CN106004836A - Anti-lock method and device of automobile - Google Patents
Anti-lock method and device of automobile Download PDFInfo
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- CN106004836A CN106004836A CN201610371694.9A CN201610371694A CN106004836A CN 106004836 A CN106004836 A CN 106004836A CN 201610371694 A CN201610371694 A CN 201610371694A CN 106004836 A CN106004836 A CN 106004836A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/28—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels responsive to deceleration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to an anti-lock method and device of an automobile. The method includes the steps that the running speed of the automobile is obtained; and according to the running speed, the braking efficiency value of a front wheel of the automobile is adjusted so that the front wheel can be prevented from being locked in case of braking. The effect that even though the automobile is suddenly braked when running very fast, the front wheel of the automobile can be effectively prevented from being locked is achieved, the automobile is prevented from turning over under the action of inertia, the safety of the automobile is improved, and a driver is also protected.
Description
Technical field
It relates to electronic technology field, particularly relate to the method and device of a kind of anti-lock vehicle.
Background technology
Along with the development of science and technology, the life of people is more and more convenient, and traffic is more and more convenient,
Various vehicles become people and go on a journey the requisite vehicles, such as, electromobile, bicycle,
Etc., the life of people has be unable to do without these vehicles.
At present, people are driving vehicle when, in the case of the speed travelled, if suddenly
Braking, brake the front-wheel of vehicle especially suddenly, vehicle likely can be because of the work of inertia
With and cause overturning, and then damage to the personnel near human pilot even overturn accident.
Summary of the invention
For overcoming problem present in correlation technique, the disclosure provides a kind of method of anti-lock vehicle, uses
To promote the safety of vehicle.
First aspect according to disclosure embodiment, it is provided that a kind of method of anti-lock vehicle, including:
Obtain the travel speed of vehicle；
According to described travel speed, adjust the value of the retardation efficiency of the front-wheel of described vehicle, described to prevent
Front-wheel is locking because of braking.
Optionally, described adjust the value of the retardation efficiency of the front-wheel of described vehicle according to described travel speed,
Including:
Judge that whether described travel speed is more than predetermined threshold value；
If described travel speed is more than described predetermined threshold value, then adjust the value of the retardation efficiency of described front-wheel.
Optionally, the value of the retardation efficiency of the described front-wheel of described adjustment, including:
The value of the retardation efficiency adjusting described front-wheel is the first value, and adjusts the braking of the trailing wheel of described vehicle
The value of efficiency is the second value；Wherein, described first value is less than described second value.
Optionally, the value of the retardation efficiency of the front-wheel of the described vehicle of described adjustment, including:
By adjusting the brake force of the brake output of described vehicle, and then adjust the braking effect of described front-wheel
The value of rate；Described brake is used for controlling described vehicle deceleration, stopping or keeping halted state.
Optionally, during described vehicle includes bicycle, fuel bicycle and Moped Scooter at least
A kind of.
Second aspect according to disclosure embodiment, it is provided that the device of a kind of anti-lock vehicle, including:
Acquisition module, is configured to obtain the travel speed of vehicle；
Adjusting module, is configured to, according to described travel speed, adjust the braking effect of the front-wheel of described vehicle
The value of rate, to prevent the locking because of braking of described front-wheel.
Alternatively, described adjusting module includes:
Judge submodule, be configured to judge that whether described travel speed is more than predetermined threshold value；
Adjust submodule, be configured to, when described travel speed is more than described predetermined threshold value, adjust described
The value of the retardation efficiency of front-wheel.
Alternatively, described adjustment submodule is used for:
The value of the retardation efficiency adjusting described front-wheel is the first value, and adjusts the braking of the trailing wheel of described vehicle
The value of efficiency is the second value；Wherein, described first value is less than described second value.
Alternatively, described adjusting module is used for:
By adjusting the brake force of the brake output of described vehicle, and then adjust the braking effect of described front-wheel
The value of rate；Described brake is used for controlling described vehicle deceleration, stopping or keeping halted state.
Alternatively, during described vehicle includes bicycle, fuel bicycle and Moped Scooter at least
A kind of.
The third aspect according to disclosure embodiment, it is provided that a kind of non-transitory computer-readable storage medium
Matter, when the instruction in described storage medium is performed by the processor of vehicle so that vehicle is able to carry out one
The method planting anti-lock vehicle, described method includes:
Obtain the travel speed of vehicle；
According to described travel speed, adjust the value of the retardation efficiency of the front-wheel of described vehicle, described to prevent
Front-wheel is locking because of braking.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
First the disclosure can obtain the travel speed of vehicle, carrys out the front-wheel to vehicle further according to travel speed
The value of retardation efficiency be adjusted, such that make vehicle travel faster in the case of brake suddenly,
It also is able to be effectively prevented the front-wheel locking of vehicle, and then prevents vehicle from overturning under the effect of inertia, carry
Rise the safety of vehicle, also protect the safety of human pilot.
