CN106184172A - A kind of electric controlled brake system of autonomous driving vehicle - Google Patents
A kind of electric controlled brake system of autonomous driving vehicle Download PDFInfo
- Publication number
- CN106184172A CN106184172A CN201610643451.6A CN201610643451A CN106184172A CN 106184172 A CN106184172 A CN 106184172A CN 201610643451 A CN201610643451 A CN 201610643451A CN 106184172 A CN106184172 A CN 106184172A
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- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000000034 method Methods 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 4
- 239000012530 fluid Substances 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
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- 230000006837 decompression Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 230000001737 promoting effect Effects 0.000 description 2
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- 208000027418 Wounds and injury Diseases 0.000 description 1
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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
- B60T13/10—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
- B60T13/58—Combined or convertible systems
- B60T13/581—Combined or convertible systems both hydraulic and pneumatic
-
- 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 provides the electric controlled brake system of a kind of autonomous driving vehicle, wherein brake pedal is connected with vacuum booster, and vacuum booster is connected with main braking cylinder, and main braking cylinder and the first check valve are connected, and the first check valve is connected with four-wheel braking pipeline/wheel cylinder；Pressure transducer is connected with controller with detection signal, and pressure transducer is connected with main braking cylinder simultaneously；Controller is connected with step-by-step linear electric motor, and step-by-step linear electric motor is connected with auxiliary checking cylinder, and auxiliary checking cylinder and the second check valve are connected, and the second check valve is connected with four-wheel braking pipeline/wheel cylinder.This invention ensures that vehicle is in the process of moving, auxiliary braking system is in the monitoring state, all the time traffic situation in the current state of primary brake system, car speed, road ahead is monitored, when needing to carry out brake hard due to road conditions sudden change or other accident, by actively monitoring and actively get involved, preventing driving accident, support vehicles run safety.
Description
Technical field
The present invention relates to automatic Pilot technical field, the electric controlled brake system of a kind of autonomous driving vehicle.
Background technology
At present, major part vehicle accident is all owing to the factor of driver causes.For the automobile of high-speed mobile, different
Driver for the cognition of environment, it is judged that, decision-making and control ability the most different, often due to the traffic that error in judgement causes
Accident or the loss of great personal injury vehicle, in today that electronic technology is more and more flourishing, the intellectuality of automobile is to solve to drive
One only way of member's vulnerability.By a large amount of sensing technologies, the introducing of the technology that communicates, controls, perception ambient condition, driving
Member's state and vehicle oneself state, and control vehicle traveling by automatic technology, provide support for driver or take automatically
Control, complete fixed traveling task, simultaneously liberation driver's hand or the part operation ability of foot, ensured the peace of driving
Entirely, it is achieved people, car, being uniformly coordinated of road.
Summary of the invention
For solving above-mentioned technical problem, the invention provides the electric controlled brake system of a kind of autonomous driving vehicle, it includes
Brake pedal, vacuum booster, main braking cylinder, the first check valve, pressure transducer, detection signal element, controller, stepping are straight
Line motor, auxiliary checking cylinder, the second check valve, four-wheel braking pipeline/wheel cylinder；
Described brake pedal is connected with vacuum booster, and vacuum booster is connected with main braking cylinder, main braking cylinder and first
Check valve is connected, and the first check valve is connected with four-wheel braking pipeline/wheel cylinder；Pressure transducer, detection signal element respectively with
Controller is connected, and pressure transducer is connected with main braking cylinder simultaneously；Controller is connected with step-by-step linear electric motor, step-by-step linear electric motor
Being connected with auxiliary checking cylinder, auxiliary checking cylinder and the second check valve are connected, and the second check valve is connected with four-wheel braking pipeline/wheel cylinder.
It is preferred that the first described check valve connects between main braking cylinder and four-wheel braking pipeline/wheel cylinder, work as main brake
During cylinder working, the pressure produced in main braking cylinder makes the first check valve connect, and provides braking pressure to four-wheel braking pipeline/wheel cylinder
Power；When the second check valve is connected, when the first check valve bears the buffer brake from the second check valve, the first check valve is automatic
Close.
It is preferred that the second described check valve is connected between auxiliary checking cylinder and four-wheel braking pipeline/wheel cylinder, when auxiliary braking
During cylinder working, the pressure produced in auxiliary checking cylinder makes the second check valve connect, and provides braking pressure to four-wheel braking pipeline/wheel cylinder
Power；When the first check valve is connected, when the second check valve bears the buffer brake from the first check valve, the second check valve is automatic
Close.
It is preferred that described pressure transducer is connected between main braking cylinder and controller, when main braking cylinder works, main
The pressure produced in checking cylinder is sent to controller by pressure transducer；When auxiliary checking cylinder works, four-wheel braking pipeline/point
Producing high pressure on pump, the first closed check valve, the low-pressure of main braking cylinder sends controller to by pressure transducer.
It is preferred that described step-by-step linear electric motor is operated under the driving of controller, when braking, stepping straight-line electric
Machine high speed operation, promotes the piston-advance in auxiliary checking cylinder, produces pressure in auxiliary checking cylinder；When end of braking, stepping electricity
Machine, under the driving of controller, pulls the piston in auxiliary checking cylinder to return to original position.
It is preferred that the brake force under manual drive pattern, when brake pedal, after being amplified by vacuum booster
Produce pressure in promoting the piston movement in main braking cylinder, master cylinder, by the first check valve, pressure is sent to four-wheel system
Dynamic pipeline/wheel cylinder, is braked four-wheel, and now the second check valve is automatically switched off；The pressure produced in main braking cylinder is by pressure
Force transducer is sent in controller, and automatic Pilot person's system is in off position.
It is preferred that under automatic driving mode, controller receives detection signal that detector unit passes over and transports
Calculate, when needs perform braking, controller output control signal, drive step-by-step linear electric motor work, step-by-step linear electric motor promotes
Auxiliary checking cylinder inner carrier moves, and produces pressure in auxiliary checking cylinder, by the second check valve pressure is sent to four-wheel braking pipeline/
Wheel cylinder, is braked four-wheel, and now the first check valve is automatically switched off, in low-pressure state in main braking cylinder, if stepped at this moment
Lower brake pedal, in high pressure conditions in main braking cylinder, controller detects this pressure signal by pressure transducer, performs to exit
Function, controls motor and is returned to original position.
The method have the advantages that
The electric controlled brake system of autonomous driving vehicle that the present invention provides, when vehicle in the process of moving, auxiliary braking system
Unite in the monitoring state, monitor all the time traffic situation in the current state of primary brake system, car speed, road ahead,
When needing to carry out brake hard due to road conditions sudden change or other accident, as driver fails to take appropriate measures in time
(detecting that main braking cylinder does not works), auxiliary braking system gets involved automatically, in promoting auxiliary checking cylinder by step-by-step linear electric motor
High speed piston moves, and produces brake force, by the second check valve, brake force is transported in four-wheel braking pipeline/wheel cylinder, to car
Carry out brake hard, when after brake release, auxiliary braking system self-return, turn again to monitor state.By actively supervising
Surveying and actively get involved, prevent driving accident, support vehicles run safety.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, embodiment will be described required use below
Accompanying drawing is briefly described, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ability
From the point of view of the those of ordinary skill of territory, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings
Figure.
Fig. 1 is the system block diagram of the present invention；
Fig. 2 is the primary brake system operating diagram of the present invention；
Fig. 3 is auxiliary checking cylinder and the structural representation of step-by-step linear electric motor of the present invention；
Fig. 4 is the hydraulic intensifier operating diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, those of ordinary skill in the art obtained under not making creative work premise all other
Embodiment, broadly falls into the scope of protection of the invention.
