CN105946837A - Electronic hydraulic braking system with multiple working modes - Google Patents
Electronic hydraulic braking system with multiple working modes Download PDFInfo
- Publication number
- CN105946837A CN105946837A CN201610496764.3A CN201610496764A CN105946837A CN 105946837 A CN105946837 A CN 105946837A CN 201610496764 A CN201610496764 A CN 201610496764A CN 105946837 A CN105946837 A CN 105946837A
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- Prior art keywords
- solenoid valve
- control unit
- braking
- normally closed
- active
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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
- 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
- B60T13/74—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 electrical assistance or drive
- B60T13/745—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 electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
-
- 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
- B60T13/12—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 the fluid being liquid
- B60T13/14—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 the fluid being liquid using accumulators or reservoirs fed by pumps
- B60T13/141—Systems with distributor valve
-
- 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
Abstract
The invention belongs to the technical field of automobile braking systems and discloses an electronic hydraulic braking system with multiple working modes. The electronic hydraulic braking system mainly comprises a braking pedal, a braking pedal displacement sensor, an active control booster, 2/2 normally-closed solenoid valves, an active pedal sense simulator, a hydraulic control unit, an electronic control unit, a braking main cylinder and braking wheel cylinders. The electronic hydraulic braking system adopts a double-power source braking system form, so that the fault-tolerant capability of the system can be improved, the relatively steady pedal sense can be guaranteed during the switching of various braking conditions, and furthermore, the relatively high pressurizing response speed of the system can be guaranteed.
Description
Technical field
The invention belongs to brake system of car technical field, particularly to one, there is many Working moulds
The EHB of formula.
Background technology
Brake system of car is closely related with the safety of automobile, is constantly subjected to the extensive pass of people
Note.Current automobile has been not only traditional braking anti-lock to the functional requirement of brakes
(ABS), stability controls (ESP), in the face of new-energy automobile/intelligent automobile is to brakes
Functional requirement, each big components supplying business and research institution all propose corresponding system schema,
Decoupling mode according to manpower Yu brakes is broadly divided into full decoupled scheme and partly decoupled
Scheme, the most full decoupled scheme, also known as pure line control brake system, the most typically there is Toyota
EHB (EHB), Continental AG (Continental) that Prius is used use
MK C1 electro-hydraulic brake system, the integrated form control for brake that uses of Tian He company (TRW)
And mechanical type brake system electric (EMB) etc. (IBC)；Partly decoupled scheme is then with Bosch
(BOSCH) the intelligent brake booster iBooster used with can be used for energy-recuperation system
ESP-hev combination more typical case.
Brakes as ensureing the core component of vehicle safety, therefore in scheme Design and
During control algorithm design, need fault diagnosis and the fault-tolerant ability of abundant safeguards system.Electro-hydraulic
Brakes (EHB) high pressure accumulator is unique high voltage power source in system, once loses efficacy
System i.e. enters manpower backup loop, and during manpower backup, only two front-wheels can realize braking,
It is difficult to ensure that bigger braking deceleration；For iBooster Yu ESP-hev assembled scheme,
Though having two power sources (hydraulic pump in iBooster motor and ESP-hev), when
During iBooster motor failure, can provided high pressure by ESP-hev hydraulic pump, though can realize relatively
Big braking deceleration, but due to the constraint of hydraulic pump boosting capability, system is difficult to ensure that tightly
The needs under anxious damped condition, supercharging responded.
For pure line control brake system, pedal sense simulator is needed to carry arch brake feel, EHB
In system, pedal sense simulator uses the mode of simulation spring, on the one hand uses imitating shell
The mode of spring is difficult to ensure that traditional nonlinear brake pedal feel, on the other hand cannot realize stepping on
Plate feels adjustable, with the crowd of satisfied different driving habitses；And iBooster and ESP-hev
Assembled scheme, although it is adjustable that iBooster can realize a range of pedal sense, in system
When energy reclaims operating mode, then it is additionally required an active pedal sense simulator (Smart
Actuator), its structure is complex.
When system needs quickly to realize supercharging, iBooster Yu ESP-hev assembled scheme,
Can be worked together with hydraulic pump by iBooster motor, pressure response time can be shortened, but
Still based on iBooster motor, motor is required higher；And EHB system is by high-voltage energy-storage
Device provides high-voltage power supply, therefore system boost response is very fast, even if but it is in conventional brake work process
In (non-faulting pattern), it is still necessary to high pressure accumulator output high pressure, take turns electricity by constantly control is each
Magnet valve, it is achieved each pressure of wheel braking cylinder, it is desirable to high pressure accumulator has bigger liquid storage amount, when making continuously
Time dynamic, cause hydraulic pump frequent operation, on the other hand, due to pressure of wheel braking cylinder each in EHB system
, though having more advantage, there is braking fabrication error, control algolithm precision in Independent adjustable
In the case of affecting etc. each side factor, it is difficult to ensure each pressure-responsive and steady-state error thereof of taking turns
Concordance, as when left and right pressure of wheel braking cylinder is inconsistent, in the case of straight braking, easily occurred
The phenomenon of brake side-slipping.
Summary of the invention
For problems of the prior art, it is an object of the invention to be to provide one to have
The EHB of multi-operation mode, uses the brakes configuration of dual power source, energy
Enough improve Fault Tolerance, when various damped conditions switch, it is ensured that pedal more smoothly
Sensation, and ensure that system supercharging faster responds.
A kind of EHB with multi-operation mode, mainly include brake pedal,
Brake pedal displacement transducer, active control type booster, 2/2 normally closed solenoid valve, active
Pedal sense simulator, hydraulic control unit, electronic control unit, master cylinder, braked wheel
Cylinder, wherein:
Described master cylinder comprise first piston, push rod, sealing ring, first piston return spring,
Fluid reservoir, the second piston, the second piston return spring and cylinder body；
Described active pedal sense simulator comprises piston, return spring, sealing ring and simulation
Device cylinder body；
Described hydraulic control unit comprises high pressure accumulator, hydraulic pump, check valve, 2/2 normally opened
Electromagnetic valve, 2/2 normally closed solenoid valve, pressure transducer；
Described brake pedal is joined with described active control type booster input push rod by fulcrum post
Connect；
Described fluid reservoir connects with the inlet opening of described master cylinder, and by pipeline, through described
Check valve, 2/2 normally closed solenoid valve, hydraulic pump store with described wheel cylinder and described high pressure respectively
Can device connection；
The liquid outlet of described master cylinder through described 2/2 normally open solenoid valve respectively with described braked wheel
Cylinder connects, and described active pedal sense simulator is through described 2/2 normally closed solenoid valve and described system
Dynamic master cylinder liquid outlet connects, and through described 2/2 normally closed solenoid valve, 2/2 normally open solenoid valve respectively
It is connected with described high pressure accumulator, fluid reservoir；
Described high pressure accumulator connects with described wheel cylinder respectively through described 2/2 normally closed solenoid valve；
Described hydraulic control unit is connected with described wheel cylinder by brake piping；
Described 2/2 normally open solenoid valve, active control type booster and hydraulic control unit are all and institute
State electronic control unit to connect, and receive electronic control unit control signal, and described electronics control
Unit processed is connected also with described brake pedal displacement transducer, pressure transducer, wheel speed sensors
Receive the sensor of described brake pedal displacement transducer, pressure transducer, wheel speed sensors etc.
Signal, electronic control unit can accept the relevant information of other control subsystems of automobile simultaneously, with
Just realize the coordination between each control system to control.
The inventive method provides the benefit that:
The present invention, by using the brakes configuration of dual power source, has non-line control brake system concurrently
High reliability, the active braking function of line control brake system, assist rate be controlled and brake pedal
Feel the function such as controlled；Under conventional brake pattern, brake pedal force and active control type power-assisted
Device power output acts on master cylinder first piston jointly through actuating device, shortens initial brake
Pressure is set up the time and reduces the torque demand to the motor as braking power supply device, with
EHB compares, under this kind of mode of operation, it is not necessary to high pressure accumulator and corresponding pressure regulation electricity
Magnet valve works, it is ensured that (especially left and right pressure of wheel braking cylinder is consistent for the concordance of each pressure of wheel braking cylinder
Property), simultaneously, it is possible to decrease high pressure accumulator and the operating frequency of corresponding pressure regulating solenoid valve, fall
Low high pressure accumulator demand.
When brakes needs to be operated under brake-by-wire pattern, such as under regenerative braking operating mode,
Still the brake pedal feel required for can being obtained by active brake pedal simulator, when
System On-line Control dynamic model formula, can be by coordinating active control type power-assisted when conventional brake switches
The power output of device, hydraulic control unit and active brake pedal simulator, it is ensured that good
Pedal sense and the ride comfort of braking.
Under emergency brake modes, if on the one hand the response of used active control type booster is very fast,
When control unit is recognized accurately emergency work condition, brake pedal force and active control type booster
Power output acts on master cylinder first piston jointly through actuating device, it is achieved brake hard；Separately
On the one hand, high pressure accumulator and pressure regulating solenoid valve loop can be used, it is achieved system Quick-pressurizing needs
Ask, it is possible to decrease the response demand to active control type booster.
Use the brakes configuration of dual power source, improve Fault Tolerance, i.e. when single
During power source partial failure, another power source loop can be used to realize braking function, on the other hand,
Two power source loops are comparatively independent, when effectively reducing single power source partial failure pair
The impact in another power source loop.
Accompanying drawing explanation
Fig. 1 is a kind of EHB structure with multi-operation mode of the present invention
Schematic diagram；
Fig. 2 be the present invention brakes in active control type structure of actuator schematic diagram.
A, active control type booster；B, hydraulic control unit；C, electronic control unit；
1, brake pedal；2, PTS；3, fluid reservoir；4, master cylinder；5、
2/2 normally closed solenoid valve a；6, active pedal sense simulator；7, high pressure accumulator；8、
Check valve；9, hydraulic pump；10,2/2 normally closed solenoid valve b；11,2/2 normally open solenoid valve c；
12,2/2 normally open solenoid valve d；13,2/2 normally open solenoid valve e；14,2/2 normally open solenoid valve f；
15,2/2 normally open solenoid valve g；16,2/2 normally closed solenoid valve h；17,2/2 normally closed solenoid valve i；
18,2/2 normally closed solenoid valve j；19,2/2 normally closed solenoid valve k；20,2/2 normally closed solenoid valve l；
21,2/2 normally closed solenoid valve m；22,2/2 normally closed solenoid valve n；23,2/2 normally closed solenoid valve p；
24, pressure transducer a；25, pressure transducer b；26, pressure transducer c；27, pressure
Sensor d；28, pressure transducer e；29, pressure transducer f；30, pressure transducer g；
31, pressure transducer h；32, wheel cylinder a；33, wheel cylinder b；34, braked wheel
Cylinder c；35, wheel cylinder d.
Detailed description of the invention
A kind of electro-hydraulic with multi-operation mode to the present invention in conjunction with the accompanying drawings and embodiments
Brakes is described further.
A kind of EHB with multi-operation mode, mainly include brake pedal 1,
Brake pedal displacement transducer 2, active control type booster A, 2/2 normally closed solenoid valve 5, master
Ejector half pedal sense simulator 6, hydraulic control unit B, electronic control unit C, braking master
Cylinder 4, wheel cylinder 32,33,34,35, wherein: master cylinder 4 comprise first piston,
Push rod, sealing ring, first piston return spring, fluid reservoir the 3, second piston, the second piston
Return spring and cylinder body；Active pedal sense simulator 2 comprises piston, return spring, close
Seal and simulator cylinder body；Hydraulic control unit B comprise high pressure accumulator 7, hydraulic pump 9,
Check valve 8,2/2 normally open solenoid valve 11,12,13,14,15,2/2 normally closed solenoid valve 10,
16,17,18,19,20,21,22,23, pressure transducer 24,25,26,27,
28、29、30、31；
Brake pedal 1 is coupled with active control type booster A input push rod by fulcrum post；
Fluid reservoir 3 connects with the inlet opening of master cylinder 4, and by pipeline, through check valve 8,2/2
Normally closed solenoid valve 20,21,22,23, hydraulic pump 9 respectively with wheel cylinder 35,34,33,
32 and high pressure accumulator 7 connect；
The liquid outlet of master cylinder 4 through 2/2 normally open solenoid valve 12,13,14,15 respectively with
Wheel cylinder 35,34,32,33 connects, and active pedal sense simulator 6 is normal through 2/2
Close electromagnetic valve 5 to be connected with master cylinder 4 liquid outlet, and through 2/2 normally closed solenoid valve 10,2/2
Normally open solenoid valve 11 is connected with high pressure accumulator 7, fluid reservoir 3 respectively；
High pressure accumulator 7 through 2/2 normally closed solenoid valve 16,17,18,19 respectively with braked wheel
Cylinder 32,33,34,35 connects；
Hydraulic control unit B is connected with wheel cylinder 32,33,34,35 by brake piping
Connect；
2/2 normally open solenoid valve 5, active control type booster A and hydraulic control unit B all with
Electronic control unit C connects, and receives its control signal, and electronic control unit C and system
Dynamic pedal displacement sensor 2, wheel speed sensors, pressure transducer 25,26 are connected and receive
The signal of sensor acquisition.
Electronic control unit C is according to the signal received and uses control algolithm set in advance
First brakes mode of operation is determined, then to active control type booster A, 2/2 normally closed
Electromagnetic valve 5 and hydraulic control unit B send control command, or send to regeneration brake system
Brake request.In the case of brake pedal 1 is operated, can select electric boosted pattern,
The parallel schema that braking mode or frictional damping work with regenerative braking simultaneously；If braking is stepped on
Plate 1 is not operated, and then selects actively braking mode when brakes is proposed braking requirement.
With reference to Fig. 2, the active power assisting device in active control type booster A uses motor and phase
The actuating device answered, system under conventional assistant mode, driver's brake pedal 1, electricity
Sub-control unit C steps on 1 displacement in the braking receiving brake pedal displacement transducer C transmission
Related transducer information in signal and active control type booster A, as motor rotor position senses
Device A15, uses control algolithm set in advance subsequently and calculates electricity according to assist characteristic curve
Machine A15 target current, motor A15 output torque is also changed through drive mechanism A3 and motion
Mechanism A4 etc. apply power-assisted in master cylinder first piston.Drive at brake pedal force and motor
Brake pressure is set up in two high pressure chests of the lower master cylinder 4 of common effect of power, and through liquid
2/2 normally open solenoid valve 12,13,14,15 in voltage-controlled unit B processed exports respectively to braking
Wheel cylinder 35,34,32,33.
For the automobile equipped with regenerative braking device, brakes is operable with braking mode,
Driver's brake pedal 1, if automobile energy storage device (such as battery) allows energy storage (to electricity
I.e. charging for pond) and only rely on regenerative braking and i.e. be enough to produce and depend on brake pedal displacement
Desired braking deceleration, can use pure braking mode, and now 2/2 normally closed solenoid valve 5 leads to
Electricity is opened, and electronic control unit C is normal by controlling 2/2 normally closed solenoid valve 10 and 2/2 simultaneously
Open electromagnetic valve 11, simulates the pressure in chamber, to provide braking in regulation pedal sense simulator 6
Pedal sense, now frictional damping is not involved in work, and its whole brake force are by regenerative braking device
There is provided；If the energy storage device of energy source of car system does not allow energy storage, then can enter above-mentioned routine
Power brake pattern；If only relying on regenerative braking to be not enough to produce desired braking deceleration, can
Use the parallel schema that frictional damping and regenerative braking work simultaneously, for only single shaft (such as rear axle)
There is the automobile of regenerative braking device, without two wheel cylinder systems of regenerative braking device axletree (such as front axle)
Power can be promoted master cylinder 4 to realize by brake pedal force with active control type booster A jointly,
Keep the open mode of corresponding 2/2 normally open solenoid valve simultaneously, and there is the car of regenerative braking device
Axle (such as rear axle), the brake pressure of its two wheel cylinder can by regulation hydraulic control unit B in
2/2 corresponding normally closed solenoid valve realizes.
It is not operated but electronic control unit C judges need to implement actively to brake at brake pedal 1
Or when other control device sends active brake request, brakes works in actively brakes mould
Formula.Under this pattern, electronic control unit C sends control signal to motor A2, and motor A2 is defeated
Go out in torque makes two high pressure chests of master cylinder and set up pressure, and hydraulic control unit B can be passed through
Whole wheel or piece wheel is selected to implement braking and when necessary by hydraulic control unit B
High pressure accumulator 7 and relevant pressure regulating solenoid valve 16,17,18,19,20,21,22,
23 loop each wheel cylinder brake pressures；If system needs urgent actively braking (such as automatic emergency
Damped condition, AEB), if only active control type booster A work is difficult to meet system boost
Demand, can use hydraulic control unit B high pressure accumulator 7 and relevant pressure regulating solenoid valve 16,
17,18,19,20,21,22,23 loop, it might even be possible to by active control type is helped
Power device A boost-up circuit and high pressure accumulator 7 and relevant pressure regulating solenoid valve 16,17,18,19,
20, the Collaborative Control in 21,22,23 loops, to realize the Quick-pressurizing response of system.
When system single power source partial failure, such as high pressure accumulator 7 and corresponding pressure regulating solenoid valve
During partial failure, system still can pass through active control type booster A corresponding circuit, it is achieved is
System conventional brake, such as brake boost function, brake hard, actively braking function etc., if electronics
Control unit monitors wheel when having locking trend, can be by regulation active control type booster A
The output moment of torsion of middle motor A2, it is achieved single channel ABS function；Otherwise, if actively controlling
When formula booster A corresponding circuit lost efficacy, can be by high pressure accumulator 7 and corresponding pressure regulation electromagnetism
Valve loop realizes conventional brake, brake hard, actively braking, regenerative braking and other tradition system
Dynamic systemic-function；Even if in extreme circumstances (such as powering-off state), system still can yet be regarded as one
Individual double loop muscular energy braking sytem, driver can push directly on master cylinder by brake pedal 1
4, brake fluid through 2/2 normally open solenoid valve 12,13,14,15 separately flow into each wheel cylinder 35,34,
32,33, produce certain braking action.
The above, be only the preferable case of the present invention, and the present invention does not make any restriction,
Every above case study on implementation is done for the technology of the present invention content any simple modification, change,
Imitate the protection domain belonging to technical solution of the present invention.
Claims (1)
1. there is an EHB for multi-operation mode, mainly include that braking is stepped on
Plate, brake pedal displacement transducer, active control type booster, 2/2 normally closed solenoid valve, master
Ejector half pedal sense simulator, hydraulic control unit, electronic control unit, master cylinder, system
Driving wheel cylinder, it is characterised in that:
Described master cylinder comprise first piston, push rod, sealing ring, first piston return spring,
Fluid reservoir, the second piston, the second piston return spring and cylinder body；
Described active pedal sense simulator comprises piston, return spring, sealing ring and simulation
Device cylinder body；
Described hydraulic control unit comprises high pressure accumulator, hydraulic pump, check valve, 2/2 normally opened
Electromagnetic valve, 2/2 normally closed solenoid valve, pressure transducer；
Described brake pedal is joined with described active control type booster input push rod by fulcrum post
Connect；
Described fluid reservoir connects with the inlet opening of described master cylinder, and by pipeline, through described
Check valve, 2/2 normally closed solenoid valve, hydraulic pump store with described wheel cylinder and described high pressure respectively
Can device connection；
The liquid outlet of described master cylinder through described 2/2 normally open solenoid valve respectively with described braked wheel
Cylinder connects, and described active pedal sense simulator is through described 2/2 normally closed solenoid valve and described system
Dynamic master cylinder liquid outlet connects, and through described 2/2 normally closed solenoid valve, 2/2 normally open solenoid valve respectively
It is connected with described high pressure accumulator, fluid reservoir；
Described high pressure accumulator connects with described wheel cylinder respectively through described 2/2 normally closed solenoid valve；
Described hydraulic control unit is connected with described wheel cylinder by brake piping；
Described 2/2 normally open solenoid valve, active control type booster, hydraulic control unit are all and institute
State electronic control unit and connect and receive electronic control unit control signal, and described Electronic Control
Unit is connected with described brake pedal displacement transducer, pressure transducer, wheel speed sensors and connects
Receive the sensor letter of described brake pedal displacement transducer, pressure transducer, wheel speed sensors etc.
Number.
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| CN201610496764.3A CN105946837A (en) | 2016-06-29 | 2016-06-29 | Electronic hydraulic braking system with multiple working modes |
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| CN201610496764.3A CN105946837A (en) | 2016-06-29 | 2016-06-29 | Electronic hydraulic braking system with multiple working modes |
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Cited By (13)
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| CN106965789A (en) * | 2017-04-12 | 2017-07-21 | 潘泓冰 | Double cylinder brake master cylinder system with pedal sense simulator |
| CN108275140A (en) * | 2018-02-08 | 2018-07-13 | 天津英创汇智汽车技术有限公司 | Braking performance test system and braking system |
| CN109532802A (en) * | 2018-11-21 | 2019-03-29 | 吉林大学 | A kind of intelligent network connection automobile brake-by-wire device |
| CN109941250A (en) * | 2017-12-20 | 2019-06-28 | 任立鹏 | A kind of electrodynamic braking power-assisted coupling device |
| CN110182187A (en) * | 2019-05-21 | 2019-08-30 | 清华大学 | Energy feedback type active brake system and control method with fail safe ability |
| WO2020233493A1 (en) * | 2019-05-23 | 2020-11-26 | 南京航空航天大学 | Electro-hydraulic brake-by-wire system based on compensation by energy accumulator, and control method |
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| CN112677950A (en) * | 2021-01-12 | 2021-04-20 | 精诚工科汽车系统有限公司 | Brake control method, device and system |
| CN112706737A (en) * | 2021-01-12 | 2021-04-27 | 精诚工科汽车系统有限公司 | Brake control method and device and vehicle |
| CN113264027A (en) * | 2021-07-02 | 2021-08-17 | 清华大学 | Dual-redundancy type linear control hydraulic braking system and control method thereof |
| CN115009242A (en) * | 2022-06-29 | 2022-09-06 | 湖南行必达网联科技有限公司 | Brake system, vehicle, and control method for brake system |
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