CN108297849A - A kind of brake-by-wire device for unmanned racing car - Google Patents
A kind of brake-by-wire device for unmanned racing car Download PDFInfo
- Publication number
- CN108297849A CN108297849A CN201810297031.6A CN201810297031A CN108297849A CN 108297849 A CN108297849 A CN 108297849A CN 201810297031 A CN201810297031 A CN 201810297031A CN 108297849 A CN108297849 A CN 108297849A
- Authority
- CN
- China
- Prior art keywords
- brake
- racing car
- output shaft
- wire device
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention discloses a kind of brake-by-wire devices for unmanned racing car, including：Braking motor；Retarder is fixedly connected with the braking motor output shaft, and two catch are oppositely arranged by the output shaft circumference of the retarder；Rocking arm is driven, one end is fixedly connected with the output shaft of the retarder, and the driving rocking arm upper end is provided with circular through hole, and two grooves are circumferentially relatively set on the through-hole wall；Wherein, catch Matching installation opposite with the groove；Right angle pull rod, one end and the other end of the driving rocking arm are hinged；Pulling plate lifting lug is driven, one end and the other end of the right angle pull rod are hinged, and the other end is hinged with brake pedal upper end.A kind of brake-by-wire device for unmanned racing car is provided, under the premise of braking reliability, brakes and is braked when unmanned non-interference when manned.
Description
Technical field
The present invention relates to a kind of unmanned racing car technical field, more particularly to a kind of unmanned racing car braking system.
Background technology
It is unmanned to come into being under the development of intellectual technology and interconnection technique, in order to promote China automobile industry talent
Culture, college student study unmanned racing car technology, race requirement can be opened in driver by reequiping original electronic racing car
On the basis of realize it is unmanned, participate in university student's equation contest.The repacking of braking system line traffic controlization is a wherein important part,
Existing unmanned racing car braking mainly adds a drag-line using in brake pedal front, which is wound on the output of motor
On axis, motor rotation drives drag-line that brake pedal rotation is pulled to be braked.But this braking mode poor reliability.
In view of the above-mentioned problems, being badly in need of a kind of high unmanned racing car braking system line traffic controlization repacking of reliability, to protect
Card is braked when manned and is braked when unmanned non-interference under the premise of braking reliability.
Invention content
The present invention is to provide a kind of brake-by-wire dress for unmanned racing car in place of solving current technical deficiency
It sets, under the premise of braking reliability, brakes and braked when unmanned non-interference when manned.
It is a further object of the present invention to provide a kind of devices that can in case of emergency brake, and improve the safety of racing car
Energy.
Technical solution provided by the invention is：A kind of brake-by-wire device for unmanned racing car, including：
Braking motor；
Retarder is fixedly connected with the braking motor output shaft, and phase by the output shaft circumference of the retarder
To two catch are arranged；
Rocking arm, one end is driven to be fixedly connected with the output shaft of the retarder, and the driving rocking arm upper end is arranged
There is circular through hole, two grooves are circumferentially relatively set on the through-hole wall；
Wherein, catch Matching installation opposite with the groove, and the catch can be relatively described in the groove
Groove rotates；
Right angle pull rod, one end and the other end of the driving rocking arm are hinged；
Pulling plate lifting lug is driven, one end and the other end of the right angle pull rod are hinged, and the other end is cut with scissors with brake pedal upper end
It connects.
Preferably, further include：
Cylinder；
Slideway connects the output end of the cylinder；
Optical axis connects the driving pulling plate lifting lug；
Wherein, it on the optical axis Matching installation to the slideway, and can be slided on the slideway.
Preferably, further include：
Motor fixing frame is mounted on vehicle frame, fixed to support the braking motor.
Preferably, the reducer output shaft is hollow structure, and hollow wall is provided with straight slot；
Limiting plate, center band have circular hole, the limiting plate to be arranged on the driving rocking arm, and the circular hole leads to described
Hole is coaxial；
Straight pin, both ends carry crotch, and the straight pin extends radially through the through-hole, the circular hole and the straight slot,
Two crotches are located at outside the reducer output shaft bottom and the limiting plate.
Preferably, optical axis lifting lug is set on the optical axis, it is hinged with the driving pulling plate lifting lug.
Preferably, slideway lifting lug is set on the slideway, it is hinged with the output end of the cylinder.
Preferably, the welding lifting lug of the other end of the cylinder and vehicle frame is hinged.
Preferably, further include：
Master cylinder, it is hinged with described brake pedal one end.
Preferably, further include：
Support base fixes the other end of the support driving pulling plate lifting lug.
Preferably, in unmanned braking braking is controlled by controlling the output shaft rotational angle of the retarder
Time meets following relationship：
Wherein, v is the speed of racing car when starting braking, and t is braking time, and θ is the output shaft angle of rotation of the retarder
Degree, f1For surface friction coefficient, it is 0.11, f to be worth2For the friction coefficient between the output shaft and the driving rocking arm, it is worth and is
0.098。
Advantageous effect of the present invention：Unmanned racing car braking system line traffic controlization repacking provided by the invention, solves
When manned braking and it is unmanned when braking the problem of interfering；Meanwhile the present invention in case of emergency can
Braking, strengthens the braking reliability of racing car, improves the security performance of racing car.
Description of the drawings
Fig. 1 is a kind of axonometric drawing of brake-by-wire device for unmanned racing car of the present invention.
Fig. 2 is a kind of front view of brake-by-wire device for unmanned racing car of the present invention.
Fig. 3 is that a kind of braking motor of brake-by-wire device for unmanned racing car of the present invention shakes with driving
Arm connects axonometric drawing.
Fig. 4 is that a kind of braking motor of brake-by-wire device for unmanned racing car of the present invention shakes with driving
Arm decomposition axonometric drawing.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in Figs. 1-2, the present invention provides a kind of brake-by-wire devices for unmanned racing car, in existing nothing
It is reequiped on the original structure of people's driving racing car comprising motor fixing frame 200 is fixed on by bolt on vehicle frame,
And positioned at the top of brake pedal 910.Braking motor 100 is bolted in motor fixing frame 200, braking motor 100
Output shaft on be provided with retarder 300, retarder 300 is fixed on also by bolt on motor fixing frame 200, and retarder
300 output shaft 310 stretches out motor fixing frame 300 and is connect by flat key with driving rocking arm 700.
As shown in Figure 3-4, the output shaft 310 of retarder 300 is hollow columnar structures, and is arranged on hollow wall 312
There is straight slot 313, is oppositely arranged by 310 excircle of output shaft of retarder 300 there are two catch 311.Drive the upper of rocking arm 700
End is provided with circular through hole 730, and 730 inner wall of through-hole is arranged symmetrically, and there are two grooves 731.The output shaft 310 and gear of retarder 300
Piece 311 is located in circular through hole 730, and catch 311 is arranged in groove 731, and catch 311 can be relatively recessed in groove 731
Slot 731 is rotationally arranged.Limiting plate 710, center band have circular hole, and the setting of limiting plate 710 is on driving rocking arm 700, the circle
Hole and the through-hole 730 of driving rocking arm 700 are coaxial；Straight pin 720, both ends carry crotch, and straight pin 720 extends radially through described logical
Hole 730, the circular hole and the straight slot 313, two crotches are located at 300 output shaft of retarder, 310 bottom and limiting plate 710
Outside.
It fixes support driving pulling plate lifting lug 800 to support base 920, and 800 other end of driving pulling plate lifting lug is hinged on braking and steps on
The upper arm of plate 910, one end of right angle pull rod 400 and the other end of driving rocking arm 700 are hinged, the other end and driving pulling plate lifting lug
800 is hinged.The racing car of the present invention is provided with emergency pneumatic device, cylinder 600 and the driving pulling plate lifting lug 800 of emergency pneumatic device
Between pass through slideway optical axis 500 and connect, the other end of the cylinder 600 of emergency pneumatic device is cut with scissors with the welding lifting lug on racing car vehicle frame
It connects.Slideway optical axis 500 includes slideway and optical axis two parts.Optical axis connects the output end of cylinder 600；Slideway, connection driving
Pulling plate lifting lug 800.On optical axis Matching installation to the slideway, and it can be slided on the slideway.The cunning of slideway optical axis 500
Road is installed with slideway lifting lug 520, and slideway lifting lug 520 is hinged with cylinder 600.Optical axis is installed on the optical axis of slideway optical axis 500 to hang
Ear 510, it is hinged with driving pulling plate lifting lug 800.The emergency pneumatic brake apparatus is mechanical energy-saving type brake apparatus.Braking master
Cylinder 930, it is hinged with one end of brake pedal 910.
The operation principle of the brake-by-wire device of unmanned racing car is：
When unmanned, under normal mode, braking motor controller is sent to the order of braking motor 100, makes braking motor
The output shaft 310 of 100 driving retarders 300 rotates, and the output shaft 310 of retarder 300 drives driving rocking arm 700 to rotate, and pulls
Right angle pull rod 400 makes driving pulling plate lifting lug 800 that brake pedal 910 be driven to rotate, and compression master cylinder 930 realizes braking.Work as match
When vehicle encounters unexpected situation and needs emergency braking, emergency pneumatic brake apparatus triggering, cylinder 600 pulls slideway lifting lug 520, slideway
Lifting lug 520 pulls optical axis lifting lug 510, optical axis lifting lug 510 to pull driving pulling plate lifting lug 800, make 910 rotary compression system of brake pedal
Dynamic master cylinder 930 as above completes braking in an emergency situation.
In the present embodiment, it is provided with velocity sensor in racing car, be mounted on racing car hub for vehicle wheel, for detecting match
Vehicle speed.In unmanned braking, the speed of racing car when starting braking is obtained by velocity sensor, further according to specific feelings
Condition judges braking time, by braking motor controller come control retarder output shaft rotational angle come control racing car without
The operating condition that people drives.
The output shaft rotational angle of the retarder is controlled by braking motor controller in unmanned braking to control
Braking time processed, meets following relationship：
Wherein, v is the speed of racing car when starting braking, in actual motion, speed when taking unmanned braking system
All it is in 80km/h or more.T is braking time, and θ is the output shaft rotational angle of the retarder, f1For pavement friction system
Number is 0.11, f2For the friction coefficient between the output shaft and the driving rocking arm, it is 0.098 to be worth.
When manned, driver tramples brake pedal 910, and brake pedal 910 rotates, and compression master cylinder 930 is realized
Braking.At the same time, driving rocking arm 700 is slided around the empty rotation of 300 output shaft of retarder 310, slideway optical axis 500, compresses in length,
Have no to interfere with brake-by-wire device.Realize the normal service brake of driver.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of brake-by-wire device for unmanned racing car, which is characterized in that including：
Braking motor；
Retarder is fixedly connected with the braking motor output shaft, and is set relatively by the output shaft circumference of the retarder
Set two catch；
Rocking arm is driven, one end is fixedly connected with the output shaft of the retarder, and the driving rocking arm upper end is provided with circle
Shape through-hole is circumferentially relatively set with two grooves on the through-hole wall；
Wherein, catch Matching installation opposite with the groove, and the catch can the relatively described groove in the groove
Rotation；
Right angle pull rod, one end and the other end of the driving rocking arm are hinged；
Pulling plate lifting lug is driven, one end and the other end of the right angle pull rod are hinged, and the other end is hinged with brake pedal upper end.
2. the brake-by-wire device according to claim 1 for unmanned racing car, which is characterized in that further include：
Cylinder；
Slideway connects the output end of the cylinder；
Optical axis connects the driving pulling plate lifting lug；
Wherein, it on the optical axis Matching installation to the slideway, and can be slided on the slideway.
3. the brake-by-wire device according to claim 2 for unmanned racing car, which is characterized in that further include：
Motor fixing frame is mounted on vehicle frame, fixed to support the braking motor.
4. the brake-by-wire device according to claim 2 or 3 for unmanned racing car, which is characterized in that
The reducer output shaft is hollow structure, and hollow wall is provided with straight slot；
Limiting plate, center band have circular hole, the limiting plate to be arranged on the driving rocking arm, and the circular hole and the through-hole are same
Axis；
Straight pin, both ends carry crotch, and the straight pin extends radially through the through-hole, the circular hole and the straight slot, two institutes
Crotch is stated to be located at outside the reducer output shaft bottom and the limiting plate.
5. the brake-by-wire device according to claim 4 for unmanned racing car, which is characterized in that
Optical axis lifting lug is set on the optical axis, it is hinged with the driving pulling plate lifting lug.
6. the brake-by-wire device according to claim 5 for unmanned racing car, which is characterized in that
Slideway lifting lug is set on the slideway, it is hinged with the output end of the cylinder.
7. the brake-by-wire device according to claim 2 for unmanned racing car, which is characterized in that
The other end of the cylinder and the welding lifting lug of vehicle frame are hinged.
8. the brake-by-wire device according to claim 7 for unmanned racing car, which is characterized in that further include：
Master cylinder, it is hinged with described brake pedal one end.
9. the brake-by-wire device according to claim 8 for unmanned racing car, which is characterized in that further include：
Support base fixes the other end of the support driving pulling plate lifting lug.
10. the brake-by-wire device according to claim 9 for unmanned racing car, which is characterized in that drive at nobody
Braking time is controlled by controlling the output shaft rotational angle of the retarder when sailing braking, meets following relationship：
Wherein, v is the speed of racing car when starting braking, and t is braking time, and θ is the output shaft rotational angle of the retarder, f1
For surface friction coefficient, it is 0.11, f to be worth2For the friction coefficient between the output shaft and the driving rocking arm, it is 0.098 to be worth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297031.6A CN108297849B (en) | 2018-04-04 | 2018-04-04 | Wire control brake device for unmanned racing car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297031.6A CN108297849B (en) | 2018-04-04 | 2018-04-04 | Wire control brake device for unmanned racing car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108297849A true CN108297849A (en) | 2018-07-20 |
| CN108297849B CN108297849B (en) | 2023-09-19 |
Family
ID=62848238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810297031.6A Active CN108297849B (en) | 2018-04-04 | 2018-04-04 | Wire control brake device for unmanned racing car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108297849B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109469690A (en) * | 2018-11-07 | 2019-03-15 | 洛阳智能农业装备研究院有限公司 | A kind of automatic driving vehicle electric control braking component |
| CN111348052A (en) * | 2020-03-26 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Automatic drive robot control system |
| CN113104016A (en) * | 2021-05-21 | 2021-07-13 | 福建盛海智能科技有限公司 | Unmanned vehicle braking mechanism and braking method |
| CN113635918A (en) * | 2021-08-13 | 2021-11-12 | 中国汽车技术研究中心有限公司 | Automatic driving robot control system and method |
| CN114872665A (en) * | 2022-06-27 | 2022-08-09 | 深圳职业技术学院 | Brake system for driverless motor vehicles |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB804813A (en) * | 1953-11-28 | 1958-11-26 | Haller Richard | Improvements in or relating to internal combustion engines |
| DE19916434A1 (en) * | 1999-04-12 | 2000-10-19 | Deutsch Zentr Luft & Raumfahrt | Electromechanically powered pivotable pedal has energy storing restoring element enabling pedal to be restored to starting position without electric motor involvement, continued operation |
| CN2485190Y (en) * | 2001-07-19 | 2002-04-10 | 吉林大学 | Robot controller for accelerator pedal |
| US20050115354A1 (en) * | 2002-10-08 | 2005-06-02 | Enrico Rinero | Adjustable pedal unit for a motor-vehicle |
| JP2006103617A (en) * | 2004-10-08 | 2006-04-20 | Toyota Motor Corp | Pedal effort control device and safety stop device |
| JP2006281866A (en) * | 2005-03-31 | 2006-10-19 | Honda Motor Co Ltd | Brake pedal device for vehicle |
| CN201021271Y (en) * | 2007-01-24 | 2008-02-13 | 孔维胜 | Automobile emergent protection braking device |
| CN202896564U (en) * | 2012-11-19 | 2013-04-24 | 张进 | Electric brake mechanism of motor vehicle |
| CN205059566U (en) * | 2015-10-20 | 2016-03-02 | 鄂尔多斯市普渡科技有限公司 | Novel self -driving car braking device |
| CN105383457A (en) * | 2015-12-18 | 2016-03-09 | 南宁学院 | Brake pedal assembly for FSC racing bicycle |
| FR3033753A1 (en) * | 2015-03-18 | 2016-09-23 | Peugeot Citroen Automobiles Sa | ELECTRICALLY ASSISTED BRAKE CONTROL DEVICE HAVING A CYCLOIDAL REDUCER |
| DE102015012125A1 (en) * | 2015-09-17 | 2017-03-23 | Lucas Automotive Gmbh | Assembly with a brake cylinder and an electromechanical brake booster |
| CN206086706U (en) * | 2016-10-21 | 2017-04-12 | 辽宁工业大学 | Electron manual brake controlling means |
| CN106740764A (en) * | 2016-12-30 | 2017-05-31 | 中国科学院合肥物质科学研究院 | A kind of automatic driving vehicle braking control system and method |
| CN106740750A (en) * | 2016-12-30 | 2017-05-31 | 华南理工大学 | A kind of brake pedal unit of step motor control pedal aperture |
| CN206552016U (en) * | 2017-02-16 | 2017-10-13 | 华侨大学 | A kind of new FSAE racing cars pedal assembly |
| CN206633996U (en) * | 2017-04-14 | 2017-11-14 | 成都大学 | A kind of auxiliary emergent brake system of vehicle |
| CN208021428U (en) * | 2018-04-04 | 2018-10-30 | 辽宁工业大学 | A kind of brake-by-wire device for unmanned racing car |
-
2018
- 2018-04-04 CN CN201810297031.6A patent/CN108297849B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB804813A (en) * | 1953-11-28 | 1958-11-26 | Haller Richard | Improvements in or relating to internal combustion engines |
| DE19916434A1 (en) * | 1999-04-12 | 2000-10-19 | Deutsch Zentr Luft & Raumfahrt | Electromechanically powered pivotable pedal has energy storing restoring element enabling pedal to be restored to starting position without electric motor involvement, continued operation |
| CN2485190Y (en) * | 2001-07-19 | 2002-04-10 | 吉林大学 | Robot controller for accelerator pedal |
| US20050115354A1 (en) * | 2002-10-08 | 2005-06-02 | Enrico Rinero | Adjustable pedal unit for a motor-vehicle |
| JP2006103617A (en) * | 2004-10-08 | 2006-04-20 | Toyota Motor Corp | Pedal effort control device and safety stop device |
| JP2006281866A (en) * | 2005-03-31 | 2006-10-19 | Honda Motor Co Ltd | Brake pedal device for vehicle |
| CN201021271Y (en) * | 2007-01-24 | 2008-02-13 | 孔维胜 | Automobile emergent protection braking device |
| CN202896564U (en) * | 2012-11-19 | 2013-04-24 | 张进 | Electric brake mechanism of motor vehicle |
| FR3033753A1 (en) * | 2015-03-18 | 2016-09-23 | Peugeot Citroen Automobiles Sa | ELECTRICALLY ASSISTED BRAKE CONTROL DEVICE HAVING A CYCLOIDAL REDUCER |
| DE102015012125A1 (en) * | 2015-09-17 | 2017-03-23 | Lucas Automotive Gmbh | Assembly with a brake cylinder and an electromechanical brake booster |
| CN205059566U (en) * | 2015-10-20 | 2016-03-02 | 鄂尔多斯市普渡科技有限公司 | Novel self -driving car braking device |
| CN105383457A (en) * | 2015-12-18 | 2016-03-09 | 南宁学院 | Brake pedal assembly for FSC racing bicycle |
| CN206086706U (en) * | 2016-10-21 | 2017-04-12 | 辽宁工业大学 | Electron manual brake controlling means |
| CN106740764A (en) * | 2016-12-30 | 2017-05-31 | 中国科学院合肥物质科学研究院 | A kind of automatic driving vehicle braking control system and method |
| CN106740750A (en) * | 2016-12-30 | 2017-05-31 | 华南理工大学 | A kind of brake pedal unit of step motor control pedal aperture |
| CN206552016U (en) * | 2017-02-16 | 2017-10-13 | 华侨大学 | A kind of new FSAE racing cars pedal assembly |
| CN206633996U (en) * | 2017-04-14 | 2017-11-14 | 成都大学 | A kind of auxiliary emergent brake system of vehicle |
| CN208021428U (en) * | 2018-04-04 | 2018-10-30 | 辽宁工业大学 | A kind of brake-by-wire device for unmanned racing car |
Non-Patent Citations (2)
| Title |
|---|
| 李刚等: "FSC电动赛车动力学建模与性能仿真分析", 《辽宁工业大学学报(自然科学版)》, pages 316 - 321 * |
| 郭正康: "汽车列车制动力分配和制动稳定性分析", 《汽车技术》, pages 6 - 9 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109469690A (en) * | 2018-11-07 | 2019-03-15 | 洛阳智能农业装备研究院有限公司 | A kind of automatic driving vehicle electric control braking component |
| CN111348052A (en) * | 2020-03-26 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Automatic drive robot control system |
| CN113104016A (en) * | 2021-05-21 | 2021-07-13 | 福建盛海智能科技有限公司 | Unmanned vehicle braking mechanism and braking method |
| CN113104016B (en) * | 2021-05-21 | 2022-04-26 | 福建盛海智能科技有限公司 | Unmanned vehicle braking mechanism and braking method |
| CN113635918A (en) * | 2021-08-13 | 2021-11-12 | 中国汽车技术研究中心有限公司 | Automatic driving robot control system and method |
| CN113635918B (en) * | 2021-08-13 | 2022-11-25 | 中国汽车技术研究中心有限公司 | Automatic driving robot control system and method |
| CN114872665A (en) * | 2022-06-27 | 2022-08-09 | 深圳职业技术学院 | Brake system for driverless motor vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108297849B (en) | 2023-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108297849A (en) | A kind of brake-by-wire device for unmanned racing car | |
| CN104648596B (en) | Electric bicycle and its control method | |
| CN105329317B (en) | Automobile flat tire steering wheel angle limits and minute wheel braking combined control system and method | |
| CN107364281A (en) | Spherical tire drive system, method and the spherical tire automobile with the system | |
| CN208021428U (en) | A kind of brake-by-wire device for unmanned racing car | |
| CN107284594A (en) | A kind of electronic brake system,electronic antiskid system for lightweight electric car | |
| CN205059566U (en) | Novel self -driving car braking device | |
| CN1651895A (en) | Automobile ABS / ASR apparatus experiment table based on brake inertia test | |
| CN205256317U (en) | Electric vehicle motor braking and hydraulic braking integrated system | |
| CN108189823A (en) | A kind of pilotless automobile general brake device and operating method | |
| CN105667576B (en) | A kind of steering mechanism of electric car | |
| CN208306620U (en) | A kind of electric vehicle brake pedal gear | |
| CN108340899B (en) | Unmanned racing car braking system | |
| CN205059592U (en) | Novel self -driving car | |
| CN108974219A (en) | It is a kind of for the mechanical from brake gear of balance car | |
| CN206954216U (en) | Oversize vehicle turning vision dead zone early warning self-braking device | |
| CN103847715A (en) | Anti-locking brake assembly for a vehicle, vehicle and method for braking a vehicle | |
| CN106740791A (en) | A kind of electrical servo brake apparatus of electric automobile | |
| CN208021433U (en) | A kind of unmanned racing car braking system | |
| CN106945652B (en) | A kind of motor driven braking system and control method | |
| CN107776403A (en) | A kind of Anti-false stepping system for automobile throttle and method | |
| CN205059568U (en) | Novel self -driving car brake based on pressure sensor device | |
| CN107521489A (en) | A kind of road accessory system automobile for improving driving safety | |
| CN108082386B (en) | Quick-dismantling type bicycle power auxiliary device and control method thereof | |
| CN203094053U (en) | Tour train four-wheel turning stability control 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |