed angle value that the velocity sensor is sent, time t2 at this time is recorded, and according to institute
State initial speed of braking v0, the velocity amplitude v, preset braking acceleration, the time t1 and the time t2 calculate standard system
Dynamic distance range and active braking distance s；
Step s106：Whether described control unit judges the active braking distance s in the standard braking distance range
It is interior, if it is, braking ability is normal；Otherwise, then braking ability is abnormal.
Preferably, the step s103 is specially：
Described control unit judges whether to receive the emergency brake signal that the braking control system is sent, if so,
Enter step s104；Otherwise, it is determined whether the service braking signal that the braking control system is sent is received, if so, into
Enter step s104, otherwise, repeat step s103.
Preferably, the step s105 is further included：
The active braking distance s is shown.
Preferably, the step s106 is further included：
When the active braking distance s is in the range of the standard braking distance, display braking ability is normal；When described
When active braking distance s is not in the range of the standard braking distance, display braking ability is abnormal.
Preferably, the step s106 is further included：
When the active braking distance s is not in the range of the standard braking distance, alarm is sent out.
Preferably, the acquisition process of the standard braking distance range is：
According to the initial speed of braking v0, the preset braking acceleration and standard braking distance relational expression marked
Quasi- braking distance s1, wherein, the standard braking distance relational expression is：
The given threshold x on the basis of the standard braking distance s1, then s1-x~s1+x is the standard braking distance
Range.
Preferably, the x is s1*15%.
Preferably, the acquisition process of the active braking distance s is：
Practical system is obtained according to the velocity amplitude v, the time t1, the time t2 and active braking distance relational expression
Dynamic distance s, wherein active braking distance relational expression are：
In order to solve the above technical problems, the present invention also provides a kind of braking performance test system, applied to vehicle, packet
It includes：
Braking performance test trigger device, for sending test signal to control unit；
Described control unit, for after the test signal is received, judging whether to receive braking control system hair
The brake signal sent, if so, described control unit using the velocity amplitude of the collected vehicle of velocity sensor at this time as
Initial speed of braking v0, and record time t1 at this time；Otherwise, described control unit continues to determine whether to receive the braking letter
Number；Described control unit records the velocity amplitude v of the collected vehicle of the velocity sensor in real time, works as described control unit
After receiving the zero-speed angle value that the velocity sensor is sent, time t2 at this time is recorded, and according to the initial speed of braking v0、
The velocity amplitude v, preset braking acceleration, the time t1 and the time t2 calculate standard braking distance range and reality
Braking distance s；Then described control unit judges the active braking distance s whether in the range of the standard braking distance,
If it is, braking ability is normal, otherwise, braking ability is abnormal；
It for acquiring the velocity amplitude of the vehicle in real time, and is sent to the control by the velocity sensor in real time
Unit.
Preferably, it further includes：
Display unit, for being shown to the active braking distance s, when the active braking distance s is in the mark
When in the range of quasi- braking distance, show that braking ability is normal on the display unit；When the active braking distance s is not in institute
When stating in the range of standard braking distance, braking ability exception is shown on the display unit.
The present invention provides a kind of braking performance test method and its system, this method utilizes the original velocity pick-up of vehicle
The velocity amplitude v of the real-time collection vehicle of device, and it is sent to control unit in real time；When control unit receives braking control system
After the brake signal of transmission, the velocity amplitude of vehicle at this time is recorded as initial speed of braking v0, and record time t1 at this time；Work as control
After unit processed receives the zero-speed angle value of velocity sensor transmission, time t2 at this time is recorded,；Control unit is according to initial speed at brake application
Spend v0, velocity amplitude v, preset braking acceleration, time t1 and time t2 calculate standard braking distance range and practical brake
Distance s, therefore this method does not need to vehicle and installs additional equipment, i.e., this method can be realized merely with existing equipment, subtract
Small cost.
After control unit receives the brake signal of braking control system transmission in this method, the speed of vehicle at this time is recorded
As initial speed of braking v0, i.e. this method can obtain different initial speed of braking by controlling the sending time of brake signal
v0.Therefore this method can measure the braking ability under different initial velocity, be not limited solely to be tested under fixed initial velocity,
Increase the measurement range of vehicle braking performances.