Embodiments provide the electric controlled brake system of a kind of autonomous driving vehicle, as it is shown in figure 1, include system
Dynamic pedal, vacuum booster, main braking cylinder, the first check valve, pressure transducer, detection signal element, controller, stepping straight line
Motor, auxiliary checking cylinder, hydraulic intensifier, the second check valve, four-wheel braking pipeline/wheel cylinder；
Described brake pedal is connected with vacuum booster, and vacuum booster is connected with main braking cylinder, main braking cylinder and first
Check valve is connected, and the first check valve is connected with four-wheel braking pipeline/wheel cylinder；Pressure transducer, detection signal element respectively with
Controller is connected, and pressure transducer is connected with main braking cylinder simultaneously；Controller is connected with step-by-step linear electric motor, step-by-step linear electric motor
Being connected with auxiliary checking cylinder, auxiliary checking cylinder and the second check valve are connected, and the second check valve is connected with four-wheel braking pipeline/wheel cylinder.
The situation of normal brake application when driving, when driver's brake pedal, as in figure 2 it is shown, pedal produces
The brake force principle by leverage, brake force is amplified by vacuum booster, promotes the motion of main braking cylinder inner carrier, system
Produce pressure in dynamic master cylinder, by the first check valve, pressure be sent to four-wheel braking pipeline/wheel cylinder, four-wheel is braked,
When producing pressure on four-wheel braking pipeline/wheel cylinder, the first check valve is 0 due to the pressure differential of both sides, and the first check valve is open-minded,
Now, owing to auxiliary brakes does not works, the high-pressure side pressure of hydraulic intensifier is 0, and the second check valve is high with hydraulic intensifier
The lateral pressure that pressure side is connected is 0, the outlet side pressure of the second check valve and four-wheel braking pipeline/identical (high pressure of wheel cylinder pressure
State), the second check valve bears back-pressure and is automatically switched off.
Owing to different drivers is for the cognition of environment, it is judged that, decision-making and control ability the most different, when vehicle is expert at
During sailing, auxiliary braking system is the most in the monitoring state, monitors the current state of primary brake system, car speed, front
On road traffic situation and carry out comprehensive descision, when due to road conditions sudden change or other accident need to carry out brake hard
Time, detector unit one control signal of generation, to controller, after controller receives information, first determines whether the pressure of pressure transducer
Force value, if now main braking cylinder has worked, its corresponding force value can pass to controller, then controller does not perform braking
Output action, otherwise, controller then makes respective handling according to current speed and range information, in pilot steering person's pattern
Under, brake safe distance is calculated as follows according to international formula:
D=1.47sit+ [si2-sf2]/[30(0.348±0.01G)]
Wherein d is braking distance, and 1.47 is safety coefficient, and the international 2.5S of response time t, Si are initial speed of braking,
Sf terminates speed for braking, and G is the gradient；By above-mentioned formula, when speed is 100Km/h, flat road surface G=0；Braking terminates speed
Sf=0, response time t are international 2.5s, utilize above-mentioned formula to calculate, and its safe distance is 175.98m；Due to control
System processed uses detection of electrons mode, and its response time is that the reaction of Millisecond, relatively driver wants fast, in practical work process
The response time t in above-mentioned formula can be adjusted according to the response speed of system, carry out safe stopping distance regulation,
Vehicle in the process of moving, when safe distance is less than system-computed safe distance out, as driver fails
Take appropriate measures (detecting that main braking cylinder does not works) in time, and auxiliary braking system gets involved automatically, and controller can be according to working as
Front speed and spacing produce a control signal, are driven step-by-step linear electric motor by drive circuit.Straight by stepping
High speed piston motion in the auxiliary checking cylinder of line motor pushing, produces brake force, and the brake fluid that auxiliary checking cylinder produces is at the work of pressure
Under with, by delivery hydraulic pressure supercharger, hydraulic intensifier carries out the pressure of 3 to 5 times of pressure ratios and amplifies, by auxiliary system the pressure of input
After the output pressure of dynamic cylinder is amplified to the brake pressure needed for system, brake fluid is directly entered hydraulic intensifier high pressure HP end,
Under the pressure effect of auxiliary checking cylinder, the piston setting in motion of hydraulic intensifier, and continuously brake fluid pressure is passed through second
Check valve 2, is transported to brake force in four-wheel braking pipeline/wheel cylinder, is braked vehicle, until it reaches the pressure that high pressure sets
Power, piston stop motion, now brake-pipe pressure reaches maximum；When end of braking, auxiliary checking cylinder piston return, hydraulic pressure
The P mouth power of supercharger disappears, the control end decompression of hydraulic control one-way valve PDV, and check valve PDV opens, and the high-pressure brake liquid of HP end leads to
Cross check valve PDV access T mouth and return to the oil can that brakes.When after brake release, auxiliary braking system self-return, turn again to monitoring
State.
Step-by-step linear electric motor be a magnet rotor iron core by with the pulse electromagnetic field interactions produced by stator and
Producing the moving component rotated, linear stepping motor is linear movement at motor internal convert rotational motion, uses screw rod spiral shell
Female engagement system, one tapped rotor of electric machine built-in is meshed with screw rod, as it is shown on figure 3, Luo Gang passes through thread rack
Being fixed in auxiliary checking cylinder, the front end of screw rod is T-shaped, is connected with the piston in auxiliary checking cylinder, when screw rod fortune fortune, and band
Dynamic piston moves reciprocatingly, and the rear end of screw rod and the rotor portion of step-by-step linear electric motor take nut engagement system, work as step
When entering the rotor transhipment of linear electric motors, female thread and screw rod with rotor are meshed and realize linear movement, due to the footpath of rotor
To being affixed among the stator of motor, the torsion meeting lead-screw axially-movable that rotor produces, make piston in auxiliary checking cylinder
Move reciprocatingly.As the piston moves, the brake fluid in auxiliary checking cylinder is compressed, brake fluid is sent to hydraulic intensifier
In.
Between auxiliary checking cylinder and the second check valve 2, connect have a hydraulic intensifier, it can according to system requirements,
It is configured to the pressure amplification system of 3 to 5 times of pressure ratios, the output pressure of auxiliary checking cylinder is amplified to the braking pressure needed for system
Power, as shown in Figure 4, brake fluid enters the P mouth of hydraulic intensifier to the operation principle of hydraulic control supercharger, and T mouth connects liquid return hole, auxiliary braking
The brake fluid of cylinder enters into high-pressure side HP by check valve CV1 and CV2, if hydraulic control one-way valve PDV closes, brake fluid will directly enter
Entering high pressure HP end, now, all of flow is all introduced into high pressure HP end, it is ensured that brake fluid is quickly supplied to four-wheel braking pipe
Road/wheel cylinder, when the pressure of auxiliary checking cylinder reaches setting value, the piston of hydraulic intensifier begins to motion, and continuously will
Brake fluid is pressed into four-wheel braking pipeline, until it reaches the pressure that high pressure sets, piston stop motion, now brake-pipe pressure
Reach maximum；When end of braking, auxiliary checking cylinder piston return, the P mouth power of hydraulic intensifier disappears, hydraulic control one-way valve PDV
Control end decompression, check valve PDV opens, the high-pressure brake liquid of HP end by check valve PDV access T mouth return to brake oil can.
Assuming that the cylinder diameter D of auxiliary checking cylinder is 23, efficiency n1 of auxiliary checking cylinder is 0.92, and pressure ratio R of supercharger is 5.5,
Efficiency n2 of supercharger is 0.96, when auxiliary checking cylinder produces directed force F p=1000N by piston movement, and hydraulic booster
Input power F1 of device is
F1=Fp x n1=920N
Power output F2 of hydraulic intensifier is
F2=F1x R x n2=4857.6N
Now, the brake pressure P of generation is
F2x n2/((D2X π/4))=11.22MPa
This brake pressure is sent in four-wheel braking pipeline/wheel cylinder by check valve 2, it is achieved service brake.
Between auxiliary checking cylinder and four-wheel braking pipeline/wheel cylinder, connecting and have second check valve 2, its effect is to produce
The unidirectional delivery of pressure, makes pressure can only be transmitted to four-wheel braking pipeline/wheel cylinder by hydraulic intensifier by auxiliary checking cylinder, four-wheel
The pressure produced on brake piping/wheel cylinder cannot be to main braking cylinder direction reverse backflow.
When driving, the work of step-by-step linear electric motor mainly is realized driving by controller, passes through driver signal
Number of pulses and the frequency of input input realize stepper motor speed control, make step-by-step linear electric motor follow procedure requirement complete phase
The motion answered, its stride value is not affected by various interference factors.When running in certain frequency range, any motion mode
All without producing error.Motor coordinates driver to use, and by micro-stepping control function on software, can realize the least step
Enter angle, make piston movement position control more accurate.The work output of controller is stressed sensor and detects signal control, works as car
In the process of moving, detector unit monitors the current state of primary brake system, car speed, deviation information, front all the time
Fang Daolu upper traffic situation also carries out comprehensive descision, when needing promptly to make due to road conditions sudden change or other accident
Time dynamic, detector unit one control signal of generation, to controller, produces control information to step-by-step linear electric motor.At stepping straight-line electric
During machine work, if main braking cylinder works the most simultaneously, between main braking cylinder and check valve 1, produce pressure, and pass through
Pressure transducer is sent to controller, and now, controller control motor, under the driving of drive circuit, pulls auxiliary checking cylinder
Interior piston returns to original position.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.Preferred embodiment is the most detailed
Describe all of details, be also not intended to the detailed description of the invention that this invention is only described.Obviously, according to the content of this specification,
Can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is to preferably explain the present invention
Principle and actual application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and four corner thereof and equivalent.
Claims (7)
1. the electric controlled brake system of an autonomous driving vehicle, it is characterised in that: include brake pedal, vacuum booster, main system
Dynamic cylinder, the first check valve, pressure transducer, detection signal element, controller, step-by-step linear electric motor, auxiliary checking cylinder, second unidirectional
Valve, four-wheel braking pipeline/wheel cylinder；
Described brake pedal is connected with vacuum booster, and vacuum booster is connected with main braking cylinder, main braking cylinder and first unidirectional
Valve is connected, and the first check valve is connected with four-wheel braking pipeline/wheel cylinder；Pressure transducer, detection signal element respectively with control
Device is connected, and pressure transducer is connected with main braking cylinder simultaneously；Controller is connected with step-by-step linear electric motor, and step-by-step linear electric motor is with auxiliary
Checking cylinder is connected, and auxiliary checking cylinder and the second check valve are connected, and the second check valve is connected with four-wheel braking pipeline/wheel cylinder.
The electric controlled brake system of autonomous driving vehicle the most according to claim 1, it is characterised in that: described first is unidirectional
Valve connects between main braking cylinder and four-wheel braking pipeline/wheel cylinder, when main braking cylinder works, and the pressure produced in main braking cylinder
Make the first check valve connect, provide brake pressure to four-wheel braking pipeline/wheel cylinder；When the second check valve is connected, first is unidirectional
When valve bears the buffer brake from the second check valve, the first check valve is automatically switched off.
The electric controlled brake system of autonomous driving vehicle the most according to claim 1, it is characterised in that: described second is unidirectional
Valve is connected between auxiliary checking cylinder and four-wheel braking pipeline/wheel cylinder, when auxiliary checking cylinder works, and the pressure produced in auxiliary checking cylinder
Make the second check valve connect, provide brake pressure to four-wheel braking pipeline/wheel cylinder；When the first check valve is connected, second is unidirectional
When valve bears the buffer brake from the first check valve, the second check valve is automatically switched off.
The electric controlled brake system of autonomous driving vehicle the most according to claim 1, it is characterised in that: described pressure sensing
Device is connected between main braking cylinder and controller, and when main braking cylinder works, the pressure produced in main braking cylinder is passed by pressure
Sensor is sent to controller；When auxiliary checking cylinder works, generation high pressure on four-wheel braking pipeline/wheel cylinder, the first closed check valve,
The low-pressure of main braking cylinder sends controller to by pressure transducer.
The electric controlled brake system of autonomous driving vehicle the most according to claim 1, it is characterised in that: described stepping straight line
Motor is operated under the driving of controller, when braking, and step-by-step linear electric motor high speed operation, promote the work in auxiliary checking cylinder
Plug advances, and produces pressure in auxiliary checking cylinder；When end of braking, motor, under the driving of controller, pulls auxiliary braking
Piston in cylinder returns to original position.
The electric controlled brake system of autonomous driving vehicle the most according to claim 1, it is characterised in that: in manual drive pattern
Under, when brake pedal, the brake force after being amplified by vacuum booster promotes the piston movement in main braking cylinder, braking
Produce pressure in master cylinder, by the first check valve, pressure is sent to four-wheel braking pipeline/wheel cylinder, four-wheel is braked, this
Time the second check valve be automatically switched off；The pressure produced in main braking cylinder is sent in controller by pressure transducer, automatically drives
The person's of sailing system is in off position.
The electric controlled brake system of autonomous driving vehicle the most according to claim 1, it is characterised in that: at automatic driving mode
Under, controller receives the detection signal that passes over of detector unit and goes forward side by side row operation, when needs perform braking, controller output
Control signal, drives step-by-step linear electric motor work, and step-by-step linear electric motor promotes the motion of auxiliary checking cylinder inner carrier, produces in auxiliary checking cylinder
Raw pressure, is sent to four-wheel braking pipeline/wheel cylinder by the second check valve by pressure, is braked four-wheel, and now first is single
It is automatically switched off to valve, in low-pressure state in main braking cylinder, if in high pressure shape in brake pedal at this moment, main braking cylinder
State, controller detects this pressure signal by pressure transducer, performs exit function, controls motor and is returned to start bit
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610643451.6A CN106184172A (en) | 2016-08-08 | 2016-08-08 | A kind of electric controlled brake system of autonomous driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610643451.6A CN106184172A (en) | 2016-08-08 | 2016-08-08 | A kind of electric controlled brake system of autonomous driving vehicle |
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| CN106184172A true CN106184172A (en) | 2016-12-07 |
Family
ID=57514515
Family Applications (1)
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| CN201610643451.6A Pending CN106184172A (en) | 2016-08-08 | 2016-08-08 | A kind of electric controlled brake system of autonomous driving vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147705A (en) * | 2021-06-04 | 2021-07-23 | 吉林大学 | Brake system for unmanned vehicle |
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| CN103754206A (en) * | 2014-01-08 | 2014-04-30 | 同济大学 | Mechanical, electronic and hydraulic brake system |
| CN103786700A (en) * | 2014-03-05 | 2014-05-14 | 长沙职业技术学院 | Automobile braking system |
| CN204567644U (en) * | 2015-02-11 | 2015-08-19 | 同济大学 | Can be used for the brake system of intelligent vehicle |
| CN205872032U (en) * | 2016-08-08 | 2017-01-11 | 合肥天健汽车科技有限公司 | Automatic driving an automobile's automatically controlled braking system |
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- 2016-08-08 CN CN201610643451.6A patent/CN106184172A/en active Pending
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| JP2009515752A (en) * | 2005-11-11 | 2009-04-16 | ボ−ムン ジェオン | Brake control system and control method for automobile |
| CN101070066A (en) * | 2006-05-10 | 2007-11-14 | 比亚迪股份有限公司 | Hydro-electric braking system |
| CN103754206A (en) * | 2014-01-08 | 2014-04-30 | 同济大学 | Mechanical, electronic and hydraulic brake system |
| CN103786700A (en) * | 2014-03-05 | 2014-05-14 | 长沙职业技术学院 | Automobile braking system |
| CN204567644U (en) * | 2015-02-11 | 2015-08-19 | 同济大学 | Can be used for the brake system of intelligent vehicle |
| CN205872032U (en) * | 2016-08-08 | 2017-01-11 | 合肥天健汽车科技有限公司 | Automatic driving an automobile's automatically controlled braking system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147705A (en) * | 2021-06-04 | 2021-07-23 | 吉林大学 | Brake system for unmanned vehicle |
| CN113147705B (en) * | 2021-06-04 | 2022-05-27 | 吉林大学 | Brake system for unmanned vehicle |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |