CN106627532A - Multi-mode braking system of hydrocarbon suspending vehicle load sensing and braking method - Google Patents
Multi-mode braking system of hydrocarbon suspending vehicle load sensing and braking method Download PDFInfo
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- CN106627532A CN106627532A CN201610955417.2A CN201610955417A CN106627532A CN 106627532 A CN106627532 A CN 106627532A CN 201610955417 A CN201610955417 A CN 201610955417A CN 106627532 A CN106627532 A CN 106627532A
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- information
- braking
- control module
- vehicle
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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
- 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
-
- 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
- B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
-
- 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
-
- 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
- B60T8/30—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 load
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a multi-mode braking system of hydrocarbon suspending vehicle load sensing. The multi-mode braking system of hydrocarbon suspending vehicle load sensing consists of a detecting device (101), a control module (102), and dispensing equipment for braking force (103). The detecting device (101) is applied to detection and feedback of a plurality of driving states of hydrocarbon suspending vehicle. The control module (102) is applied to obtain vehicle state of the detecting device (101) and to obtain accurate and reliable vehicle information through logical operation. Feedback of the vehicle information to the dispensing equipment for braking force (103) is also provided by the control module (102) at the same time. The dispensing equipment for braking force (103) is used to receive control information from the control module (102) and to switch and execute a braking mode. The invention also discloses a braking method. The multi-mode braking system of hydrocarbon suspending vehicle load sensing can be directly applied to a hydrocarbon suspending system without visual mechanical deformation led by load change and can positively detect driving cycle to provide feedback information. Through setting a matching pattern for the braking system under a plurality of driving cycles, the multi-mode braking system of hydrocarbon suspending vehicle load sensing can achieve adaptability of the braking system to a plurality of driving cycles in driving.
Description
Technical field
The present invention relates to a kind of hydro pneumatic suspension vehicle sense carries multi-mode brakes and its braking method.
Background technology
Braking ability is the important indicator of vehicle safety, and good brakes needs to meet good braking effect simultaneously
Directional stability when can and brake.In vehicle travel process, different driving cycles can be faced, the brakes of fixed ratio is pressed
Matching is braked according to a certain driving cycle demand.Especially, heavy vehicle is under fully loaded and idle condition, and each axle load is poor
It is different big, because distribution of the automobile braking force between forward and backward bridge is fixed, the problems such as this will bring brake wheel exception locking,
Bring great potential safety hazard.
Heavy special project working truck often configures hydro pneumatic suspension, even half active or Active suspension.Hydro pneumatic suspension sheet
Body can not intuitively weigh car load situation of change, meanwhile, hydro pneumatic suspension, half active or Active suspension can be according to drivers
It is intended to or duty requirements actively or passively adjusts height of chassis above ground, with preferably being driven through property.Because not existing with car
The deformation directly perceived that load change is produced, so the sense of routine carries rate restraint system can not apply in the car for configuring above-mentioned suspension
On.
In the market passenger car and commercial car carry proportion expression brakes using sense, solve to be braked under different driving cycles
System Matching Issues, conventional brakes scheme is as shown in Figure 1.
Above-mentioned sense carries proportion expression brakes, is SABS of connecting in back axle control for brake pipeline.With automobile
The change of load, the suspension mechanically deform for causing loaded causes sense to carry its length and changes, and changes SABS gas
Pressure curve of output, makes before and after brake-pipe pressure distribution relatively preferably brake-pipe pressure distribution in front and back, it is ensured that automobile
With good brake efficiency, demand braking force under different driving cycles is met.
Above-mentioned sense carries proportion expression brakes and depends on the change loaded of Leaf Spring Suspension and air suspension to produce
With dynamic deformation.But there is problems with it：
（1）It can not solve the axle load transition problem to hydro pneumatic suspension vehicle, hydro pneumatic suspension vehicle with dynamic deformation itself not
Can intuitively obtain；
（2）It is above-mentioned with dynamic deformation can because hydro pneumatic suspension, semi-active suspension or Active suspension actively or passively intervention and with load
Not into relation of following up, this will cause brakes matching disorderly to lotus situation；
（3）It often tends to the independent control to rear axle, when front axle axle load produces large change, braking distribution still occurs
Irrational problem；
（4）It belongs to passive braking system fading margin, driving speed, coefficient of road adhesion and driver intention etc. can not directly do
Pre- brakes, open system low degree, it is impossible to carry out active control；
In sum, above-mentioned sense carries the vehicle that proportion expression brakes technology does not apply to equipment hydro pneumatic suspension.
The content of the invention
For the problem that above-mentioned prior art is present, the present invention provides a kind of hydro pneumatic suspension vehicle sense and carries multi-mode braking system
System and its braking method, it can be directly applied to without causing in the intuitively hydro-pneumatic suspension system of mechanical deformation because of load change,
Can active detecting driving cycle feedback information, set brakes match pattern under different driving cycles, realize vehicle row
Adaptability for working condition is travelled during sailing brakes more.
To achieve these goals, the technical solution used in the present invention is：A kind of hydro pneumatic suspension vehicle sense carries multi-mode system
Dynamic system, it includes：
Detection means, its various state for being used for the traveling process to hydro pneumatic suspension vehicle are detected, fed back；
Control module, it is used to obtain the vehicle running state of detection means and carry out logical operation to obtain accurately and reliably vehicle
Information, while information of vehicles is fed back to into braking force distribution device；
Braking force distribution device, its be used for receive from control module control information, carry out perform braking mode switching with
Perform, so as to realize vehicle travel process in travelling adaptability for working condition brakes more.
The detection means is vehicle running state detection means, it includes that sense carries reforming unit, driving information monitoring dress
Put；
The sense carries Transfer Medium pressure of the reforming unit comprising pressure sensor and pipeline, in by measuring hydro-pneumatic suspension system
Power, indirect gain car load information；
The driving information supervising device includes pressure sensor, and what it was obtained in that vehicle is pressure, brake force, speed letter
Breath.
The control module is made up of controller and electronic circuit；
Wherein controller includes input and output end, and the input signal of input includes：Load pressure information, speed of operation,
Brakes information；
The output signal of output end includes braking mode switching signal, on-position information, pattern early warning information.
Described braking force distribution device includes pressure limiting valve, magnetic valve, brake；Wherein, magnetic valve receives control signal
Afterwards, braking mode switching is performed；The different braking force distribution of vehicle is carried out using different pressure limiting valve or brake, is set
Put.
Described control module is divided into automatic control mode and hand brake pattern.
Described control module is the control module with automatic fault alarm mode.
The control module of the automatic control mode is the controller that can write control logic program.
A kind of hydro pneumatic suspension vehicle sense carries multi-mode braking method, comprises the following steps:
1）After vehicle launch, detection means automatic detection vehicle transport condition：Load, pressure, brake force, speed information, and will
Information transmission after collection is to control module；
2）The information state of control module receiving detection device transmission simultaneously carries out computing, judges that then residing driving cycle is selected
Braking mode：Automatic control mode and manual mode；
2.1）Automatic mode：According to vehicle running state detection information, according to the control logic of setting, selected braking mould is performed
Formula, and on-position warning residing for driver is given, if occur mismatching, fault warning is sent, point out driver to carry out
Hand pattern switching；
2.2）Manual mode：Manual mode is the supplement and Emergency Countermeasures of automatic mode, and manual mode arranges compulsory braking mould
Formula selecting switch, when hand brake mode selection switch is opened, control module exits automatic control mode, enforces manual mould
Formula options；
3）By above-mentioned both of which, control module control signal transmission to braking force distribution device, by braking force distribution
Device performs corresponding braking force distribution setting.
Compared with current sense carries proportion expression brakes, the present invention is actively examined by arranging driving state detecting device
Driving cycle feedback information is surveyed, control module sets brakes match pattern under different driving cycles, thus with following
Advantage：
（1）The present invention is selected either automatically or manually vehicle braking mode according to vehicle driving-cycle, it is ensured that at each axle braking force distribution
In optimum state；
（2）The present invention carries reforming unit indirectly to obtaining car load situation by sense, has to hydro pneumatic suspension vehicle general
Property, its control not by driver on suspension system is intended to be affected；
（3）Selection of the present invention to braking mode, is not limited to load change situation, can also be speed of operation, ground attachment system
The parameter such as number and driver intention；
（4）Logic control is carried out by controller, can consider load, speed etc. affects the information of braking to become as control
Amount, increases systemic openness, and braking force distribution is more reasonable when making braking.
Description of the drawings
Fig. 1 is that at present conventional sense carries proportion expression brakes；
Fig. 2 is present system principle schematic；
Fig. 3 is the control module schematic diagram of the present invention；
Fig. 4 is the inventive method schematic flow sheet.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.
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 invention, rather than the embodiment of whole.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.
Fig. 2 show a kind of hydro pneumatic suspension vehicle sense and carries multi-mode brakes, and it includes：
Detection means 101, its various state for being used for the traveling process to hydro pneumatic suspension vehicle are detected, fed back；
Control module 102, it is used to obtain the vehicle running state of detection means 101 and carry out logical operation to obtain accurately and reliably
Information of vehicles, while information of vehicles is fed back to into braking force distribution device 103；
Braking force distribution device 103, it is used to receiving control information from control module 102, carries out performing braking mode
Switching with perform, so as to realize vehicle travel process in travelling adaptability for working condition brakes more.
Wherein, the detection means 101 be vehicle running state detection means, it include sense carry reforming unit, traveling letter
Breath supervising device；
The sense carries Transfer Medium pressure of the reforming unit comprising pressure sensor and pipeline, in by measuring hydro-pneumatic suspension system
Power, indirect gain car load information；
The driving information supervising device includes pressure sensor, and what it was obtained in that vehicle is pressure, brake force, speed letter
Breath.
As shown in figure 3, control module 102 is made up of controller and electronic circuit；
Wherein controller includes input and output end, and the input signal of input includes：Load pressure information, speed of operation,
Brakes information；
The output signal of output end includes braking mode switching signal, on-position information, pattern early warning information.
Wherein, described braking force distribution device 103 includes pressure limiting valve, magnetic valve, brake；Wherein, magnetic valve receives
After control signal, braking mode switching is performed；Using the different pressure limiting valve or brake brake force different to carry out vehicle
Distribution, setting.
Further, 102 points described of control module is automatic control mode and hand brake pattern；Described control module
102 is the control module with automatic fault alarm mode；The control module 102 of the automatic control mode is can to write control
The controller of logical program.
As shown in figure 4, a kind of the invention also discloses braking that multi-mode brakes is carried based on the sense of hydro pneumatic suspension vehicle
Method, comprises the following steps：
1）After vehicle launch, the automatic detection vehicle transport condition of detection means 101：Load, pressure, brake force, speed information, and
By the information transmission after collection to brake control module 102；
2）The information state of the transmission of 102 receiving detection device of control module 101 simultaneously carries out computing, judges that residing driving cycle is right
Braking mode is selected afterwards：Automatic control mode and manual mode；
2.1）Automatic mode：According to vehicle running state detection information, according to the control logic of setting, selected braking mould is performed
Formula, and on-position warning residing for driver is given, if occur mismatching, fault warning is sent, point out driver to carry out
Hand pattern switching；
2.2）Manual mode：Manual mode is the supplement and Emergency Countermeasures of automatic mode, and manual mode arranges compulsory braking mould
Formula selecting switch, when hand brake mode selection switch is opened, control module 102 exits automatic control mode, enforces hand
Dynamic model formula options；
3）By above-mentioned both of which, control module 102 control signal transmission to braking force distribution device 103, by braking
Power distributor 103 performs corresponding braking force distribution setting.
In sum, the present invention is by arranging driving state detecting device, active detecting driving cycle feedback information, control
Module sets brakes match pattern under different driving cycles, thus with advantages below：
（1）The present invention is selected either automatically or manually vehicle braking mode according to vehicle driving-cycle, it is ensured that at each axle braking force distribution
In optimum state；
（2）The present invention carries reforming unit indirectly to obtaining car load situation by sense, has to hydro pneumatic suspension vehicle general
Property, its control not by driver on suspension system is intended to be affected；
（3）Selection of the present invention to braking mode, is not limited to load change situation, can also be speed of operation, ground attachment system
The parameter such as number and driver intention；
（4）Logic control is carried out by controller, can consider load, speed etc. affects the information of braking to become as control
Amount, increases systemic openness, and braking force distribution is more reasonable when making braking.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as and limit involved claim.
The above, only presently preferred embodiments of the present invention, not to limit the present invention, every skill according to the present invention
Any trickle amendment, equivalent and improvement that art is substantially made to above example, should be included in technical solution of the present invention
Protection domain within.
Claims (8)
1. a kind of hydro pneumatic suspension vehicle sense carries multi-mode brakes, it is characterised in that it includes：
Detection means（101）, its various state for being used for the traveling process to hydro pneumatic suspension vehicle detected, fed back；
Control module（102）, it is used to obtain detection means（101）Vehicle running state and carry out logical operation and obtain accurate
Reliable information of vehicles, while information of vehicles is fed back to into braking force distribution device（103）；
Braking force distribution device（103）, it is used to receive from control module（102）Control information, carry out perform braking mould
The switching of formula with perform, so as to realize vehicle travel process in travelling adaptability for working condition brakes more.
2. a kind of hydro pneumatic suspension vehicle sense according to claim 1 carries multi-mode brakes, it is characterised in that the inspection
Survey device（101）For vehicle running state detection means, it include sense carry reforming unit, driving information supervising device；
The sense carries Transfer Medium pressure of the reforming unit comprising pressure sensor and pipeline, in by measuring hydro-pneumatic suspension system
Power, indirect gain car load information；
The driving information supervising device includes pressure sensor, and what it was obtained in that vehicle is pressure, brake force, speed letter
Breath.
3. a kind of hydro pneumatic suspension vehicle sense according to claim 1 carries multi-mode brakes, it is characterised in that the control
Molding block（102）It is made up of controller and electronic circuit；
Wherein controller includes input and output end, and the input signal of input includes：Load pressure information, speed of operation,
Brakes information；
The output signal of output end includes braking mode switching signal, on-position information, pattern early warning information.
4. a kind of hydro pneumatic suspension vehicle sense according to claim 1 carries multi-mode brakes, it is characterised in that described
Braking force distribution device（103）Including pressure limiting valve, magnetic valve, brake；Wherein, magnetic valve receives after control signal, performs system
Dynamic pattern switching；The different braking force distribution of vehicle is carried out using different pressure limiting valve or brake, is arranged.
5. a kind of hydro pneumatic suspension vehicle sense according to claim 3 carries multi-mode brakes, it is characterised in that described
Control module（102）It is divided into automatic control mode and hand brake pattern.
6. a kind of hydro pneumatic suspension vehicle sense according to claim 5 carries multi-mode brakes, it is characterised in that described
Control module（102）It is the control module with automatic fault alarm mode.
7. a kind of hydro pneumatic suspension vehicle sense according to claim 5 carries multi-mode brakes, it is characterised in that it is described from
The control module of dynamic control model（102）For the controller of control logic program can be write.
8. a kind of hydro pneumatic suspension vehicle sense carries multi-mode braking method, it is characterised in that comprise the following steps：
1）After vehicle launch, detection means（101）Automatic detection vehicle transport condition：Load, pressure, brake force, speed information,
And by the information transmission after collection to control module（102）；
2）Control module（102）Receiving detection device（101）The information state of transmission simultaneously carries out computing, judges residing traveling work
Condition and then selected braking mode：Automatic control mode and manual mode；
2.1）Automatic mode：According to vehicle running state detection information, according to the control logic of setting, selected braking mould is performed
Formula, and on-position warning residing for driver is given, if occur mismatching, fault warning is sent, point out driver to carry out
Hand pattern switching；
2.2）Manual mode：Manual mode is the supplement and Emergency Countermeasures of automatic mode, and manual mode arranges compulsory braking mould
Formula selecting switch, when hand brake mode selection switch is opened, control module（102）Automatic control mode is exited, is enforced
Manual mode options；
3）By above-mentioned both of which, control module（102）Control signal transmission to braking force distribution device（103）, by
Braking force distribution device（103）Perform corresponding braking force distribution setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955417.2A CN106627532A (en) | 2016-10-27 | 2016-10-27 | Multi-mode braking system of hydrocarbon suspending vehicle load sensing and braking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955417.2A CN106627532A (en) | 2016-10-27 | 2016-10-27 | Multi-mode braking system of hydrocarbon suspending vehicle load sensing and braking method |
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| Publication Number | Publication Date |
|---|---|
| CN106627532A true CN106627532A (en) | 2017-05-10 |
Family
ID=58821544
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610955417.2A Pending CN106627532A (en) | 2016-10-27 | 2016-10-27 | Multi-mode braking system of hydrocarbon suspending vehicle load sensing and braking method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254405A (en) * | 2019-06-25 | 2019-09-20 | 吉林大学 | A kind of automobile brake-by-wire control system and its control method driven towards automatic Pilot and intelligence auxiliary |
| CN112193076A (en) * | 2020-11-06 | 2021-01-08 | 徐州徐工汽车制造有限公司 | Electric automobile braking energy recovery device and method and electric automobile |
| CN112849143A (en) * | 2021-01-28 | 2021-05-28 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Vehicle brake control method and system and vehicle |
| CN115195678A (en) * | 2022-08-10 | 2022-10-18 | 阿波罗智能技术(北京)有限公司 | Emergency braking device, control method thereof and automatic driving vehicle |
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| CN1128713A (en) * | 1994-10-26 | 1996-08-14 | 罗伯特-博希股份公司 | Method and device for controlling or regulating the brake system of vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254405A (en) * | 2019-06-25 | 2019-09-20 | 吉林大学 | A kind of automobile brake-by-wire control system and its control method driven towards automatic Pilot and intelligence auxiliary |
| CN112193076A (en) * | 2020-11-06 | 2021-01-08 | 徐州徐工汽车制造有限公司 | Electric automobile braking energy recovery device and method and electric automobile |
| CN112849143A (en) * | 2021-01-28 | 2021-05-28 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Vehicle brake control method and system and vehicle |
| CN115195678A (en) * | 2022-08-10 | 2022-10-18 | 阿波罗智能技术(北京)有限公司 | Emergency braking device, control method thereof and automatic driving vehicle |
| CN115195678B (en) * | 2022-08-10 | 2024-09-10 | 阿波罗智能技术(北京)有限公司 | Emergency braking device, control method thereof and automatic driving vehicle |
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Application publication date: 20170510 |