And this method is according to initial speed of braking v0, velocity amplitude v, preset braking acceleration, time t1 and time t2 count
Calculation standard braking distance range and active braking distance s, by comparing active braking distance s whether in standard braking distance range
It is interior, to judge whether the braking ability of vehicle normal, therefore compared with prior art for this method have higher accuracy.
Therefore this approach reduce the cost of braking performance test, the range of measurement is increased, while improve test
Accuracy.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of braking performance test method provided by the invention；
Fig. 2 is the flow chart of another braking performance test method provided by the invention；
Fig. 3 is a kind of structure diagram of braking performance test system provided by the invention.
Specific embodiment
The core of the present invention is to provide a kind of braking performance test method, and this method does not need to vehicle and installs additional set
It is standby, the cost of test can be reduced, and be not limited only to be tested under fixed initial velocity, vehicle braking performances can be increased
The range of measurement, while also there is higher accuracy；Another core of the present invention is to provide a kind of braking performance test system.
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work shall fall within the protection scope of the present invention.
Embodiment one
Shown in Figure 1, Fig. 1 is a kind of flow chart of braking performance test method provided by the invention.This method includes：
Step s101：Test signal is sent to control unit；
Step s102：Control unit receives test signal；
Step s103：Control unit judges whether to receive the brake signal of braking control system transmission, if so, into
Step s104；Otherwise, step s103 is repeated；
Step s104：Control unit is using the velocity amplitude of the collected vehicle of velocity sensor at this time as initial speed of braking
v0, and record time t1 at this time；
Step s105：The velocity amplitude v of the real-time collected vehicle of writing speed sensor of control unit, when control unit connects
After the zero-speed angle value for receiving velocity sensor transmission, time t2 at this time is recorded, and according to initial speed of braking v0, it is velocity amplitude v, pre-
If braking acceleration, time t1 and time t2 calculate standard braking distance range and active braking distance s；
Step s106：Control unit judges active braking distance s whether in the range of standard braking distance, if it is,
Braking ability is normal；Otherwise, then braking ability is abnormal.
The present invention provides a kind of braking performance test method, this method is adopted in real time using the original velocity sensor of vehicle
Collect the velocity amplitude v of vehicle, and it is sent to control unit in real time；When control unit receives the system of braking control system transmission
After dynamic signal, the velocity amplitude of vehicle at this time is recorded as initial speed of braking v0, and record time t1 at this time；When control unit connects
After the zero-speed angle value for receiving velocity sensor transmission, time t2 at this time is recorded,；Control unit is according to initial speed of braking v0, speed
Angle value v, preset braking acceleration, time t1 and time t2 calculate standard braking distance range and active braking distance s, because
This this method does not need to vehicle and installs additional equipment, i.e., this method can be realized merely with existing equipment, reduce cost.
After control unit receives the brake signal of braking control system transmission in this method, the speed of vehicle at this time is recorded
As initial speed of braking v0, i.e. this method can obtain different initial speed of braking by controlling the sending time of brake signal
v0.Therefore this method can measure the braking ability under different initial velocity, be not limited solely to be tested under fixed initial velocity,
Increase the measurement range of vehicle braking performances.
And this method is according to initial speed of braking v0, velocity amplitude v, preset braking acceleration, time t1 and time t2 count
Calculation standard braking distance range and active braking distance s, by comparing active braking distance s whether in standard braking distance range
It is interior, to judge whether the braking ability of vehicle normal, therefore compared with prior art for this method have higher accuracy.
Therefore this approach reduce the cost of braking performance test, the range of measurement is increased, while improve test
Accuracy.
Embodiment two
Shown in Figure 2, Fig. 2 is the flow chart of another braking performance test method provided by the invention.This method packet
It includes：
Step s201：Test signal is sent to control unit；
Step s202：Control unit receives test signal；
Step s203：Control unit judges whether to receive the emergency brake signal of braking control system transmission, if so,
Enter step s205；
Step s204：Otherwise, control unit judges whether to receive the service braking signal of braking control system transmission, such as
Fruit is to enter step s205, otherwise, return to step s203；
Step s205：Control unit is using the velocity amplitude of the collected vehicle of velocity sensor at this time as initial speed of braking
v0, and record time t1 at this time；
It is understood that brake signal has been divided into emergency brake signal and service braking signal by the present embodiment.Wherein,
The signal that braking control system is sent when emergency brake signal is emergency brake of vehicle, service braking signal are vehicle normal brake application
When braking control system send signal.Therefore, as long as control unit receives emergency brake signal or common system in this method
During one of dynamic signal, that is, the velocity amplitude of vehicle at this time is recorded as initial speed of braking v0.Therefore, this method can be right respectively
Emergency brake of vehicle and the situation of normal brake application are tested, and increase the range of braking performance test, make test more fully.
Step s206：The velocity amplitude v of the real-time collected vehicle of writing speed sensor of control unit, when control unit connects
After the zero-speed angle value for receiving velocity sensor transmission, time t2 at this time is recorded, and according to initial speed of braking v0, it is velocity amplitude v, pre-
If braking acceleration, time t1 and time t2 calculate standard braking distance range and active braking distance s；
It is further known that the acquisition process of standard braking distance range here is：
According to initial speed of braking v0, preset braking acceleration and standard braking distance relational expression obtain standard braking away from
From s1, wherein, standard braking distance relational expression is：
The given threshold x on the basis of standard braking distance s1, then s1-x~s1+x is standard braking distance range.
Wherein, braking acceleration here should be negative value, and the present invention does not limit the concrete numerical value of braking acceleration, only
It disclosure satisfy that the braking acceleration of braking performance test within protection scope of the present invention.
Preferably, x here is s1*15%.Certainly, threshold value x is alternatively other numerical value, and tester can be according to reality
Border situation sets itself, the present invention do not limit this.
In addition, the acquisition process of active braking distance s here is：
Active braking distance s is obtained according to velocity amplitude v, time t1, time t2 and active braking distance relational expression, wherein
Active braking distance relational expression is：
Step s207：Active braking distance s is shown；
Step s208：Control unit judges active braking distance s whether in the range of standard braking distance, if it is,
Braking ability is normal；Otherwise, then braking ability is abnormal；
Step s209：When active braking distance s is in the range of standard braking distance, display braking ability is normal；Work as reality
When border braking distance s is not in the range of standard braking distance, display braking ability is abnormal；
Step s210：When active braking distance s is not in the range of standard braking distance, alarm is sent out.
Wherein, the alarm that sends out here can be whistle, or send out a warning.Certainly, it these are only preferred embodiment, it is real
Alarm can also be sent out in the test of border using other modes, the present invention does not limit this.
Based on the method that embodiment one provides, brake signal has been divided into emergency brake signal by method provided in this embodiment
With service braking signal, as long as control unit receives the signal of one of them, that is, the velocity amplitude conduct of vehicle at this time is recorded
Initial speed of braking v0, therefore, this method can respectively test emergency brake of vehicle and the situation of normal brake application, increase
The range of braking performance test makes test more fully.In addition, this method also shows active braking distance s；It and should
In method, whether control unit judges in the range of standard braking distance active braking distance s, when judging to complete
Afterwards, this method also will determine that result is shown；If braking ability is abnormal, alarm is sent out, therefore this method can be more straight
The display test result of sight, and tester can be allowed to analyze test result.
Shown in Figure 3 the present invention also provides a kind of braking performance test system, Fig. 3 is one kind provided by the invention
The structure diagram of braking performance test system.The system includes：
Braking performance test trigger device 301, for sending test signal to control unit 302；
Preferably, braking performance test trigger device 301 here can be button, or touch screen.When
So, or other devices.As long as the braking performance test trigger device 301 of test signal can be sent the present invention's
Within protection domain.
Control unit 302, for after test signal is received, judging whether to receive the system of braking control system transmission
Dynamic signal, if so, control unit 302 is using the velocity amplitude of 303 collected vehicle of velocity sensor at this time as initial speed at brake application
Spend v0, and record time t1 at this time；Otherwise, control unit 302 continues to determine whether to receive brake signal；Control unit
The velocity amplitude v of 302 real-time 303 collected vehicles of writing speed sensor, when control unit 302 receives velocity sensor
After the 303 zero-speed angle value sent, time t2 at this time is recorded, and according to initial speed of braking v0, velocity amplitude v, it is preset braking plus
Speed, time t1 and time t2 calculate standard braking distance range and active braking distance s；Then control unit 302 judges reality
Whether border braking distance s is in the range of standard braking distance, if it is, braking ability is normal, otherwise, braking ability is abnormal；
It for the velocity amplitude of real-time collection vehicle, and is sent to control unit 302 by velocity sensor 303 in real time.
Preferably, which further includes：
Display unit 304, for being shown to active braking distance s, when active braking distance s is in standard braking distance
In the range of when, show that braking ability is normal on display unit 304；When active braking distance s is not in standard braking distance range
When interior, braking ability exception is shown on display unit 304.
Wherein, display unit 304 here can be LED display.Certainly the present invention is to the concrete kind of display unit 304
Type does not limit, and tester can voluntarily select according to actual conditions.
The present invention provides a kind of braking performance test system, which is adopted in real time using the original velocity sensor of vehicle
Collect the velocity amplitude v of vehicle, and it is sent to control unit in real time；When control unit receives the system of braking control system transmission
After dynamic signal, velocity amplitude at this time is recorded as initial speed of braking v0, and record time t1 at this time；When control unit receives
After the zero-speed angle value that velocity sensor is sent, time t2 at this time is recorded,；Control unit is according to initial speed of braking v0, velocity amplitude
V, preset braking acceleration, time t1 and time t2 calculate standard braking distance range and active braking distance s, therefore should
System does not need to vehicle and installs additional equipment, i.e., the system can be realized merely with existing equipment, reduce cost.
After control unit receives the brake signal of braking control system transmission in the system, the speed of vehicle at this time is recorded
As initial speed of braking v0, i.e. the system can obtain different initial speed of braking by controlling the sending time of brake signal
v0.Therefore the system can measure the braking ability under different initial velocity, be not limited solely to be tested under fixed initial velocity,
Increase the measurement range of vehicle braking performances.
And the system is according to initial speed of braking v0, velocity amplitude v, preset braking acceleration, time t1 and time t2 count
Calculation standard braking distance range and active braking distance s, by comparing active braking distance s whether in standard braking distance range
It is interior, to judge whether the braking ability of vehicle normal, therefore compared with prior art for the system have higher accuracy.
The system also shows active braking distance s simultaneously；And in the system, control unit to practical braking away from
Whether judged in the range of standard braking distance that after the completion of judgement, which also will determine that result is shown from s
Show, therefore the system can more intuitively show test result, and tester can be allowed to analyze test result.
Therefore system that reduces the cost of braking performance test, the range of measurement is increased, while improve test
Accuracy, and also be able to show test result.
It should be noted that in the present specification, relational terms such as first and second and the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Cover non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or set
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (8)
1. a kind of braking performance test method, applied to rail locomotive, which is characterized in that including：
Step s101：Test signal is sent to control unit；
Step s102：Described control unit receives the test signal；
Step s103：Described control unit judges whether to receive the brake signal of braking control system transmission, if so, into
Step s104；Otherwise, step s103 is repeated；
Step s104：Described control unit is using the velocity amplitude of the collected rail locomotive of velocity sensor at this time as braking
Initial velocity v0, and record time t1 at this time；
Step s105：Described control unit records the velocity amplitude v of the collected rail locomotive of the velocity sensor in real time,
After described control unit receives the zero-speed angle value that the velocity sensor is sent, time t2 at this time is recorded, and according to institute
State initial speed of braking v0, the velocity amplitude v, preset braking acceleration, the time t1 and the time t2 calculate standard system
Dynamic distance range and active braking distance s；
Step s106：Described control unit judges the active braking distance s whether in the range of the standard braking distance, such as
Fruit is that then braking ability is normal；Otherwise, then braking ability is abnormal；
The acquisition process of the standard braking distance range is：
According to the initial speed of braking v0, the preset braking acceleration and standard braking distance relational expression obtain standard system
Dynamic distance s1, wherein, the standard braking distance relational expression is：
The given threshold x on the basis of the standard braking distance s1, then s1-x~s1+x is the standard braking distance range；
The acquisition process of the active braking distance s is：
According to the velocity amplitude v, the time t1, the time t2 and active braking distance relational expression obtain practical braking away from
From s, wherein active braking distance relational expression is：
2. according to the method described in claim 1, it is characterized in that, the step s103 is specially：
Described control unit judges whether to receive the emergency brake signal that the braking control system is sent, if so, into
Step s104；Otherwise, it is determined whether the service braking signal that the braking control system is sent is received, if so, entering step
Otherwise rapid s104, repeats step s103.
