CN107914729A - A kind of rail vehicle and its braking equipment - Google Patents
A kind of rail vehicle and its braking equipment Download PDFInfo
- Publication number
- CN107914729A CN107914729A CN201711131126.2A CN201711131126A CN107914729A CN 107914729 A CN107914729 A CN 107914729A CN 201711131126 A CN201711131126 A CN 201711131126A CN 107914729 A CN107914729 A CN 107914729A
- Authority
- CN
- China
- Prior art keywords
- pressure
- emergency braking
- train pipe
- braking equipment
- active
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H11/00—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types
- B61H11/06—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types of hydrostatic, hydrodynamic, or aerodynamic brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
Abstract
The invention discloses a kind of emergency braking equipment of rail vehicle, including being connected with train pipe, to reduce train tube pressure to realize the executive device of emergency braking, be connected with the executive device, controlling the executive device to carry out the passive control unit of train pipe pressure release when train tube pressure declines, and be connected with the executive device, receiving operation or security loop signal to control the executive device to carry out the active control portion of train pipe pressure release.The invention also discloses a kind of rail vehicle for including above-mentioned emergency braking equipment.Emergency braking equipment provided by the present invention has active emergency braking and passive emergency braking function, and active brake portion and passive braking parts share an executive device, so as to reduce the quantity of executive device.Therefore, this invention simplifies the structure of emergency braking equipment, maintenance cost is reduced.
Description
Technical field
The present invention relates to rail vehicle technical field, more particularly to a kind of braking equipment of rail vehicle.The present invention also relates to
A kind of and rail vehicle for including above-mentioned braking equipment.
Background technology
, it is necessary to make vehicle quick deceleration to stopping by emergency braking equipment when rail vehicle runs into emergency.Track
The emergency braking equipment of vehicle is divided into active emergency braking equipment and passive emergency braking equipment, and active brake equipment is by operator
Emergency brake of vehicle is realized in member's operation or the instruction of security loop electric signal；Passive emergency braking equipment be able to detect that train pipe because
The pressure difference that vehicle occurs disconnected hook or produced situations such as drawing guard's valve, and vehicle is braked.
In the prior art, active brake equipment and passive braking equipment are provided separately, and are caused braking equipment structure and are answered
It is miscellaneous, parts more not easy care the shortcomings of.Therefore, how to simplify braking equipment structure, improve the maintainability of braking equipment, be
Those skilled in the art are badly in need of the technical problem solved.
The content of the invention
The object of the present invention is to provide a kind of braking equipment, its is simple in structure, and it is a further object of the present invention to provide one kind
Include the rail vehicle of above-mentioned braking equipment, its is easy to maintain.
In order to solve the above technical problems, the present invention provides a kind of emergency braking equipment of rail vehicle, including with train
Pipe is connected, to reduce train tube pressure to realize the executive device of emergency braking, be connected with the executive device, to when arranging
Car pipe pressure controls the executive device to carry out the passive control unit of train pipe pressure release when declining, and with the executive device phase
Even, receiving operation or security loop signal to control the executive device to carry out the active control portion of train pipe pressure release.
Preferably, the executive device is specially air pressure driving switching valve；
The air pressure driving switching valve includes valve body and precontrol valve, and the valve body gas can be controlled by being equipped with the precontrol valve
The piston of flow, the rodless cavity and rod chamber of the piston are connected by upper pipeline and lower manifold with train pipe respectively；
The upper pipeline and the lower manifold be respectively equipped with when pressure declines in train pipe in the rodless cavity and
Pressure difference is produced between the rod chamber to promote the piston and realize the first current-limiting apparatus and the second current limliting of train pipe pressure release
Device；
The active control portion is solenoid valve, and the solenoid valve is connected by active pipeline with the rodless cavity, works as vehicle
When carrying out active emergency braking, the solenoid valve, which is opened, makes the rodless cavity pressure release.
Preferably, first current-limiting apparatus and second current-limiting apparatus are respectively the first shrinkage cavity and the second shrinkage cavity, and
The diameter of first shrinkage cavity is more than the diameter of second shrinkage cavity.
Preferably, the active pipeline is connected with the upper pipeline.
Preferably, first shrinkage cavity and the second shrinkage cavity rear end are respectively equipped with to maintain the precontrol valve pressure steady
Fixed the first storage pressure device and the second storage pressure device.
Preferably, the active pipeline is equipped with feedback of the detection train tube pressure to be fed back to train braking state
Device.
Preferably, the solenoid valve must specially conduct or the solenoid valve of dead electricity conducting, the active pipeline are equipped with
To isolate the solenoid valve so that train pipe can realize normal mitigation when solenoid valve failure or vehicle are without fiery loopback
Cock.
Preferably, the feedback device is pressure switch.
The present invention also provides a kind of rail vehicle, including the emergency braking equipment described in any of the above-described.
In the prior art, rail vehicle is respectively arranged with active brake equipment and passive braking equipment, and the present invention is only set
It is equipped with a braking equipment, the executive device in the braking equipment can control train pipe to carry out pressure release, vehicle is produced braking,
Executive device can be controlled by active control portion and passive control unit, so as to fulfill active brake and passive braking work
Energy.Because active brake of the present invention and passive braking share an executive device, reduce the usage quantity of executive device, so
The structure of braking equipment is simplified, makes it easy to safeguard.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of schematic diagram of embodiment of braking equipment provided by the present invention；
Fig. 2 is the schematic diagram of passive control unit in Fig. 1；
Fig. 3 is Fig. 1 middle and upper parts pipeline and the schematic diagram of lower manifold connection relation；
Fig. 4 is the schematic diagram in active control portion in Fig. 1.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with the accompanying drawings and it is embodied
The present invention is described in further detail for mode.
Please refer to Fig.1 to Fig. 4, Fig. 1 is a kind of schematic diagram of embodiment of braking equipment provided by the present invention；
Fig. 2 is the schematic diagram of passive control unit in Fig. 1；Fig. 3 is Fig. 1 middle and upper parts pipeline and the schematic diagram of lower manifold connection relation；Fig. 4
For the schematic diagram in active control portion in Fig. 1.
Rail vehicle is controlled by train pipe, and when train pipe pressure release, vehicle produces braking.The present invention is set on train pipe
Executive device is put, train tube pressure is controlled by executive device.Active control portion and passive control unit are connected with executive device, is grasped
Make personnel and operate active control portion, control executive device carries out pressure release to train pipe, and then realizes vehicle active brake；Work as vehicle
Disconnected hook occurs, draws guard's valve when emergency, train tube pressure reflux can produce pressure difference, and passive control unit detects train pipe
Pressure difference after, control executive device carries out pressure release to train pipe, and then realizes that vehicle is passively braked.
Executive device can be pneumatic operated valve or solenoid valve etc., in a kind of embodiment of the present invention, such as Fig. 1 institutes
Show, executive device drives switching valve 4 for air pressure, and air pressure driving switching valve 4 includes valve body and precontrol valve, and valve body is connected with train pipe
And train pipe can be controlled to carry out pressure release, the action of valve body is controlled by precontrol valve, and piston, piston rod and valve body are equipped with precontrol valve
It is connected.Under normal conditions, pressure is equal between the rod chamber of piston and rodless cavity, and air pressure driving switching valve 4 is closed,
Train pipe not pressure release.When the rod chamber and rodless cavity of piston are there are during pressure difference, piston and piston rod move under the promotion of pressure difference,
And then acted with moving valve, control the carry out pressure release of train pipe.As shown in Fig. 2, the rodless cavity and rod chamber of piston pass through respectively
Upper pipeline 42 and lower manifold 41 are connected with train pipe, and the diameter of two pipelines is roughly equal, it is generally the case that rodless cavity and
The pressure of rod chamber is equal to the pressure in train pipe, and 2 He of the first shrinkage cavity is respectively equipped with upper pipeline 42 and lower manifold 41
Second shrinkage cavity 3, and the diameter of the first shrinkage cavity 2 is more than the diameter of the second shrinkage cavity 3.Upper pipeline 42, lower manifold 41, the first shrinkage cavity
2 and second shrinkage cavity 3 collectively constitute passive control unit, when train pipe produces pressure difference, inside train pipe can there are pressure drop, at this time on
The pressure of portion's pipeline 42 and lower manifold 41 is also reduced with train pipe, and due to the first shrinkage cavity 2 and the second shrinkage cavity 3, there are current limliting work
With, the pressure reduction of rodless cavity and rod chamber is slower, and because the diameter of the first shrinkage cavity 2 is more than the diameter of the second shrinkage cavity 3, the
The metering function of one shrinkage cavity 2 is less than the second shrinkage cavity 3, and in the same time, the pressure drop in rodless cavity is more than rod chamber, this causes no bar
Pressure in chamber is less than rod chamber, and between the two chambers under the action of pressure difference, piston is moved to rodless cavity, and then is moved with moving valve
Make, make train pipe pressure release.First shrinkage cavity 2 and the second shrinkage cavity 3 are a kind of form of current-limiting apparatus, in addition to shrinkage cavity, can also be adopted
With the current-limiting apparatus of the other forms such as restriction orifice, it is of course also possible to only set current-limiting apparatus in lower manifold 41.The present embodiment
Middle active control portion is solenoid valve 7, as shown in figure 4, rodless cavity is connected with solenoid valve 7 by active pipeline 43, is grasped when receiving
When making the pressure release instruction of personnel or security loop, solenoid valve 7, which is opened, carries out pressure release, the rodless cavity pressure drop connected with solenoid valve 7
Low, this to produce pressure difference between rod chamber and rodless cavity, and under differential pressure action, piston is moved to rodless cavity, and then drives valve
Body acts, and makes train pipe pressure release.
Executive device can also realize technical scheme for solenoid valve, and at this time, passive control device includes and electromagnetism
The pressure sensor and controller that valve is connected, pressure sensor are used to measure train tube pressure, and controller is according to pressure sensor
Measurement result judge whether to emergency braking, controlled if needing emergency braking solenoid valve to train pipe carry out pressure release；Actively
Control device is the electric-controlled switch in parallel with passive control device, which is controlled by operating personnel or safety return circuit, behaviour
When making personnel and closing electric-controlled switch or safety return circuit and provide instruction, solenoid valve obtains electric/dead electricity, makes train pipe pressure release, completes actively
Emergency braking.
To make rodless cavity and rod chamber pressure maintain to stablize, avoid piston from being malfunctioned because of small pressure oscillation, cause
Unnecessary emergency braking, the present embodiment are provided with the first storage pressure device 8 and the also on upper pipeline 42 and lower manifold 41
Two storage pressure devices 1, the storage pressure device of two pipelines are all located in pipeline on the pipeline section of current-limiting apparatus rear end, and the first storage pressure device
8 volumes are no more than the second storage pressure device 1.Rear end refers to upper pipeline 42 and lower manifold 41 close to one end of piston, opposite,
Upper pipeline 42 and lower manifold 41 are front end close to one end of train pipe.Storage pressure device can be that the storage pressures such as cylinder, cylinder are set
It is standby.
As shown in figure 3, the present embodiment is connected to lower manifold in order to simplify pipeline structure, by the front end of upper pipeline 42
The rear end of one pipeline section 410, the front end of the first pipeline section of lower manifold 410 are connected with train pipe, after the first pipeline section of lower manifold 410
End is connected with the front end of upper pipeline 42 and the front end of the second pipeline section of lower manifold 411, the second shrinkage cavity 3 and the second storage pressure device 1
In on the second pipeline section of lower manifold 411, the rear end of the second pipeline section of lower manifold 411 is connected with rod chamber, the present embodiment middle and upper part
Pipeline 42 is connected with train pipe indirectly by the first pipeline section of lower manifold 410, naturally it is also possible to as needed, by lower manifold 41
Front end be connected on the pipeline section of 42 current-limiting apparatus front end of upper pipeline or by the front end of upper pipeline 42 and lower manifold 41 all
It is connected directly between on train pipe.
In the present embodiment, active pipeline 43 is connected to upper pipeline 42 between the first shrinkage cavity 2 and the first storage pressure device 8
Pipeline section on, solenoid valve 7 unload rodless cavity pressure carry out active brake when, can also reduce train tube pressure, make train
It is more quickly completed braking.Although the pressure of rod chamber can also reduce during 7 pressure release of solenoid valve, air-flow stream in rod chamber
Go out the limitation for being subject to the second shrinkage cavity 3 and the first shrinkage cavity 2, air-flow flows out the limitation of no shrinkage cavity in rodless cavity, this causes rod chamber
Pressure drop is less than rodless cavity pressure drop, can be produced between two chambers promote piston motion pressure difference, therefore in the present embodiment pipeline company
The mode of connecing does not interfere with the realization of active brake function.In the present embodiment, active pipeline 43 by upper pipeline 42 indirectly with
Rodless cavity is connected, and active pipeline 43 can also directly be connected with rodless cavity.
The passive braking procedure of emergency braking equipment that the present embodiment is provided is, when disconnected hook occurs for vehicle or draws guard's valve etc.
During accident, train pipe produces pressure drop, meanwhile, upper pipeline 42 and lower manifold 41 also produce pressure drop, due to 41 He of lower manifold
Upper pipeline 42 is respectively equipped with the second shrinkage cavity 3 and the first shrinkage cavity 2, and because 3 diameter of the second shrinkage cavity is less than the first shrinkage cavity 2,
The pressure drop of rod chamber is less than the pressure drop of rodless cavity, and rod chamber pressure is more than rodless cavity pressure, work of the piston in two chamber pressure differences at this time
With lower movement, band moving valve acts, and makes train pipe pressure release, completes passive braking.
Active brake process is that operating personnel control solenoid valve 7 to open, and make 7 pressure release of solenoid valve, and then make rodless cavity pressure
Reduce, pressure difference is produced between rodless cavity and rod chamber, piston moves under the action of pressure difference, and band moving valve acts, and makes train pipe
Pressure release, completes active brake.
In the present embodiment, active brake and passive braking share an executive device, and the present embodiment passes through actively respectively
Control unit and passive control unit control executive device, complete active emergency braking and passive emergency braking function, are meeting function
On the premise of needing, the structure of emergency braking equipment is simplified.
To allow the operator to understand in time emergency braking situation, the present embodiment is provided with active pipeline and reminds dress
Put, active pipeline 43 is connected with rodless cavity, and pressure is substantially equal to pressure in rodless cavity in active pipeline 43, when pressure in rodless cavity
When lowering to a certain extent, piston action makes train pipe pressure release.Alarm set can set prompting pressure value, when in active pipeline 43
When pressure reaches prompting pressure value, alarm set reminds operating personnel's vehicle to be braked.
Specifically, alarm set uses the pressure switch 6 being connected with active pipeline 43, when pressure is less than in active pipeline 43
When reminding pressure, pressure switch 6 acts, and operating personnel judge whether vehicle has been enter into braking according to the position of pressure switch 6
State.Alarm set can also use circuit structure, for example, alarm set can include the pressure sensing connected by circuit
Device, electric-controlled switch and indicator light, 43 pressure of pressure sensor measurement active pipeline, when pressure reaches preset value, electric-controlled switch
By the circuit turn-on where indicator light, indicator light sends alerting signal.
The present embodiment is provided with alarm set on active pipeline, and alarm set can be carried out according to 43 pressure of active pipeline
Action, when the pressure reaches preset value, and vehicle produces braking, alarm set action, carries so as to carry out braking to operating personnel
Wake up.
If solenoid valve 7 is normally open type magnetic valve, when vehicle trouble or during without fiery loopback, solenoid valve 7 is because of dead electricity and always
In pressure release state, this can cause train pipe to continue pressure release, and vehicle is constantly in on-position and can not move.The present embodiment exists
Cock 5 is provided with active pipeline, cock 5 can isolate solenoid valve 7 from pipeline, close active pipeline 43, into
And the pressure of rodless cavity to rodless cavity pressurising, can be made to increase, achieve the purpose that to close air pressure driving switching valve 4, air pressure driving
To train pipe pressurising after the closing of switching valve 4, train can be made to depart from on-position.Cock 5 can be butterfly valve, gate valve or reversal valve etc.,
The structure of cock in the prior art is specifically referred to, details are not described herein.
The present embodiment is provided with cock 5 on active pipeline 43, normally open type magnetic valve 7 can be isolated from pipeline, made
Vehicle can be alleviated when solenoid valve failure or vehicle are without fiery loopback, so as to solve because solenoid valve 7 maintains pressure release shape
State and cause the irremovable problem of train.
Rail vehicle provided by the present invention includes above-mentioned each described emergency braking equipment of specific embodiment；Other
Part is referred to the prior art, not reinflated herein.
It should be noted that in the present specification, such as first and second etc relational terms are used merely to one
Entity is distinguished with other several entities, and without necessarily requiring or implying between these entities, there are any this actual
Relation or order.
Rail vehicle provided by the present invention and its emergency braking equipment are described in detail above.It is used herein
Specific case is set forth the principle of the present invention and embodiment, to understand the explanation of above example is only intended to helping
The method and its core concept of the present invention.It should be pointed out that for those skilled in the art, this is not being departed from
On the premise of inventive principle, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into the present invention
In scope of the claims.
Claims (9)
1. the emergency braking equipment of a kind of rail vehicle, it is characterised in that including being connected with train pipe, reducing train pipe pressure
Power is connected, to described in the control when train tube pressure declines with realizing the executive device of emergency braking with the executive device
Executive device carries out the passive control unit of train pipe pressure release, and is connected with the executive device, receiving operation or safety
Loop signals are to control the executive device to carry out the active control portion of train pipe pressure release.
2. emergency braking equipment according to claim 1, it is characterised in that the executive device is specially that air pressure driving turns
Change valve (4)；
The air pressure driving switching valve (4) includes valve body and precontrol valve, and the valve body gas can be controlled by being equipped with the precontrol valve
The piston of flow, the rodless cavity and rod chamber of the piston pass through upper pipeline (42) and lower manifold (41) and train pipe respectively
It is connected；
The upper pipeline (42) and the lower manifold (41) are respectively equipped with when pressure declines in train pipe in the no bar
Pressure difference is produced between chamber and the rod chamber to promote the piston and realize the first current-limiting apparatus and second of train pipe pressure release
Current-limiting apparatus；
The active control portion is solenoid valve (7), and the solenoid valve (7) is connected by active pipeline (43) with the rodless cavity,
When vehicle carries out active emergency braking, the solenoid valve (7), which is opened, makes the rodless cavity pressure release.
3. emergency braking equipment according to claim 2, it is characterised in that first current-limiting apparatus and second limit
It is respectively the first shrinkage cavity (2) and the second shrinkage cavity (3) to flow device, and the diameter of first shrinkage cavity (2) is more than second shrinkage cavity
(3) diameter.
4. emergency braking equipment according to claim 2, it is characterised in that the active pipeline (43) and the upper tube
Road (42) is connected.
5. emergency braking equipment according to claim 4, it is characterised in that first shrinkage cavity (2) and second contracting
Hole (3) rear end is respectively equipped with to maintain the first of the precontrol valve pressure stability to store up pressure device (1) and the second storage pressure device
(8)。
6. according to claim 2 to 5 any one of them emergency braking equipment, it is characterised in that on the active pipeline (43)
Feedback device equipped with detection train tube pressure to be fed back to train braking state.
7. according to claim 2 to 5 any one of them emergency braking equipment, it is characterised in that the solenoid valve (7) is specially
It must conduct or the solenoid valve of dead electricity conducting, the active pipeline (43) are equipped with when solenoid valve failure or vehicle are without fiery loopback
To isolate the solenoid valve (7) so that train pipe can realize the cock (5) of normal mitigation.
8. emergency braking equipment according to claim 6, it is characterised in that the feedback device is pressure switch (6).
9. a kind of rail vehicle, it is characterised in that including claim 1 to 8 any one of them emergency braking equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131126.2A CN107914729B (en) | 2017-11-15 | 2017-11-15 | A kind of rail vehicle and its braking equipment |
| PCT/CN2017/117677 WO2019095503A1 (en) | 2017-11-15 | 2017-12-21 | Rail vehicle and braking apparatus thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131126.2A CN107914729B (en) | 2017-11-15 | 2017-11-15 | A kind of rail vehicle and its braking equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107914729A true CN107914729A (en) | 2018-04-17 |
| CN107914729B CN107914729B (en) | 2019-07-09 |
Family
ID=61896405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711131126.2A Active CN107914729B (en) | 2017-11-15 | 2017-11-15 | A kind of rail vehicle and its braking equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107914729B (en) |
| WO (1) | WO2019095503A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606099A (en) * | 2018-06-14 | 2019-12-24 | 中车大同电力机车有限公司 | Method and system for judging emergency braking reason of train |
| WO2021097970A1 (en) * | 2019-11-22 | 2021-05-27 | 中车唐山机车车辆有限公司 | Emergency brake control device, emergency brake system, and rail vehicle |
| CN113844489A (en) * | 2021-09-30 | 2021-12-28 | 中车株洲电力机车有限公司 | Control system and control method for unmanned vigilant emergency braking |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606099A (en) * | 2018-06-14 | 2019-12-24 | 中车大同电力机车有限公司 | Method and system for judging emergency braking reason of train |
| CN110606099B (en) * | 2018-06-14 | 2020-10-27 | 中车大同电力机车有限公司 | Method and system for judging emergency braking reason of train |
| WO2021097970A1 (en) * | 2019-11-22 | 2021-05-27 | 中车唐山机车车辆有限公司 | Emergency brake control device, emergency brake system, and rail vehicle |
| CN113844489A (en) * | 2021-09-30 | 2021-12-28 | 中车株洲电力机车有限公司 | Control system and control method for unmanned vigilant emergency braking |
| CN113844489B (en) * | 2021-09-30 | 2022-10-14 | 中车株洲电力机车有限公司 | Control system and control method for unmanned vigilant emergency braking |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019095503A1 (en) | 2019-05-23 |
| CN107914729B (en) | 2019-07-09 |
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