It should be appreciated that it is only exemplary and explanatory that above general description and details hereinafter describe
, the disclosure can not be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet these public affairs
The embodiment opened, and for explaining the principle of the disclosure together with description.
Fig. 1 is the flow chart according to a kind of anti-lock vehicle method shown in an exemplary embodiment.
Fig. 2 is according to step S102 in a kind of anti-lock vehicle method shown in an exemplary embodiment
Flow chart.
Fig. 3 is the block diagram according to a kind of Anti-blocked system for vehicles shown in an exemplary embodiment.
Fig. 4 is according to the frame of adjusting module in a kind of Anti-blocked system for vehicles shown in an exemplary embodiment
Figure.
Fig. 5 is the block diagram according to a kind of Anti-blocked system for vehicles shown in an exemplary embodiment.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Following
When description relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous
Key element.Embodiment described in following exemplary embodiment does not represent the institute consistent with the disclosure
There is embodiment.On the contrary, they only with as appended claims describes in detail, the one of the disclosure
The example of the apparatus and method that a little aspects are consistent.
Fig. 1 is the flow chart of the method according to a kind of anti-lock vehicle shown in an exemplary embodiment, as
Shown in Fig. 1, the method for anti-lock vehicle, in vehicle, comprises the following steps.
In step S101, obtain the travel speed of vehicle；
In step s 102, according to travel speed, adjust the value of the retardation efficiency of the front-wheel of vehicle, with
Prevent front-wheel locking because of braking.
Alternatively, being which kind of vehicle for vehicle, disclosure embodiment is not construed as limiting actually, such as, and car
Can include at least one in bicycle, fuel bicycle and Moped Scooter.
Obtain the travel speed of vehicle, can be real-time acquisition, or can also be according to time certain
Between be spaced and obtain, such as, obtained the travel speed of a vehicle every 5 seconds, etc..
Retardation efficiency can be used to react the braking effect of vehicle, it is generally the case that retardation efficiency is the highest,
The power being used for stoping tyre rotation is the biggest, such as, when retardation efficiency is 100%, is applied to tire
Upper being used for stops the power of tyre rotation to be 100N to the maximum；When retardation efficiency is 80%, it is applied on tire
It is used for stoping the power of tyre rotation to be 80N to the maximum, etc..Retardation efficiency is the lowest, and tire is less susceptible to embrace
Extremely, but braking distance can be relatively long.
After the travel speed obtaining vehicle, can be according to the travel speed obtained, before vehicle
The value of the retardation efficiency of wheel is adjusted.
Alternatively, as in figure 2 it is shown, step S102 includes:
Step S1021: judge that whether described travel speed is more than predetermined threshold value；
Step S1022: when described travel speed is more than described predetermined threshold value, adjust the system of described front-wheel
The value of efficiency of movement.
Being how many for predetermined threshold value, disclosure embodiment is not construed as limiting actually, can be at vehicle release
Time set, it is also possible to can also modify as required by user's sets itself and after setting
Value, such as, can set predetermined threshold value as 30km/h, etc..Such as, predetermined threshold value can be 30km/h,
The travel speed obtaining vehicle current is such as 40km/h, then travel speed is more than predetermined threshold value, because of
The value of the retardation efficiency of front-wheel can be adjusted by this.
For adjusting the mode of value of retardation efficiency, disclosure embodiment is not construed as limiting, as long as can be
Adjust retardation efficiency value after enable to vehicle front-wheel will not the locking because of braking, namely before
Wheel will not stop operating completely because of braking.For example, it is possible to directly reduce the value of retardation efficiency,
Such as, retardation efficiency originally is 90%, retardation efficiency can be reduced to 80%.Or such as, also
Can every time tire will locking when reduce retardation efficiency value so that tire be maintained at be on the verge of embrace
Dead state, etc..
Owing in actual applications, the travel speed of vehicle is the fastest, just it is less susceptible to stop, if
Travel speed faster in the case of, front-wheel is locking because of braking, then likely result in overturn accident, because of
This, the disclosure can be before the travel speed of the vehicle of judgement acquisition be when more than predetermined threshold value to vehicle
The value of retardation efficiency of wheel is adjusted, such that make speed faster in the case of, it is also possible to more
Prevent front-wheel locking because of braking in time, and then prevent the generation of overturn accident, ensure human pilot
Personal safety.
Alternatively, adjust the value of the retardation efficiency of front-wheel, can be that the value of the retardation efficiency adjusting front-wheel is
First is worth, and the value adjusting the retardation efficiency of the trailing wheel of vehicle is the second value；Wherein, the first value is less than the
Two-value.
It is to say, when adjusting retardation efficiency, be possible not only to adjust the retardation efficiency of front-wheel, it is also possible to
Adjust the retardation efficiency of trailing wheel simultaneously.Owing in actual applications, the retardation efficiency at trailing wheel is higher than front-wheel
Retardation efficiency time, it is also possible to prevent vehicle from overturning under the effect of inertia, therefore, it can front-wheel
The value of retardation efficiency is adjusted so as to update than the value of the retardation efficiency of trailing wheel.Such as, by the retardation efficiency of front-wheel
Value be adjusted to 70% (namely the first value), the value of the retardation efficiency of trailing wheel is adjusted to 90% (also
It is exactly the second value), etc..By such mode, when vehicle is braked, it is possible to effectively prevent
Only vehicle overturns forward, improves the safety of vehicle, also protects the personal safety of human pilot.
Alternatively, adjust the value of the retardation efficiency of the front-wheel of vehicle, can be by adjusting the brake of vehicle
The brake force of output, and then the value of the retardation efficiency of front-wheel can be adjusted.
Brake can be provided on vehicle for controlling vehicle deceleration, stopping or keeping halted state
Parts, such as, vehicle can be bicycle, then brake can be provided on bicycle tyre
Brake block, clamp tire by brake block, and then the purpose of braking can be reached.
Human pilot, when driving vehicle, can carry out brake operation, and what brake operation controlled is vehicle
Brake, for the mode of control brake, disclosure embodiment is not construed as limiting, such as, can be electronics
Mode control brake, then may also control device on vehicle, control device and receiving driving
Control signal, and then control brake action is sent after the brake instruction of personnel；Or for example, it is also possible to
Being mechanically control brake, such as, the brake operation of human pilot drives and is connected with brake
Brake cable, and then control brake action, etc..
The brake force of the brake output adjusting vehicle is applied to tire when namely adjusting brake action
Upper being used for controls the power that tire stops operating.Such as, vehicle can be bicycle, then brake is the most just
It is the brake block on bicycle tyre, clamps the power of tire by reducing brake block and then it also reduce system
The value of efficiency of movement, etc..By such mode, adjustment front-wheel can be got to the most directly, easily
The purpose of value of retardation efficiency, and then prevent front-wheel locking because of unexpected braking, prevent overturn accident
Generation, ensure human pilot safety.
Fig. 3 is according to a kind of Anti-blocked system for vehicles block diagram shown in an exemplary embodiment.With reference to Fig. 3,
This device 100 includes acquisition module 121 and adjusting module 122.
This acquisition module 121 is configured to obtain the travel speed of vehicle.
This determines that module 122 is configured to, according to described travel speed, adjust the system of the front-wheel of described vehicle
The value of efficiency of movement, to prevent the locking because of braking of described front-wheel.
Alternatively, as shown in Figure 4, described adjusting module 122 includes:
Judge submodule 1221, be configured to judge that whether described travel speed is more than predetermined threshold value；
Adjust submodule 1222, be configured to, when described travel speed is more than described predetermined threshold value, adjust
The value of the retardation efficiency of described front-wheel.
Alternatively, described adjustment submodule 1222 is used for:
The value of the retardation efficiency adjusting described front-wheel is the first value, and adjusts the braking of the trailing wheel of described vehicle
The value of efficiency is the second value；Wherein, described first value is less than described second value.
Alternatively, described adjusting module 122 is used for:
By adjusting the brake force of the brake output of described vehicle, and then adjust the braking effect of described front-wheel
The value of rate；Described brake is used for controlling described vehicle deceleration, stopping or keeping halted state.
Alternatively, during described vehicle includes bicycle, fuel bicycle and Moped Scooter at least
A kind of.
About the device in above-described embodiment, the concrete mode that wherein modules performs to operate is having
Close in the embodiment of the method and be described in detail, explanation will be not set forth in detail herein.
Fig. 5 is the frame according to a kind of device 500 for anti-lock vehicle shown in an exemplary embodiment
Figure.Such as, device 500 can be vehicle, including bicycle, fuel bicycle and electric boosted
At least one in car.
With reference to Fig. 5, device 500 can include following one or more assembly: processes assembly 502, deposits
Reservoir 504, electric power assembly 506, multimedia groupware 508, audio-frequency assembly 510, input/output (I/O)
Interface 512, sensor cluster 514, and communications component 516.
Process assembly 502 and generally control the integrated operation of device 500, such as with display, call,
The operation that data communication, camera operation and record operation are associated.Process assembly 502 and can include one
Or multiple processor 520 performs instruction, to complete all or part of of the method for above-mentioned anti-lock vehicle
Step.Additionally, process assembly 502 can include one or more module, it is simple to process assembly 502 He
Mutual between other assemblies.Such as, process assembly 502 and can include multi-media module, many to facilitate
Media component 508 and process between assembly 502 mutual.
Memorizer 504 is configured to store various types of data to support the operation at device 500.This
The example of a little data includes any application program for operating on device 500 or the instruction of method, connection
It is personal data, telephone book data, message, picture, video etc..Memorizer 504 can be by any type
Volatibility or non-volatile memory device or combinations thereof realize, such as static RAM
(SRAM), Electrically Erasable Read Only Memory (EEPROM), erasable programmable is read-only to be deposited
Reservoir (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic is deposited
Reservoir, flash memory, disk or CD.
The various assemblies that electric power assembly 506 is device 500 provide electric power.Electric power assembly 506 can include
Power-supply management system, one or more power supplys, and other with generate for device 500, manage and distribute electricity
The assembly that power is associated.
One output interface of offer that multimedia groupware 508 is included between described device 500 and user
Screen.In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).
If screen includes that touch panel, screen may be implemented as touch screen, to receive the input from user
Signal.Touch panel includes that one or more touch sensor touches with sensing, slides and on touch panel
Gesture.Described touch sensor can not only sense touch or the border of sliding action, but also detects
The persistent period relevant to described touch or slide and pressure.In certain embodiments, multimedia group
Part 508 includes a front-facing camera and/or post-positioned pick-up head.When device 500 is in operator scheme, as
When screening-mode or video mode, front-facing camera and/or post-positioned pick-up head can receive the multimedia of outside
Data.Each front-facing camera and post-positioned pick-up head can be a fixing optical lens system or have
Focal length and optical zoom ability.
Audio-frequency assembly 510 is configured to output and/or input audio signal.Such as, audio-frequency assembly 510
Including a mike (MIC), when device 500 is in operator scheme, such as call model, record mould
When formula and speech recognition mode, mike is configured to receive external audio signal.The audio frequency letter received
Number can be further stored at memorizer 504 or send via communications component 516.In some embodiments
In, audio-frequency assembly 510 also includes a speaker, is used for exporting audio signal.
I/O interface 512 provides interface, above-mentioned periphery for processing between assembly 502 and peripheral interface module
Interface module can be keyboard, puts striking wheel, button etc..These buttons may include but be not limited to: homepage is pressed
Button, volume button, start button and locking press button.
Sensor cluster 514 includes one or more sensor, for providing various aspects for device 500
State estimation.Such as, what sensor cluster 514 can detect device 500 opens/closed mode,
The relative localization of assembly, the most described assembly is display and the keypad of device 500, sensor cluster
514 position changes that can also detect device 500 or 500 1 assemblies of device, user and device 500
The presence or absence of contact, device 500 orientation or acceleration/deceleration and the variations in temperature of device 500.Pass
Sensor assembly 514 can include proximity transducer, is configured to when not having any physical contact examine
The existence of object near surveying.Sensor cluster 514 can also include optical sensor, such as CMOS or CCD
Imageing sensor, for using in imaging applications.In certain embodiments, this sensor cluster 514
Can also include that acceleration transducer, gyro sensor, Magnetic Sensor, pressure transducer or temperature pass
Sensor.
Communications component 516 is configured to facilitate wired or wireless mode between device 500 and other equipment
Communication.Device 500 can access wireless network based on communication standard, such as WiFi, 2G or 3G, or
Combinations thereof.In one exemplary embodiment, communications component 516 via broadcast channel receive from
The broadcast singal of external broadcasting management system or broadcast related information.In one exemplary embodiment, institute
State communications component 516 and also include near-field communication (NFC) module, to promote junction service.Such as, exist
NFC module can be based on RF identification (RFID) technology, Infrared Data Association (IrDA) technology, super
Broadband (UWB) technology, bluetooth (BT) technology and other technologies realize.
In the exemplary embodiment, device 500 can be by one or more application specific integrated circuits
(ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), able to programme patrol
Collect device (PLD), field programmable gate array (FPGA), controller, microcontroller, micro-process
Device or other electronic components realize, for the method performing above-mentioned anti-lock vehicle.
In the exemplary embodiment, a kind of non-transitory computer-readable storage including instruction is additionally provided
Medium, such as, include the memorizer 504 of instruction, and above-mentioned instruction can be held by the processor 520 of device 500
Row is with the method completing above-mentioned anti-lock vehicle.Such as, described non-transitory computer-readable recording medium
Can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and light data
Storage device etc..
Those skilled in the art, after considering description and putting into practice the disclosure, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, this
A little modification, purposes or adaptations are followed the general principle of the disclosure and include that the disclosure is not disclosed
Common knowledge in the art or conventional techniques means.Description and embodiments is considered only as example
Property, the true scope of the disclosure and spirit are pointed out by claim below.
It should be appreciated that the disclosure be not limited to described above and illustrated in the accompanying drawings accurately
Structure, and various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only by institute
Attached claim limits.
Claims (11)
1. the method for an anti-lock vehicle, it is characterised in that including:
Obtain the travel speed of vehicle；
According to described travel speed, adjust the value of the retardation efficiency of the front-wheel of described vehicle, described to prevent
Front-wheel is locking because of braking.
Method the most according to claim 1, it is characterised in that described according to described travel speed,
Adjust the value of the retardation efficiency of the front-wheel of described vehicle, including:
Judge that whether described travel speed is more than predetermined threshold value；
When described travel speed is more than described predetermined threshold value, adjust the value of the retardation efficiency of described front-wheel.
Method the most according to claim 2, it is characterised in that the braking of the described front-wheel of described adjustment
The value of efficiency, including:
The value of the retardation efficiency adjusting described front-wheel is the first value, and adjusts the braking of the trailing wheel of described vehicle
The value of efficiency is the second value；Wherein, described first value is less than described second value.
Method the most according to claim 1, it is characterised in that the front-wheel of the described vehicle of described adjustment
The value of retardation efficiency, including:
By adjusting the brake force of the brake output of described vehicle, and then adjust the braking effect of described front-wheel
The value of rate；Described brake is used for controlling described vehicle deceleration, stopping or keeping halted state.
5. according to the arbitrary described method of claim 1-4, it is characterised in that described vehicle includes non-machine
At least one in motor-car, fuel bicycle and Moped Scooter.
6. the device of an anti-lock vehicle, it is characterised in that including:
Acquisition module, is configured to obtain the travel speed of vehicle；
Adjusting module, is configured to, according to described travel speed, adjust the braking effect of the front-wheel of described vehicle
The value of rate, to prevent the locking because of braking of described front-wheel.
Device the most according to claim 6, it is characterised in that described adjusting module includes:
Judge submodule, be configured to judge that whether described travel speed is more than predetermined threshold value；
Adjust submodule, be configured to, when described travel speed is more than described predetermined threshold value, adjust described
The value of the retardation efficiency of front-wheel.
Device the most according to claim 7, it is characterised in that described adjustment submodule is used for:
The value of the retardation efficiency adjusting described front-wheel is the first value, and adjusts the braking of the trailing wheel of described vehicle
The value of efficiency is the second value；Wherein, described first value is less than described second value.
Device the most according to claim 6, it is characterised in that described adjusting module is used for:
By adjusting the brake force of the brake output of described vehicle, and then adjust the braking effect of described front-wheel
The value of rate；Described brake is used for controlling described vehicle deceleration, stopping or keeping halted state.
10. according to the arbitrary described device of claim 6-9, it is characterised in that described vehicle includes non-
At least one in motor vehicles, fuel bicycle and Moped Scooter.
The device of 11. 1 kinds of anti-lock vehicles, it is characterised in that including:
Processor；
For storing the memorizer of processor executable；
Wherein, described processor is configured to:
Obtain the travel speed of vehicle；
According to described travel speed, adjust the value of the retardation efficiency of the front-wheel of described vehicle, described to prevent
Front-wheel is locking because of braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610371694.9A CN106004836A (en) | 2016-05-30 | 2016-05-30 | Anti-lock method and device of automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610371694.9A CN106004836A (en) | 2016-05-30 | 2016-05-30 | Anti-lock method and device of automobile |
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| CN106004836A true CN106004836A (en) | 2016-10-12 |
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| CN201610371694.9A Pending CN106004836A (en) | 2016-05-30 | 2016-05-30 | Anti-lock method and device of automobile |
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| CN115416630A (en) * | 2022-04-06 | 2022-12-02 | 王志鹏 | Electronic anti-lock brake control system |
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Application publication date: 20161012 |