3. according to the method described in claim 1, it is characterized in that, the step s105 is further included：
The active braking distance s is shown.
4. according to the method described in claim 1, it is characterized in that, the step s106 is further included：
When the active braking distance s is in the range of the standard braking distance, display braking ability is normal；When the reality
When braking distance s is not in the range of the standard braking distance, display braking ability is abnormal.
5. according to the method described in claim 4, it is characterized in that, the step s106 is further included：
When the active braking distance s is not in the range of the standard braking distance, alarm is sent out.
6. according to the method described in claim 1, it is characterized in that, the x is s1*15%.
7. a kind of braking performance test system, applied to rail locomotive, the braking performance test system is surveyed including braking ability
Try trigger device, which is characterized in that
The braking performance test trigger device is used to send test signal to control unit；
The braking performance test system further includes：
Described control unit, for after the test signal is received, judging whether to receive braking control system transmission
Brake signal, if so, described control unit using the velocity amplitude of the collected rail locomotive of velocity sensor at this time as
Initial speed of braking v0, and record time t1 at this time；Otherwise, described control unit continues to determine whether to receive the braking letter
Number；Described control unit records the velocity amplitude v of the collected rail locomotive of the velocity sensor in real time, when the control
After unit receives the zero-speed angle value that the velocity sensor is sent, time t2 at this time is recorded, and according to the initial speed at brake application
Spend v0, the velocity amplitude v, preset braking acceleration, the time t1 and the time t2 calculate standard braking distance range
With active braking distance s；Then whether described control unit judges the active braking distance s in the standard braking distance model
In enclosing, if it is, braking ability is normal, otherwise, braking ability is abnormal；
It for acquiring the velocity amplitude of the rail locomotive in real time, and is sent to the control by the velocity sensor in real time
Unit；
The acquisition process of the standard braking distance range is：
According to the initial speed of braking v0, the preset braking acceleration and standard braking distance relational expression obtain standard system
Dynamic distance s1, wherein, the standard braking distance relational expression is：
The given threshold x on the basis of the standard braking distance s1, then s1-x~s1+x is the standard braking distance range；
The acquisition process of the active braking distance s is：
According to the velocity amplitude v, the time t1, the time t2 and active braking distance relational expression obtain practical braking away from
From s, wherein active braking distance relational expression is：
8. system according to claim 7, which is characterized in that further include：
Display unit, for being shown to the active braking distance s, when the active braking distance s is in the standard system
When in dynamic distance range, show that braking ability is normal on the display unit；When the active braking distance s is not in the mark
When in the range of quasi- braking distance, braking ability exception is shown on the display unit.
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| CN107036822B (en) * | 2016-11-17 | 2019-12-03 | 安徽江淮汽车集团股份有限公司 | It is vented auxiliary braking performance test methods and test macro |
| CN108088687A (en) * | 2018-01-31 | 2018-05-29 | 北京汽车研究总院有限公司 | A kind of retardation test method, control device, retardation test system and automobile |
| CN110763485A (en) * | 2019-11-05 | 2020-02-07 | 中国汽车工程研究院股份有限公司 | Method and system for testing performance of automobile anti-heat fading braking system |
| CN110926830B (en) * | 2019-12-06 | 2024-07-23 | 上海蔚来汽车有限公司 | Method and device for testing automatic driving vehicle, controller and medium |
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