CN106427955A - Vehicle braking control method - Google Patents
Vehicle braking control method Download PDFInfo
- Publication number
- CN106427955A CN106427955A CN201611039909.3A CN201611039909A CN106427955A CN 106427955 A CN106427955 A CN 106427955A CN 201611039909 A CN201611039909 A CN 201611039909A CN 106427955 A CN106427955 A CN 106427955A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- braking
- control method
- train
- brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- 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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
-
- 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/228—Devices for monitoring or checking brake systems; Signal devices for railway vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses a vehicle braking control method. The vehicle braking control method comprises the following steps: receiving a zero-speed signal and obtaining related braking parameters; judging whether the vehicle braking type is whole train braking or not according to the related braking parameters, if yes, controlling train pipe pressure reduction to reach a whole train braking pressure reduction value, if not, controlling the pressure value of a brake cylinder of a power vehicle of a train to keep a braking pressure value. According to the vehicle braking control method, related braking parameters are directly obtained when a vehicle carries out braking actions and the vehicle speed is reduced to zero, and the braking mode used by the vehicle is judged according to the parameters, and a train pipe pressure reduction value or the pressure value of the brake cylinder of the power vehicle is controlled to keep the braking of the vehicle, so that the current working situation of the vehicle can be better adapted, different vehicle braking systems of an automatic brake system and the like can be adapted, the adaptability is better, and the position of the vehicle is effectively kept after parking to prevent the occurrence of dangerous situations such as vehicle slipping.
Description
Technical field
A kind of the present invention relates to vehicle brake technology field, more particularly, it relates to vehicle brake control method.
Background technology
Rail engineering automobile is mainly as the purposes of the engineering construction, line upkeep maintenance and rescue of city rail.Keep system
Dynamic function as one of the miscellaneous function of brakes, with extensively on railcar, and in rail engineering truck field at present
On do not keep the setting of braking function, it is difficult to after vehicle parking stable and accurately control vehicle location remain stationary as.
Railcar uses straight brake system, and rail engineering automobile is automatic air brake equipment system, and
Railcar is entirely different in purposes and the even condition such as extension mode with rail engineering automobile, so as to the holding braking control of railcar
Method processed can not meet the practical situation demand of engineering truck.
As fully visible, common at present large engineering vehicle lacks effective enough stop-working protection, completes braking in vehicle
Afterwards, there is no a kind of effective technical scheme for keeping vehicle location constant, vehicle has easy car slipping and causes potential safety hazard
Deng problem.
In sum, it is difficult to after how efficiently solving current large engineering vehicle Brake stop effectively keep vehicle position
Put, the problems such as easily cause potential safety hazard, be current those skilled in the art's urgent problem.
Content of the invention
In view of this, it is an object of the invention to provide a kind of vehicle brake control method, the vehicle brake control method
It is difficult to after current large engineering vehicle Brake stop can be efficiently solved effectively vehicle location be kept, easily causes potential safety hazard etc.
Problem.
In order to achieve the above object, the present invention provides following technical scheme：
A kind of vehicle brake control method, including：
Zero-speed signal is received, obtains braking relevant parameter；
Judge whether vehicle type of retardation is whole train braking according to the braking relevant parameter, if it is, control row
Car pipe decompression amount reaches permutation car braking compression release value, if it is not, then the pressure value of the checking cylinder of the power car of control train is arrived
Reach holding brake pressure value.
Preferably, in above-mentioned vehicle brake control method, the braking relevant parameter includes the decompression amount of train pipe；According to
The braking relevant parameter judges whether vehicle type of retardation is that whole train braking is specially：Judge whether the decompression amount exceedes
Decompression amount threshold value, if it is, be whole train braking, if it is not, then being power car independent brake.
Preferably, in above-mentioned vehicle brake control method, the holding brake pressure value is specially the checking cylinder and moves entirely
The preset multiple of dynamic braking pressure value.
Preferably, in above-mentioned vehicle brake control method, also include：
Receive car slipping signal；
The train pipe pressure reduction is controlled to reach car slipping magnitude of depressurization.
Preferably, in above-mentioned vehicle brake control method, also include：
Receive traction signal；
Judge whether the decompression amount exceedes decompression amount threshold value, if it is, control brake unit is in the first Preset Time
The interior brake force for alleviating current holding；If it is not, then alleviating the current brake force for keeping in the second Preset Time.
Preferably, in above-mentioned vehicle brake control method, the traction signal is specially：
The pull strength that vehicle is subject to is more than the signal of current braking effort, or the signal of the non-zero-speed of vehicle.
Preferably, in above-mentioned vehicle brake control method, the span of the decompression amount threshold value is 40kpa-50kpa,
Including endpoint value.
The vehicle brake control method that the present invention is provided, including：Zero-speed signal is received, obtains braking relevant parameter；According to
The braking relevant parameter judges whether vehicle type of retardation is whole train braking, if it is, control train pipe pressure reduction reaches
To permutation car braking compression release value, if it is not, then the pressure value of the checking cylinder of the power car of control train is reached keeps braking pressure
Force value.This vehicle brake control method for being provided using the present invention, is executed braking maneuver in vehicle and is reduced to car speed
When zero, braking relevant parameter is directly obtained, and judges, according to these parameters, the mode of braking that vehicle is adopted, by controlling train pipe
The pressure value of the checking cylinder of the power car of magnitude of depressurization or execution braking, reaches the purpose for making vehicle keep braking, and should
The mode that braking keeps adopts different braking retentivitys for different modes of braking, can well adapt to the current of vehicle
Working condition, can adapt to the different motor vehicle braking system such as automatic air brake equipment system, with well adapting to property, effectively
Keep the position of vehicle after a stoppage, prevent the dangerous situations such as car slipping from occurring.In sum, the vehicle braking control that the present invention is provided
Method processed is difficult to after efficiently solving current large engineering vehicle Brake stop effectively keep vehicle location, easily causes safety hidden
The problems such as suffering from.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for technology description is had to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of vehicle brake control method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another kind vehicle brake control method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the third vehicle brake control method provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the invention discloses a kind of vehicle brake control method, to solve current large engineering vehicle Brake stop
After be difficult to effectively keep vehicle location, the problems such as easily cause potential safety hazard.
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
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to the flow chart that Fig. 1, Fig. 1 are vehicle brake control method provided in an embodiment of the present invention.
The vehicle brake control method that embodiments of the invention are provided, including：
S01：Zero-speed signal is received, obtains braking relevant parameter；The step is referred specifically to, the central control unit of vehicle
While detecting speed and being reduced to zero, relevant parameter is braked in immediate record, is judged so as to follow-up analysis.
S02：Judge whether vehicle type of retardation is whole train braking according to the braking relevant parameter, S03：If it is,
Then control train pipe pressure reduction reaches permutation car braking compression release value, S04：If it is not, then the braking of the power car of control train
The pressure value of cylinder is reached and keeps brake pressure value.The braking class of vehicle is analyzed immediately here by the braking relevant parameter for being recorded
Type, and corresponding pressure control measure is taken immediately according to the result for judging, make the braking of vehicle be positively maintained.
This vehicle brake control method for being provided using the present invention, is executed braking maneuver in vehicle and drops car speed
When being zero, braking relevant parameter is directly obtained, and judges, according to these parameters, the mode of braking that vehicle is adopted, by controlling train
The pressure value of the checking cylinder of the power car of pipe magnitude of depressurization or execution braking, reaches the purpose for making vehicle keep braking, and
The mode that the braking keeps adopts different braking retentivitys for different modes of braking, can well adapt to working as vehicle
Front working condition, can adapt to the different motor vehicle braking system such as automatic air brake equipment system, with well adapting to property, effectively
Ground keeps the position of vehicle after a stoppage, prevents the dangerous situations such as car slipping from occurring.In sum, the vehicle braking that the present invention is provided
Control method is difficult to after efficiently solving current large engineering vehicle Brake stop effectively keep vehicle location, easily causes safety
The problems such as hidden danger.
Refer to the flow chart that Fig. 2, Fig. 2 are another kind vehicle brake control method provided in an embodiment of the present invention.
For optimizing technique scheme further, preferred on the basis of above-described embodiment, above-mentioned vehicle braking control
In method, the braking relevant parameter includes the decompression amount of train pipe；Judge that class braked by vehicle according to the braking relevant parameter
Whether type is that whole train braking is specially：Judge whether the decompression amount exceedes decompression amount threshold value, if it is, being permutation car system
Dynamic, if it is not, then being power car independent brake.
By the decompression amount of detection vehicle train pipe in braking in the technical scheme that the present embodiment is provided, refer in particular in vehicle
Speed is reduced to zero moment, the value of the decompression amount of its train pipe by braking.Decompression amount is the level pressure of vehicle train pipe and is somebody's turn to do
The difference of the pressure value of the train pipe recorded by the moment, the difference is capable of the size of Efficient Characterization vehicle braking force, and sentences accordingly
The mode of braking taken by disconnected vehicle, and take different operations accordingly.If decompression amount exceedes decompression amount threshold value, vehicle is judged
Taken for whole train braking, corresponding take in above-described embodiment：Control train pipe pressure reduction reaches whole train braking
The operation of magnitude of depressurization；If decompression amount not less than decompression amount threshold value, judge that vehicle taken for power car independent brake, right
That answered takes in above-described embodiment：The pressure value of the checking cylinder of the power car of control train reaches the behaviour for keeping brake pressure value
Make.The judgment mode is simple, obtains result accurately, and the less processing ease of required Monitoring Data.
For optimizing technique scheme further, preferred on the basis of above-described embodiment, above-mentioned vehicle braking control
In method, the preset multiple for keeping brake pressure value to be specially the checking cylinder full power brake pressure value.
In the technical scheme that the present embodiment is provided, checking cylinder full power brake pressure value is actually referred to：It is that vehicle is taken
Standard or say specified when being alternatively conventional full braking force, the pressure value in checking cylinder, in the present embodiment by power
The pressure value of the checking cylinder of car stable prearranged multiple in the pressure value by way of decompression, the multiple is less than 1, and order keeps system
Pressure value when dynamic pressure value is braked less than full power, preferred multiple scope is 70% or so.
For optimizing technique scheme further, preferred on the basis of above-described embodiment, above-mentioned vehicle braking control
In method, also include：
S05：Receive car slipping signal；
S06：The train pipe pressure reduction is controlled to reach car slipping magnitude of depressurization.
In the technical scheme that the present embodiment is provided, when furthermore present the situation that vehicle occurs car slipping, how by system
Dynamic control carries out corresponding operation.Specially when the central control unit of vehicle detects the situation that vehicle occurs car slipping, i.e.,
Vehicle when there is speed rightabout with brake force, controls the train pipe of vehicle in the case of pull strength is not applied immediately
Increase amount of pressurization, be the equal of the brake force for increasing vehicle, make which obtain obvious braking effect.Wherein car slipping decompression amount
Value should be significantly greater than magnitude of depressurization during vehicle holding on-position in above-described embodiment, and preferred scheme is car slipping magnitude of depressurization
Value in 140kpa or so.
Refer to the flow chart that Fig. 3, Fig. 3 are the third vehicle brake control method provided in an embodiment of the present invention.
For optimizing technique scheme further, preferred on the basis of above-described embodiment, above-mentioned vehicle braking control
In method, also include：
S07：Receive traction signal；
S08：Judge whether the decompression amount exceedes decompression amount threshold value, S09：If it is, controlling brake unit first
Alleviate the current brake force for keeping in Preset Time；S10：If it is not, then alleviating the current system for keeping in the second Preset Time
Power.
In the technical scheme that the present embodiment is provided, there is provided a kind of startup side for adapting to Current vehicle braking hold mode
Formula, aids in vehicle normally to start by the control that brakes.The Starting mode of specific vehicle is protected with vehicle in foregoing embodiments
The mode correlation of braking is held, wherein the span of the first Preset Time was at 5 seconds or so, and the span of the second Preset Time exists
3 seconds or so, the operation that vehicle is carried out within the time period respectively was that uniform slow alleviation eliminates whole holding brake pressures.
This safety for being designed to vehicle start state is effectively ensured, prevents as pull strength is not enough and brakes and release improperly
Reason causes vehicle that the danger of car slipping occurs.
For optimizing technique scheme further, preferred on the basis of above-described embodiment, above-mentioned vehicle braking control
In method, the traction signal is specially：
The pull strength that vehicle is subject to is more than the signal of current braking effort, or the signal of the non-zero-speed of vehicle.
In the technical scheme for providing in this enforcement, the control of vehicle launch, the traction signal of restriction is further optimized
Scope, which includes pull strength that vehicle is subject to more than current braking effort or the signal of the non-zero-speed of vehicle.Ensure that vehicle launch
Control preferably meet the current damped condition of vehicle, further ensure the safety of startup.
For optimizing technique scheme further, preferred on the basis of above-described embodiment, above-mentioned vehicle braking control
In method, the span of the decompression amount threshold value is 40kpa-50kpa, including endpoint value.
In the technical scheme that the present embodiment is provided, the levels of precision that braking keeps control, decompression amount threshold is optimized further
It is 40kpa-50kpa to be worth preferred span；And you need to add is that, the whole train braking being previously mentioned in above-described embodiment
Magnitude of depressurization about in 100kpa or so, the control that accurate further braking keeps.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention.
Multiple modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (7)
1. a kind of vehicle brake control method, it is characterised in that include：
Zero-speed signal is received, obtains braking relevant parameter；
Judge whether vehicle type of retardation is whole train braking according to the braking relevant parameter, if it is, control train pipe
Decompression amount reaches permutation car braking compression release value, if it is not, then the pressure value of the checking cylinder of the power car of control train is reached and protected
Hold brake pressure value.
2. vehicle brake control method according to claim 1, it is characterised in that the braking relevant parameter includes train
The decompression amount of pipe；Judge whether vehicle type of retardation is that whole train braking is specially according to the braking relevant parameter：Judge institute
State whether decompression amount exceedes decompression amount threshold value, if it is, be whole train braking, if it is not, then being power car independent brake.
3. vehicle brake control method according to claim 2, it is characterised in that the holding brake pressure value is specially
The preset multiple of the checking cylinder full power brake pressure value.
4. vehicle brake control method according to claim 2, it is characterised in that also include：
Receive car slipping signal；
The train pipe pressure reduction is controlled to reach car slipping magnitude of depressurization.
5. vehicle brake control method according to claim 2, it is characterised in that also include：
Receive traction signal；
Judge whether the decompression amount exceedes decompression amount threshold value, if it is, control brake unit delays in the first Preset Time
The current brake force for keeping of solution；If it is not, then alleviating the current brake force for keeping in the second Preset Time.
6. vehicle brake control method according to claim 5, it is characterised in that the traction signal is specially：
The pull strength that vehicle is subject to is more than the signal of current braking effort, or the signal of the non-zero-speed of vehicle.
7. vehicle brake control method according to claim 6, it is characterised in that the span of the decompression amount threshold value
It is 40kpa-50kpa, including endpoint value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039909.3A CN106427955B (en) | 2016-11-11 | 2016-11-11 | A kind of vehicle brake control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611039909.3A CN106427955B (en) | 2016-11-11 | 2016-11-11 | A kind of vehicle brake control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106427955A true CN106427955A (en) | 2017-02-22 |
| CN106427955B CN106427955B (en) | 2019-02-26 |
Family
ID=58220435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611039909.3A Active CN106427955B (en) | 2016-11-11 | 2016-11-11 | A kind of vehicle brake control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106427955B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747608A (en) * | 2017-11-03 | 2019-05-14 | 宝沃汽车（中国）有限公司 | Anti-slip control method, system and vehicle |
| CN110758360A (en) * | 2019-10-25 | 2020-02-07 | 中车青岛四方机车车辆股份有限公司 | Train braking control method and device |
| CN112849200A (en) * | 2021-02-08 | 2021-05-28 | 中车青岛四方机车车辆股份有限公司 | Vehicle holding brake control method, device and system and vehicle |
| CN113658479A (en) * | 2021-08-25 | 2021-11-16 | 郑州捷安高科股份有限公司 | Train gas circuit simulation method, device and medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180165A (en) * | 2011-04-19 | 2011-09-14 | 铁道部运输局 | Method and system for preventing applied accidental parking brake on railway train |
| CN103600739A (en) * | 2013-11-25 | 2014-02-26 | 南车株洲电力机车有限公司 | Rail engineering truck train pipe pressure control method and device |
| CN104691573A (en) * | 2015-01-14 | 2015-06-10 | 南车株洲电力机车有限公司 | Control method and system for static-state holding brake of locomotive |
| CN105128840A (en) * | 2015-08-31 | 2015-12-09 | 南车株洲电力机车有限公司 | Method and device for controlling vehicle control unit in ECP system to safely exit |
-
2016
- 2016-11-11 CN CN201611039909.3A patent/CN106427955B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180165A (en) * | 2011-04-19 | 2011-09-14 | 铁道部运输局 | Method and system for preventing applied accidental parking brake on railway train |
| CN103600739A (en) * | 2013-11-25 | 2014-02-26 | 南车株洲电力机车有限公司 | Rail engineering truck train pipe pressure control method and device |
| CN104691573A (en) * | 2015-01-14 | 2015-06-10 | 南车株洲电力机车有限公司 | Control method and system for static-state holding brake of locomotive |
| CN105128840A (en) * | 2015-08-31 | 2015-12-09 | 南车株洲电力机车有限公司 | Method and device for controlling vehicle control unit in ECP system to safely exit |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747608A (en) * | 2017-11-03 | 2019-05-14 | 宝沃汽车（中国）有限公司 | Anti-slip control method, system and vehicle |
| CN110758360A (en) * | 2019-10-25 | 2020-02-07 | 中车青岛四方机车车辆股份有限公司 | Train braking control method and device |
| CN112849200A (en) * | 2021-02-08 | 2021-05-28 | 中车青岛四方机车车辆股份有限公司 | Vehicle holding brake control method, device and system and vehicle |
| CN113658479A (en) * | 2021-08-25 | 2021-11-16 | 郑州捷安高科股份有限公司 | Train gas circuit simulation method, device and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106427955B (en) | 2019-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106427955A (en) | Vehicle braking control method | |
| US10538225B2 (en) | Method for operating a motor vehicle, control device for a braking system, and braking system for a motor vehicle | |
| CN102177056B (en) | For shortening the system and method for the punishment phase of distributed power train | |
| US8500214B2 (en) | System and method for control of distributed power rail vehicle | |
| CN109649429B (en) | Automatic safety control method and system for train under heavy-load mobile block | |
| CN108340895B (en) | Control method and control system of electronic parking system and vehicle | |
| JP6261521B2 (en) | Method for controlling a drive and braking device of a vehicle with a friction brake | |
| KR101571386B1 (en) | Method of releasing the brakes of a motor vehicle fitted with an assistance device for starting on a slope, such an assistance device, and motor vehicle comprising it | |
| CN103079916A (en) | Method for protecting a vehicle with an automatic parking brake | |
| CN106458199B (en) | For running the device and method of vehicle | |
| US20060225971A1 (en) | Braking a vehicle in the context of an emergency stop | |
| CN102145689A (en) | Detecting method and device for failure of automatic air brake system of train | |
| US20180154879A1 (en) | Parking brake actuation method for an electric motor vehicle parking brake system | |
| DE102007052439A1 (en) | Driver assistance system | |
| CZ20023883A3 (en) | Process and apparatus for effective control of vehicle brake devices | |
| CN103381799A (en) | Method for operating a brake assistance system in a vehicle | |
| WO2001049543A1 (en) | Railroad brake pipe overcharge and separation detection system | |
| CN203685948U (en) | Brake sheet | |
| CN109153380B (en) | Method and device for controlling or regulating a brake system | |
| WO2014058297A1 (en) | An automatic vehicle braking system and a control method | |
| EP2570313B1 (en) | Method, and a regulating device, pertaining to activation of the hill-hold function for a vehicle | |
| CN103481883B (en) | The vacuum boost system of a kind of electric automobile and method thereof | |
| CN106976451B (en) | Vehicle dynamic stability control system and control method thereof | |
| KR102315860B1 (en) | Method for detecting a error of caliper by using abs | |
| KR102264095B1 (en) | Electronic parking brake control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |