CN106627550A - Brake controlling method and device - Google Patents
Brake controlling method and device Download PDFInfo
- Publication number
- CN106627550A CN106627550A CN201611220737.XA CN201611220737A CN106627550A CN 106627550 A CN106627550 A CN 106627550A CN 201611220737 A CN201611220737 A CN 201611220737A CN 106627550 A CN106627550 A CN 106627550A
- Authority
- CN
- China
- Prior art keywords
- deceleration
- vehicle
- electrons
- component
- braking
- 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.)
- Pending
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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
- B62L1/02—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements
- B62L1/04—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements the tyre surfaces being engaged
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a brake controlling method and device. The brake controlling method and device are applied to a vehicle. The vehicle is provided with a mechanical braking assembly which is used for carrying out mechanical braking to the vehicle. The vehicle is further provided with an electronic braking assembly used for carrying out electronic braking to the vehicle. The method comprises the following steps that starting of an electronic brake mode by the vehicle is detected, first parameters of the mechanical braking assembly are obtained, and the first parameters are used for reflecting the change of a braking distance of the mechanical braking assembly; according to the obtained first parameters and a preset electronic braking force output strategy, electronic braking force values corresponding to the first parameters are generated; and according to the generated electronic braking force values, the electronic braking assembly is controlled to carry out electronic braking at corresponding amplitude to the vehicle. According to the technical scheme, the problem that electronic braking force is uncontrollable when electronic braking is adopted can be solved.
Description
Technical field
The present invention relates to technical field of vehicle, and in particular to a kind of brake control method and device.
Background technology
Vehicle mainly has hand braking and two kinds of foot brake according to mode of braking, and the implementation of two kinds of modes of braking is main
There are deceleration of electrons, mechanical braking, electric mechanical composite braking mode.Adopt mechanical braking+deceleration of electrons mode on the market at present
Vehicle braking force it is often not enough, braking distance is longer, and safety coefficient is than relatively low, and Consumer's Experience is poor；Particularly vehicle high-speed
During traveling, can not stop in safe distance after braking, be easily caused accident generation.And, once start deceleration of electrons, electricity
The size of sub- brake force is constant, i.e., electronic braking force is uncontrollable, and then affects the controllability of integral stop.
The content of the invention
In view of this, the embodiment of the present invention is expected to provide a kind of brake control method and device, can solve using electronics system
Electronic braking force uncontrollable problem when dynamic.
To reach above-mentioned purpose, the technical scheme is that what is be achieved in that：
On the one hand, a kind of brake control method is embodiments provided, vehicle is applied to, the vehicle has machinery
Brake assemblies, the mechanical braking component is used to implement the vehicle mechanical braking, and the vehicle also has deceleration of electrons group
Part, the deceleration of electrons component is used to implement deceleration of electrons to the vehicle, and methods described includes：
When detecting the vehicle launch deceleration of electrons pattern, the first parameter of the mechanical braking component is obtained, it is described
First parameter is used to reflect the braking distance change of the mechanical braking component；
According to first parameter for obtaining, and default electronic braking force output policy, correspondence described first is produced
The electronic braking force value of parameter；
The deceleration of electrons component is controlled according to the electronic braking force value for producing corresponding is implemented to the vehicle
The deceleration of electrons of dynamics.
In such scheme, alternatively, the default electronic braking force output policy, including：
The value of the electronic braking force increases with the increase of first parameter, with the reduction of first parameter
Reduce.
In such scheme, alternatively, the default electronic braking force output policy, including：
The value change of the electronic braking force is linear to the change of the value of first parameter related.
In such scheme, alternatively, also there is the vehicle braking distance for sensing the mechanical braking component to become
The first sensor of change, the first parameter of the acquisition mechanical braking component, including：
The signal value output of the first sensor is obtained, using the signal value output as first parameter；Wherein,
The signal value output of the first sensor changes with the change of the braking distance of the mechanical braking component.
It is alternatively, described that deceleration of electrons component is controlled to vehicle according to the electronic braking force value for producing in such scheme
Implement the deceleration of electrons of corresponding dynamics, including：
The size of the reversing the current of input motor is determined according to the electronic braking force value；
The reversing the current of the circuit board of the vehicle to the motor input size is driven, makes the motor be based on institute
The corresponding reversely torsion of reversing the current output is stated, to brake the vehicle.
In such scheme, alternatively, methods described also includes：
When the first entry condition is met, start deceleration of electrons pattern；
Wherein, first entry condition, including：The braking distance of the mechanical braking component is more than or equal to default
First threshold, braking distance of the mechanical braking component in initial position is 0, the braking distance of the mechanical braking component
For the mechanical braking component relative to initial position stroke, the first threshold be more than 0.
In such scheme, alternatively, methods described also includes：
When the first exit criteria is met, the deceleration of electrons pattern is exited, after the deceleration of electrons pattern is exited, stopped
Only to the enforcement deceleration of electrons of the vehicle；
Wherein, first exit criteria, including：
The braking distance of the mechanical braking component is more than or equal to default Second Threshold, wherein, the Second Threshold is big
In the first threshold；Or
The braking distance of the mechanical braking component be less than default 3rd threshold value, wherein, the 3rd threshold value be less than or
Equal to the first threshold；Or
The speed and/or acceleration of the vehicle is less than or equal to default 4th threshold value.
In such scheme, alternatively, the vehicle is Segway Human Transporter, and the mechanical braking component is the electric return board
The front-wheel of car and/or the mud guard of trailing wheel, the deceleration of electrons component is used for front-wheel and/or trailing wheel for the Segway Human Transporter
Implement deceleration of electrons.
Second aspect, the embodiment of the present invention additionally provides a kind of brake control, is applied to vehicle, and the vehicle has
Mechanical braking component, the mechanical braking component is used to implement the vehicle mechanical braking, and the vehicle also has electronics system
Dynamic component, the deceleration of electrons component is used to implement deceleration of electrons to the vehicle, and described device includes：
Detector unit, for detecting whether the vehicle starts deceleration of electrons pattern；
Acquiring unit, for when the detector unit detects the vehicle launch deceleration of electrons pattern, obtaining described
First parameter of mechanical braking component, first parameter is used to reflect the braking distance change of the mechanical braking component；
Determining unit, for according to first parameter for obtaining, and default electronic braking force output policy, producing
The electronic braking force value of correspondence first parameter；
Control unit, for controlling the deceleration of electrons component to the car according to the electronic braking force value for producing
Implement the deceleration of electrons of corresponding dynamics.
In such scheme, alternatively, the default electronic braking force output policy, including：
The value of the electronic braking force increases with the increase of first parameter, with the reduction of first parameter
Reduce.
In such scheme, alternatively, the default electronic braking force output policy, including：
The value change of the electronic braking force is linear to the change of the value of first parameter related.
In such scheme, alternatively, also there is the vehicle braking distance for sensing the mechanical braking component to become
The first sensor of change, the acquiring unit, is additionally operable to：
The signal value output of the first sensor is obtained, using the signal value output as first parameter；Wherein,
The signal value output of the first sensor changes with the change of the braking distance of the mechanical braking component.
In such scheme, alternatively, the determining unit, specifically for：
The size of the reversing the current of input motor is determined according to the electronic braking force value；
The reversing the current of the circuit board of the vehicle to the motor input size is driven, makes the motor be based on institute
The corresponding reversely torsion of reversing the current output is stated, to brake the vehicle.
In such scheme, alternatively, described control unit is additionally operable to：
When the first entry condition is met, start deceleration of electrons pattern；
Wherein, first entry condition, including：The braking distance of the mechanical braking component is more than or equal to default
First threshold, braking distance of the mechanical braking component in initial position is 0, the braking distance of the mechanical braking component
For the mechanical braking component relative to initial position stroke, the first threshold be more than 0.
In such scheme, alternatively, described control unit is additionally operable to：
When the first exit criteria is met, the deceleration of electrons pattern is exited, after the deceleration of electrons pattern is exited, stopped
Only to the enforcement deceleration of electrons of the vehicle；
Wherein, first exit criteria, including：
The braking distance of the mechanical braking component is more than or equal to default Second Threshold, wherein, the Second Threshold is big
In the first threshold；Or
The braking distance of the mechanical braking component be less than default 3rd threshold value, wherein, the 3rd threshold value be less than or
Equal to the first threshold；Or
The speed and/or acceleration of the vehicle is less than or equal to default 4th threshold value.
In such scheme, alternatively, the vehicle is Segway Human Transporter, and the mechanical braking component is the electric return board
The front-wheel of car and/or the mud guard of trailing wheel, the deceleration of electrons component is used for front-wheel and/or trailing wheel for the Segway Human Transporter
Implement deceleration of electrons.
Brake control method provided in an embodiment of the present invention and device, when detecting vehicle launch deceleration of electrons pattern, obtain
Take the first parameter of the braking distance change in reflection mechanical braking component；According to first parameter for obtaining, and in advance
If electronic braking force output policy, produce the electronic braking force value of correspondence first parameter；According to the electricity for producing
Sub- brake force value controls the deceleration of electrons that the deceleration of electrons component implements corresponding dynamics to the vehicle.Using the present invention
Technical scheme described in embodiment, can solve using electronic braking force uncontrollable problem during deceleration of electrons, and then it is whole to improve vehicle
The dynamic controllability of system.
Description of the drawings
Fig. 1 is that a kind of brake control method provided in an embodiment of the present invention realizes schematic flow sheet；
Fig. 2 is the overall schematic of Segway Human Transporter provided in an embodiment of the present invention；
Fig. 3 is a kind of position relationship signal of mechanical braking component provided in an embodiment of the present invention, first sensor, wheel
Figure；
Fig. 4 is that mechanical braking component provided in an embodiment of the present invention, first sensor, another kind of position relationship of wheel show
It is intended to；
Fig. 5 is a kind of composition structural representation of brake control provided in an embodiment of the present invention.
Specific embodiment
The characteristics of in order to more fully hereinafter understand the present invention and technology contents, below in conjunction with the accompanying drawings to the reality of the present invention
Now it is described in detail, appended accompanying drawing purposes of discussion only for reference, not for limiting the present invention.
Embodiment one
Fig. 1 is that a kind of brake control method provided in an embodiment of the present invention realizes schematic flow sheet, is applied to vehicle, institute
State vehicle and there is mechanical braking component, the mechanical braking component is used to implement mechanical braking to the vehicle, and the vehicle is also
With deceleration of electrons component, the deceleration of electrons component is used to implement deceleration of electrons to the vehicle, as shown in figure 1, the system
Flowing control method is mainly included the following steps that：
Step 101：When detecting the vehicle launch deceleration of electrons pattern, the first ginseng of the mechanical braking component is obtained
Number, first parameter is used to reflect the braking distance change of the mechanical braking component.
Alternatively, the vehicle also has the first sensing for sensing the braking distance change of the mechanical braking component
Device.Exemplarily, the first sensor may be disposed at the lower section of the mechanical braking component.
Wherein, first sensor is generally Hall element.Certainly, the first sensor can also be that knob is variable
The sensors such as resistor, grating disc.
As a kind of optional embodiment, the first parameter of the acquisition mechanical braking component, including：
The signal value output of the first sensor is obtained, using the signal value output as first parameter.
Wherein, the signal value output of the first sensor becomes with the change of the braking distance of the mechanical braking component
Change.
Step 102：According to first parameter for obtaining, and default electronic braking force output policy, correspondence is produced
The electronic braking force value of first parameter.
As a kind of optional embodiment, the default electronic braking force output policy, including：
The value of the electronic braking force increases with the increase of first parameter, with the reduction of first parameter
Reduce.
Here, the value of the electronic braking force increases with the increase of first parameter, the electronic braking force
Value reduces with the reduction of first parameter.But, between the value of different electronic braking forces and different first parameters
Coefficient correlation might not be identical.
For example, first parameter represents that the value change of the electronic braking force is represented with N with M, it is assumed that：When
When first parameter uses M1, the value of the electronic braking force is N1；When first parameter uses M2, the deceleration of electrons
The value of power is N2；When first parameter uses M3, the value of the electronic braking force is N3；As M1 ＜ M2 ＜ M3, then
N1 ＜ N2 ＜ N3, but (N2-N1)/(M2-M1)=k1, (N3-N2)/(M3-M2)=k2, (N3-N1)/(M3-M1)=k3, k1
≠k2≠k3.That is, although value N of the electronic braking force increases with the increase of first parameter M, but each
The coefficient correlation in stage is simultaneously differed.
As a kind of optional embodiment, the default electronic braking force output policy, including：
The value change of the electronic braking force is linear to the change of the value of first parameter related.
For example, first parameter represents that the value change of the electronic braking force is represented with N with M, then, N=
k*M；Wherein, k represents coefficient correlation.
It will again be assumed that, when first parameter uses M1, the value of the electronic braking force is N1；When first parameter is used
During M2, the value of the electronic braking force is N2；When first parameter uses M3, the value of the electronic braking force is N3；
Then have, M1 ＜ M2 ＜ M3, N1 ＜ N2 ＜ N3, but,
(N2-N1)/(M2-M1)=(N3-N2)/(M3-M2)=(N3-N1)/(M3-M1)=k.
Step 103：The deceleration of electrons component is controlled to the vehicle reality according to the electronic braking force value for producing
Apply the deceleration of electrons of corresponding dynamics.
It is described that deceleration of electrons component is controlled to car according to the electronic braking force value for producing as a kind of optional embodiment
Implement the deceleration of electrons of corresponding dynamics, including：
The size of the reversing the current of input motor is determined according to the electronic braking force value；
The reversing the current of the circuit board of the vehicle to the motor input size is driven, makes the motor be based on institute
The corresponding reversely torsion of reversing the current output is stated, to brake the vehicle.
In such scheme, alternatively, methods described also includes：
When the first entry condition is met, start deceleration of electrons pattern；
Wherein, first entry condition, including：The braking distance of the mechanical braking component is more than or equal to default
First threshold, braking distance of the mechanical braking component in initial position is 0, the braking distance of the mechanical braking component
For the mechanical braking component relative to initial position stroke, the first threshold be more than 0.
Here, the initial position refers to the initial position of the mechanical braking component.
So, it is possible, when the first entry condition is met, the deceleration of electrons pattern can be started.
As a kind of optional embodiment, when the braking distance when the mechanical braking component is in initial position is 0, open
Dynamic deceleration of electrons pattern.Wherein, the braking distance of the mechanical braking component is the mechanical braking component relative to initial bit
The stroke put.
That is, first triggering deceleration of electrons pattern, i.e. when mechanical braking pattern is not acted upon, deceleration of electrons
Pattern can work.
As a kind of optional embodiment, in the braking distance of the mechanical braking component default first is more than or equal to
Threshold value, the first threshold is more than 0, wherein, the braking distance of the mechanical braking component is that the mechanical braking component is relative
In the stroke of initial position.
That is, when the mechanical braking component produces certain stroke and changes relative to initial position, just triggering
Deceleration of electrons pattern.
It is understood that in above-mentioned first entry condition, the braking distance of the mechanical braking component can with institute
State other relevant relevant parameters of mechanical braking component to replace.
In such scheme, alternatively, methods described also includes：
When the first exit criteria is met, the deceleration of electrons pattern is exited, after the deceleration of electrons pattern is exited, stopped
Only to the enforcement deceleration of electrons of the vehicle；
Wherein, first exit criteria, including：
The braking distance of the mechanical braking component is more than or equal to default Second Threshold, wherein, the Second Threshold is big
In the first threshold；Or
The braking distance of the mechanical braking component be less than default 3rd threshold value, wherein, the 3rd threshold value be less than or
Equal to the first threshold；Or
The speed and/or acceleration of the vehicle is less than or equal to default 4th threshold value.
So, it is possible, when the first exit criteria is met, the deceleration of electrons pattern can be exited.
As a kind of optional embodiment, the braking distance of the mechanical braking component is being met more than or equal to default
Second Threshold, wherein, when the Second Threshold is more than the first threshold, the deceleration of electrons pattern is exited, it is described exiting
After deceleration of electrons pattern, stop the enforcement deceleration of electrons to the vehicle.
That is, in the case that mechanical braking pattern has been turned on deceleration of electrons pattern, detecting mechanical braking
When braking distance is more than or equal to default Second Threshold, deceleration of electrons pattern can be closed or exited.
As a kind of optional embodiment, in the braking distance for meeting the mechanical braking component default 3rd threshold is less than
Value, wherein, when the 3rd threshold value is less than or equal to the first threshold, the deceleration of electrons pattern is exited, it is described exiting
After deceleration of electrons pattern, stop the enforcement deceleration of electrons to the vehicle.
That is, as a kind of application scenario, if the braking distance when the mechanical braking component is in initial position
For first threshold when, start deceleration of electrons pattern, then, when detecting the braking distance of the mechanical braking component less than default
Three threshold values when, can close or exit deceleration of electrons.
That is, as another kind of application scenario, if the braking row when the mechanical braking component is in initial position
When journey is 0, start deceleration of electrons pattern, when the braking distance for detecting the mechanical braking component is more than 0, mechanical braking is simultaneously
Not necessarily function to, the braking distance when the mechanical braking component is detected in initial position is less than the default 3rd
During threshold value, deceleration of electrons can be closed or exited.
As a kind of optional embodiment, the speed and/or acceleration of the vehicle are being met less than or equal to default
During the exit criteria of the 4th threshold value, the deceleration of electrons pattern is exited, after the deceleration of electrons pattern is exited, stopped to described
The enforcement deceleration of electrons of vehicle.
That is, in the case where deceleration of electrons has been started up, no matter whether mechanical braking works, when detecting
When the speed and/or acceleration for stating vehicle is less than or equal to default four threshold value, deceleration of electrons can be closed or exited.
It is understood that in above-mentioned first exit criteria, the braking distance of the mechanical braking component can with institute
State other relevant relevant parameters of mechanical braking component to replace.
In the present embodiment, above-mentioned first threshold, Second Threshold, the 3rd threshold value, the 4th threshold value can before vehicle release root
Set according to safety standard, also can be adjusted according to the demand for security of oneself by user during follow-up use.
In the present embodiment, the mechanical braking component includes but is not limited to brake block.
In such scheme, alternatively, the vehicle is Segway Human Transporter.
Here, when the vehicle is Segway Human Transporter, the mechanical braking component is the front-wheel of the Segway Human Transporter
And/or the mud guard of trailing wheel, the deceleration of electrons component be used for for the Segway Human Transporter front-wheel and/or trailing wheel implement electronics
Braking.Alternatively, the mechanical braking component can also be that the hand of the Segway Human Transporter pinches damper brake.
Brake control method provided in an embodiment of the present invention, when detecting vehicle launch deceleration of electrons pattern, obtaining is used for
First parameter of the braking distance change of reflection mechanical braking component；According to first parameter for obtaining, and default electricity
Sub- brake force output policy, produces the electronic braking force value of correspondence first parameter；According to the deceleration of electrons for producing
Power value controls the deceleration of electrons that the deceleration of electrons component implements corresponding dynamics to the vehicle.Using the embodiment of the present invention
The technical scheme, can solve using deceleration of electrons when the uncontrollable problem of electronic braking force, and then improve integral stop can
Control property.
Embodiment two
Below, only illustrate so that vehicle is as Segway Human Transporter as an example.
Fig. 2 is the overall schematic of Segway Human Transporter provided in an embodiment of the present invention, as shown in Fig. 2 the Segway Human Transporter
Including car body, front-wheel, trailing wheel, mechanical braking component, the mechanical braking component may be disposed on trailing wheel.Certainly, the machinery
Brake assemblies may also set up on front-wheel.
Fig. 3 is a kind of position relationship signal of mechanical braking component provided in an embodiment of the present invention, first sensor, wheel
Figure, as shown in figure 3, first sensor S2 is arranged at the lower section of mechanical braking component S1.Point of rotation P is a bit on car body, institute
Stating mechanical braking component S1 can be rotated around point of rotation P, the measurable mechanical braking component S1 of the first sensor S2
The first parameter, as described in measurable mechanical braking component S1 around car body point of rotation P rotation amount M.Mechanical braking component
S1 and wheel S3 has a certain distance, if the distance between the mechanical braking component S1 and wheel S3 is H.In the present embodiment,
The wheel S3 is the wheel with motor.
As shown in figure 3, when the mechanical braking component S1 is not triggered, between the mechanical braking component S1 and wheel S3
Distance be H.When the mechanical braking component S1 is not acted upon, the braking distance of the mechanical braking component S1 for [0, H).
When the mechanical braking component S1 is triggered, mechanical braking component, first sensor, another kind of position of wheel are closed
System, as shown in figure 4, the distance between the mechanical braking component S1 and wheel S3 is less than H, that is to say, that the machinery system
The braking distance of dynamic component S1 starts to change, alternatively, the braking distance for (0, H].The mechanical braking component S1
Braking distance it is bigger, if deceleration of electrons pattern be in starting state, then, electronic braking force is bigger.When the mechanical braking
When the braking distance of component S1 reaches H, the mechanical braking component S1 is functioned to.
The brake control being arranged in the Segway Human Transporter, detects Segway Human Transporter and starts deceleration of electrons pattern
When, obtain for reflecting the first parameter that the braking distance of mechanical braking component changes；According to obtain first parameter, with
And default electronic braking force output policy, produce the electronic braking force value of correspondence first parameter；According to the institute for producing
State the deceleration of electrons that electronic braking force value control deceleration of electrons component implements corresponding dynamics to the Segway Human Transporter.
For example, the brake control being arranged in the Segway Human Transporter, detects whether the Segway Human Transporter starts
Deceleration of electrons pattern, when the Segway Human Transporter startup deceleration of electrons pattern is detected, obtains the mechanical braking component and encloses
Around the rotation amount M of the point of rotation P rotations of the car body of the Segway Human Transporter；It is default corresponding with rotation amount according to electronic braking force
Relation, such as N=k*M, determine electronic braking force N；Based on the electronic braking force N determine input motor reversing the current it is big
It is little；The reversing the current of the circuit board of the vehicle to the motor input size is driven, the motor is made based on described anti-
To the corresponding reversely torsion of electric current output, to implement deceleration of electrons to the Segway Human Transporter.
Specifically, rotation of the mechanical braking component around the point of rotation P rotations of the car body of the Segway Human Transporter is obtained
Turn amount M, including：Obtain the change amount signal of first sensor output；Wherein, the first sensor is according to the machine for measuring
The angle that tool brake assemblies rotate around the point of rotation, output signal variable quantity；According to the change amount signal is obtained
Rotation amount M of the mechanical braking component around the point of rotation rotation of the car body of the vehicle.
With the mud guard of trailing wheel that the mechanical braking component is the Segway Human Transporter, the deceleration of electrons component is used for
Trailing wheel for the Segway Human Transporter implements deceleration of electrons, is that application scenarios are described.
As a kind of embodiment, start deceleration of electrons pattern, when the mud guard S1 is stepped on, mud guard S1 surrounds car
The point of rotation P rotations of body, the microcontroller (MCU, Micro Controller Unit) in brake control is passed according to first
The signal intensity value of sensor S2 outputs is calculated, and obtains the rotation amount M as front mudguard S1, rotation amount M and deceleration of electrons
Power N linear correlation；MCU is input into reverse electric current according to the electronic braking force N for obtaining, drive circuit board to motor, and motor starts
Retarded motion is done, wherein, the motor is located on trailing wheel S3.But, the distance between mud guard S1 and trailing wheel S3 is more than 0
When, i.e. before not starting friction between mud guard S1 and trailing wheel S3, mechanical braking pattern is not actuated, and mechanical braking is not acted upon.
After friction is started between mud guard S1 and trailing wheel S3, Crush trigger braking mode, while mechanical braking works, electricity
Son braking can both work and can also close.Certainly, before mechanical braking is not acted upon, when meeting the first exit criteria
When, exit deceleration of electrons pattern.
Used as another embodiment, when friction is started between mud guard S1 and trailing wheel S3, first Crush trigger brakes mould
Formula, mechanical braking is functioned to.Then, deceleration of electrons pattern is triggered, the MCU in brake control is according to first sensor
The signal intensity value of S2 outputs is calculated, and obtains the rotation amount M as front mudguard S1, rotation amount M and electronic braking force N lines
Property it is related；MCU is input into reverse electric current according to the electronic braking force N for obtaining, drive circuit board to motor, and motor starts to do and slows down
Motion, wherein, the motor is located on trailing wheel S3.During mechanical braking works, deceleration of electrons both can work
Can also close.
As another embodiment, when friction is started between mud guard S1 and trailing wheel S3, Crush trigger braking mode,
Mechanical braking is functioned to.While Crush trigger braking mode, deceleration of electrons pattern is also triggered, in brake control
MCU calculated according to the signal intensity value that first sensor S2 is exported, obtain the rotation amount M as front mudguard S1, the rotation
Turn amount M and electronic braking force N linear correlations；MCU is according to the electronic braking force N for obtaining, and drive circuit board is reverse to motor input
Electric current, motor starts to do retarded motion, wherein, the motor is located on trailing wheel S3.During mechanical braking works,
Deceleration of electrons can both work and can also close.
With the mud guard of trailing wheel that the mechanical braking component is the Segway Human Transporter, the deceleration of electrons component is used for
Front-wheel for the Segway Human Transporter implements deceleration of electrons.
As a kind of embodiment, start deceleration of electrons pattern, when the mud guard S1 is stepped on, mud guard S1 surrounds car
The point of rotation P rotations of body, the MCU in brake control is calculated according to the signal intensity value that first sensor S2 is exported,
Obtain the rotation amount M as front mudguard S1, rotation amount M and electronic braking force N linear correlations；MCU is according to the electronics system for obtaining
Power N, drive circuit board to motor is input into reverse electric current, and motor starts to do retarded motion, wherein, the motor is located at front-wheel
On S3.But, when the distance between mud guard S1 and trailing wheel S3 is more than 0, i.e. do not start to rub between mud guard S1 and trailing wheel S3
Before wiping, mechanical braking pattern is not actuated, and mechanical braking is not acted upon.When starting friction between mud guard S1 and trailing wheel S3
Afterwards, Crush trigger braking mode, while mechanical braking works, deceleration of electrons pattern can both work and can also close
Close.
Used as another embodiment, when friction is started between mud guard S1 and trailing wheel S3, first Crush trigger brakes mould
Formula, mechanical braking is functioned to.Then, deceleration of electrons pattern is triggered, the MCU in brake control is according to first sensor
The signal intensity value of S2 outputs is calculated, and obtains the rotation amount M as front mudguard S1, rotation amount M and electronic braking force N lines
Property it is related；MCU is input into reverse electric current according to the electronic braking force N for obtaining, drive circuit board to motor, and motor starts to do and slows down
Motion, wherein, the motor is located on front-wheel S3.During mechanical braking works, deceleration of electrons pattern both can rise
Effect can also be closed, for example, when the speed and/or acceleration that detect the vehicle are less than or equal to default 4th threshold value
When, can close or exit deceleration of electrons.
As another embodiment, when friction is started between mud guard S1 and trailing wheel S3, Crush trigger braking mode,
Mechanical braking is functioned to.While Crush trigger braking mode, deceleration of electrons pattern is also triggered, in brake control
MCU calculated according to the signal intensity value that first sensor S2 is exported, obtain the rotation amount M as front mudguard S1, the rotation
Turn amount M and electronic braking force N linear correlations；MCU is according to the electronic braking force N for obtaining, and drive circuit board is reverse to motor input
Electric current, motor starts to do retarded motion, wherein, the motor is located on front-wheel S3.During mechanical braking works,
Deceleration of electrons pattern can both work and can also close.
In the present embodiment, it is preferable that the motor is wheel hub motor.
In the present embodiment, due to the rotatable limited extent of mud guard machinery, i.e. rotation amount M is one the value of the upper limit, because
This can pass through to change susceptibility of the coefficient k change electronic braking force to M, and for example, k is bigger, and working as mud guard S1 rotation amounts are trampled
In the case of constant, N is bigger, and electronic braking force is stronger.
The deceleration of electrons mode of the foot control of the embodiment of the present invention, is realized by reverse motor input direction electric current, and relative
For the current simply simple electric brake mode that the realization of motor three-phase shortcircuit is braked, deceleration of electrons controllability is strong,
Solve electronic brake force deficiency and the uncontrollable problem of electronic brake force in existing electric brake mode.
Embodiment three
A kind of brake control is embodiments provided, vehicle is applied to, the vehicle has mechanical braking group
Part, the mechanical braking component is used to implement the vehicle mechanical braking, and the vehicle also has deceleration of electrons component, described
Deceleration of electrons component is used to implement deceleration of electrons to the vehicle, and Fig. 5 is brake control provided in an embodiment of the present invention
Composition structural representation, as shown in figure 5, the brake control includes：Detector unit 51, acquiring unit 52, determining unit
53rd, control unit 54；Wherein,
The detector unit 51, for detecting whether the vehicle starts deceleration of electrons pattern；
The acquiring unit 52, for when the detector unit 51 detects the vehicle launch deceleration of electrons pattern,
The first parameter of the mechanical braking component is obtained, first parameter is used to reflect the braking distance of the mechanical braking component
Change；
The determining unit 53, for exporting plan according to first parameter for obtaining, and default electronic braking force
Slightly, the electronic braking force value of correspondence first parameter is produced；
Described control unit 54, for controlling the deceleration of electrons component pair according to the electronic braking force value for producing
The vehicle implements the deceleration of electrons of corresponding dynamics.
As a kind of optional embodiment, the default electronic braking force output policy, including：
The value of the electronic braking force increases with the increase of first parameter, with the reduction of first parameter
Reduce.
As a kind of specific embodiment, the default electronic braking force output policy, including：
The value change of the electronic braking force is linear to the change of the value of first parameter related.
Further, the vehicle also has the first biography for sensing the braking distance change of the mechanical braking component
Sensor, the acquiring unit 52, is additionally operable to：
The signal value output of the first sensor is obtained, using the signal value output as first parameter；Wherein,
The signal value output of the first sensor changes with the change of the braking distance of the mechanical braking component.
As a kind of optional embodiment, the determining unit 53, specifically for：
The size of the reversing the current of input motor is determined according to the electronic braking force value；
The reversing the current of the circuit board of the vehicle to the motor input size is driven, makes the motor be based on institute
The corresponding reversely torsion of reversing the current output is stated, to brake the vehicle.
Further, described control unit 54, are additionally operable to：
When the first entry condition is met, start deceleration of electrons pattern；
Wherein, first entry condition, including：The braking distance of the mechanical braking component is more than or equal to default
First threshold, braking distance of the mechanical braking component in initial position is 0, the braking distance of the mechanical braking component
For the mechanical braking component relative to initial position stroke, the first threshold be more than 0.
Further, described control unit 54, are additionally operable to：
When the first exit criteria is met, the deceleration of electrons pattern is exited, after the deceleration of electrons pattern is exited, stopped
Only to the enforcement deceleration of electrons of the vehicle；
Wherein, first exit criteria, including：
The braking distance of the mechanical braking component is more than or equal to default Second Threshold, wherein, the Second Threshold is big
In the first threshold；Or
The braking distance of the mechanical braking component be less than default 3rd threshold value, wherein, the 3rd threshold value be less than or
Equal to the first threshold；Or
The speed and/or acceleration of the vehicle is less than or equal to default 4th threshold value.
In such scheme, the vehicle is Segway Human Transporter, and the mechanical braking component is before the Segway Human Transporter
The mud guard of wheel and/or trailing wheel, the deceleration of electrons component is used to implement electricity for the front-wheel and/or trailing wheel of the Segway Human Transporter
Son braking.
It will be appreciated by those skilled in the art that in the brake control of the present embodiment each unit function, before can refer to
State the associated description of brake control method and understand.
In practical application, above-mentioned detector unit 51, acquiring unit 52, determining unit 53, the concrete structure of control unit 54
May both correspond to processor.The specific structure of the processor can be central processing unit (CPU, Central Processing
Unit), microprocessor (MCU, Micro Controller Unit), digital signal processor (DSP, Digital Signal
) or PLD (PLC, Programmable Logic Controller) etc. has processing function Processing
Electronic devices and components or electronic devices and components set.Wherein, the processor includes executable code, and the executable code is deposited
In storage medium, the processor can be connected by communication interfaces such as buses with the storage medium, perform tool for storage
During the corresponding function of each unit of body, the executable code is read and run from the storage medium.The storage medium
Part for storing the executable code is preferably non-moment storage medium.Wherein, the executable code is used to perform
Control method described in the various embodiments described above.
Control device can be applicable to vehicle described in the present embodiment.
Brake control described in the present embodiment, can solve using electronic braking force uncontrollable problem during deceleration of electrons,
And then the controllability of raising integral stop.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it can be passed through
Its mode is realized.Apparatus embodiments described above are only schematic, and for example, the division of the unit is only
A kind of division of logic function, can have other dividing mode, such as when actually realizing：Multiple units or component can be combined, or
Another system is desirably integrated into, or some features can be ignored, or do not perform.In addition, shown or discussed each composition portion
Coupling point each other or direct-coupling or communication connection can be the INDIRECT COUPLINGs by some interfaces, equipment or unit
Or communication connection, can be electrical, machinery or other forms.
The above-mentioned unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location；Both a place had been may be located at, it is also possible to be distributed to multiple network lists
In unit；Part or all of unit therein can according to the actual needs be selected to realize the purpose of this embodiment scheme.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in a processing unit, also may be used
Being each unit individually as a unit, it is also possible to which two or more units are integrated in a unit；It is above-mentioned
Integrated unit both can be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of said method embodiment can pass through
Completing, aforesaid program can be stored in computer read/write memory medium the related hardware of programmed instruction, and the program exists
During execution, the step of including said method embodiment is performed；And aforesaid storage medium includes：Movable storage device, read-only deposit
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or
CD etc. is various can be with the medium of store program codes.
Or, if the above-mentioned integrated unit of the present invention is realized and as independent product using in the form of software function module
When selling or using, it is also possible in being stored in a computer read/write memory medium.Based on such understanding, the present invention is implemented
The part that the technical scheme of example substantially contributes in other words to prior art can be embodied in the form of software product,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) perform all or part of each embodiment methods described of the invention.
And aforesaid storage medium includes：Movable storage device, ROM, RAM, magnetic disc or CD etc. are various can be with store program codes
Medium.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by the scope of the claims.
Claims (16)
1. a kind of brake control method, is applied to vehicle, it is characterised in that the vehicle has mechanical braking component, the machine
Tool brake assemblies are used to implement the vehicle mechanical braking, and the vehicle also has deceleration of electrons component, the deceleration of electrons
Component is used to implement deceleration of electrons to the vehicle, and methods described includes：
When detecting the vehicle launch deceleration of electrons pattern, the first parameter of the acquisition mechanical braking component, described first
Parameter is used to reflect the braking distance change of the mechanical braking component；
According to first parameter for obtaining, and default electronic braking force output policy, correspondence first parameter is produced
Electronic braking force value；
The deceleration of electrons component is controlled according to the electronic braking force value for producing corresponding dynamics is implemented to the vehicle
Deceleration of electrons.
2. method according to claim 1, it is characterised in that the default electronic braking force output policy, including：
The value of the electronic braking force increases with the increase of first parameter, subtracts with the reduction of first parameter
It is little.
3. method according to claim 2, it is characterised in that the default electronic braking force output policy, including：
The value change of the electronic braking force is linear to the change of the value of first parameter related.
4. method according to claim 1, it is characterised in that the vehicle also has for sensing the mechanical braking group
The first sensor of the braking distance change of part, the first parameter of the acquisition mechanical braking component, including：
The signal value output of the first sensor is obtained, using the signal value output as first parameter；Wherein, it is described
The signal value output of first sensor changes with the change of the braking distance of the mechanical braking component.
5. method according to claim 1, it is characterised in that described according to the electronic braking force value for producing control electronics
Brake assemblies implement the deceleration of electrons of corresponding dynamics to vehicle, including：
The size of the reversing the current of input motor is determined according to the electronic braking force value；
The reversing the current of the circuit board of the vehicle to the motor input size is driven, the motor is made based on described anti-
To the corresponding reversely torsion of electric current output, to brake the vehicle.
6. method according to claim 1, it is characterised in that methods described also includes：
When the first entry condition is met, start deceleration of electrons pattern；
Wherein, first entry condition, including：The braking distance of the mechanical braking component is more than or equal to default first
Threshold value, braking distance of the mechanical braking component in initial position is 0, and the braking distance of the mechanical braking component is institute
Stroke of the mechanical braking component relative to initial position is stated, the first threshold is more than 0.
7. method according to claim 6, it is characterised in that methods described also includes：
When the first exit criteria is met, the deceleration of electrons pattern is exited, after the deceleration of electrons pattern is exited, it is right to stop
The enforcement deceleration of electrons of the vehicle；
Wherein, first exit criteria, including：
The braking distance of the mechanical braking component is more than or equal to default Second Threshold, wherein, the Second Threshold is more than institute
State first threshold；Or
The braking distance of the mechanical braking component is less than default 3rd threshold value, wherein, the 3rd threshold value is less than or equal to
The first threshold；Or
The speed and/or acceleration of the vehicle is less than or equal to default 4th threshold value.
8. the method according to any one of claim 1 to 7, it is characterised in that the vehicle is Segway Human Transporter, the machine
Tool brake assemblies are the mud guard of the front-wheel of the Segway Human Transporter and/or trailing wheel, and the deceleration of electrons component is used to be described
The front-wheel of Segway Human Transporter and/or trailing wheel implement deceleration of electrons.
9. a kind of brake control, is applied to vehicle, it is characterised in that the vehicle has mechanical braking component, the machine
Tool brake assemblies are used to implement the vehicle mechanical braking, and the vehicle also has deceleration of electrons component, the deceleration of electrons
Component is used to implement deceleration of electrons to the vehicle, and described device includes：
Detector unit, for detecting whether the vehicle starts deceleration of electrons pattern；
Acquiring unit, for when the detector unit detects the vehicle launch deceleration of electrons pattern, obtaining the machinery
First parameter of brake assemblies, first parameter is used to reflect the braking distance change of the mechanical braking component；
Determining unit, for according to first parameter for obtaining, and default electronic braking force output policy, producing correspondence
The electronic braking force value of first parameter；
Control unit, for controlling the deceleration of electrons component to the vehicle reality according to the electronic braking force value for producing
Apply the deceleration of electrons of corresponding dynamics.
10. device according to claim 9, it is characterised in that the default electronic braking force output policy, including：
The value of the electronic braking force increases with the increase of first parameter, subtracts with the reduction of first parameter
It is little.
11. devices according to claim 10, it is characterised in that the default electronic braking force output policy, including：
The value change of the electronic braking force is linear to the change of the value of first parameter related.
12. devices according to claim 9, it is characterised in that the vehicle also has for sensing the mechanical braking
The first sensor of the braking distance change of component, the acquiring unit is additionally operable to：
The signal value output of the first sensor is obtained, using the signal value output as first parameter；Wherein, it is described
The signal value output of first sensor changes with the change of the braking distance of the mechanical braking component.
13. devices according to claim 9, it is characterised in that the determining unit, specifically for：
The size of the reversing the current of input motor is determined according to the electronic braking force value；
The reversing the current of the circuit board of the vehicle to the motor input size is driven, the motor is made based on described anti-
To the corresponding reversely torsion of electric current output, to brake the vehicle.
14. devices according to claim 9, it is characterised in that described control unit, are additionally operable to：
When the first entry condition is met, start deceleration of electrons pattern；
Wherein, first entry condition, including：The braking distance of the mechanical braking component is more than or equal to default first
Threshold value, braking distance of the mechanical braking component in initial position is 0, and the braking distance of the mechanical braking component is institute
Stroke of the mechanical braking component relative to initial position is stated, the first threshold is more than 0.
15. devices according to claim 14, it is characterised in that described control unit, are additionally operable to：
When the first exit criteria is met, the deceleration of electrons pattern is exited, after the deceleration of electrons pattern is exited, it is right to stop
The enforcement deceleration of electrons of the vehicle；
Wherein, first exit criteria, including：
The braking distance of the mechanical braking component is more than or equal to default Second Threshold, wherein, the Second Threshold is more than institute
State first threshold；Or
The braking distance of the mechanical braking component is less than default 3rd threshold value, wherein, the 3rd threshold value is less than or equal to
The first threshold；Or
The speed and/or acceleration of the vehicle is less than or equal to default 4th threshold value.
16. devices according to any one of claim 9 to 15, it is characterised in that the vehicle is Segway Human Transporter, described
Mechanical braking component is the mud guard of the front-wheel of the Segway Human Transporter and/or trailing wheel, and the deceleration of electrons component is used for as institute
The front-wheel and/or trailing wheel for stating Segway Human Transporter implements deceleration of electrons.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611220737.XA CN106627550A (en) | 2016-12-26 | 2016-12-26 | Brake controlling method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611220737.XA CN106627550A (en) | 2016-12-26 | 2016-12-26 | Brake controlling method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106627550A true CN106627550A (en) | 2017-05-10 |
Family
ID=58827515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611220737.XA Pending CN106627550A (en) | 2016-12-26 | 2016-12-26 | Brake controlling method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627550A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969323A (en) * | 2017-11-02 | 2019-07-05 | 株式会社岛野 | Braking control device and brake system |
| CN109969322A (en) * | 2017-10-24 | 2019-07-05 | 株式会社岛野 | Brake system |
| CN113147991A (en) * | 2021-05-19 | 2021-07-23 | 北京骑胜科技有限公司 | Braking system, braking method and device and vehicle |
| CN114559921A (en) * | 2022-03-31 | 2022-05-31 | 北京阿帕科蓝科技有限公司 | Method for improving vehicle driving safety and vehicle monitoring system |
| CN115402456A (en) * | 2021-05-27 | 2022-11-29 | 北京骑胜科技有限公司 | Braking system, braking method and vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020180168A1 (en) * | 2001-05-30 | 2002-12-05 | Rizk Salam K. | Scooter |
| US20110233994A1 (en) * | 2010-03-29 | 2011-09-29 | Electric Vehicle Manufacturing, LLC | System And Method To Control Regenerative Braking |
| CN202987412U (en) * | 2012-01-20 | 2013-06-12 | 雷泽美国有限责任公司 | Brake assembly for personal movable vehicle and personal movable vehicle |
| CN205022798U (en) * | 2015-09-14 | 2016-02-10 | 深圳市福田区青少年科技教育协会 | Accuse ski -running wooden handcart |
-
2016
- 2016-12-26 CN CN201611220737.XA patent/CN106627550A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020180168A1 (en) * | 2001-05-30 | 2002-12-05 | Rizk Salam K. | Scooter |
| US20110233994A1 (en) * | 2010-03-29 | 2011-09-29 | Electric Vehicle Manufacturing, LLC | System And Method To Control Regenerative Braking |
| CN202987412U (en) * | 2012-01-20 | 2013-06-12 | 雷泽美国有限责任公司 | Brake assembly for personal movable vehicle and personal movable vehicle |
| CN205022798U (en) * | 2015-09-14 | 2016-02-10 | 深圳市福田区青少年科技教育协会 | Accuse ski -running wooden handcart |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969322A (en) * | 2017-10-24 | 2019-07-05 | 株式会社岛野 | Brake system |
| CN109969323A (en) * | 2017-11-02 | 2019-07-05 | 株式会社岛野 | Braking control device and brake system |
| CN109969323B (en) * | 2017-11-02 | 2021-05-25 | 株式会社岛野 | Brake control device and brake system |
| CN113147991A (en) * | 2021-05-19 | 2021-07-23 | 北京骑胜科技有限公司 | Braking system, braking method and device and vehicle |
| CN115402456A (en) * | 2021-05-27 | 2022-11-29 | 北京骑胜科技有限公司 | Braking system, braking method and vehicle |
| CN114559921A (en) * | 2022-03-31 | 2022-05-31 | 北京阿帕科蓝科技有限公司 | Method for improving vehicle driving safety and vehicle monitoring system |
| CN114559921B (en) * | 2022-03-31 | 2023-11-17 | 北京阿帕科蓝科技有限公司 | Method for improving running safety of vehicle and vehicle monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106627550A (en) | Brake controlling method and device | |
| CN106240402B (en) | The drive control method and device of dual-motor electric automobile | |
| CN105438006B (en) | Electric automobile and its control method of ramp parking, system | |
| CN105531144B (en) | The skid control device of electric automobile | |
| CN104228845A (en) | Hand/steering wheel contact detection using observer | |
| CN107074227A (en) | Brake apparatus | |
| CN103287409B (en) | Vehicle brake anti-lock device and method | |
| CN105383312B (en) | The braking equipment of vehicle | |
| CN104114426B (en) | Electric parking brake control device and control method and braking system | |
| CN103101526A (en) | Trailer hold assist during standstill | |
| JP2012206551A5 (en) | ||
| CN107215244A (en) | The electric drive system for electric vehicles torque control system and method on a kind of low attached road surface | |
| CN104417525A (en) | System and method for hybrid vehicle control during wheel slip events to limit generator speed | |
| CN103935263B (en) | The anti-slip strategy of pure electric vehicle bus uphill starting of magneto driving | |
| KR102158482B1 (en) | Detecting extended current method for controlling three-phase motor in event of emergency brake | |
| CN106414191A (en) | Electric brake device | |
| CN109080642A (en) | A kind of speed measuring method of multiaxis independence Direct wheel drives vehicle and measuring and calculating device | |
| CN106004519A (en) | TCS (traction control system) of electric vehicle | |
| CN105555580B (en) | The control of regenerative braking in electric vehicle or hybrid vehicle | |
| JP6042383B2 (en) | Vehicle control device | |
| CN102874310A (en) | Method and system for controlling differential steering of soil shifter | |
| CN109421678A (en) | Braking method, device, braking system and the storage medium of automobile | |
| JP6513394B2 (en) | Vehicle brake system | |
| CN109720314A (en) | A kind of braking method, device and system | |
| Sun et al. | Development of ABS ECU with Hardware-in-the-Loop Simulation Based on Labcar System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |