CN108725258B - Automobile anti-lock state detection method and detection system for electric automobile - Google Patents
Automobile anti-lock state detection method and detection system for electric automobile Download PDFInfo
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- CN108725258B CN108725258B CN201810526302.0A CN201810526302A CN108725258B CN 108725258 B CN108725258 B CN 108725258B CN 201810526302 A CN201810526302 A CN 201810526302A CN 108725258 B CN108725258 B CN 108725258B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automobile anti-lock state detection method for an electric automobile, which comprises the following steps of: to electric motorThe original rotating speed of the motor of the automobile is collected to generate an original rotating speed signal V of the motor 1 The method comprises the steps of carrying out a first treatment on the surface of the For the original rotating speed signal V of the motor 1 Smoothing filter processing is carried out to generate a motor rotating speed smoothing filter signal V 2 The method comprises the steps of carrying out a first treatment on the surface of the Calculating an original rotating speed signal V of the motor 1 And motor rotation speed smoothing filter signal V 2 The difference value delta V is used as a motor rotation speed fluctuation value; outputting a motor rotation speed fluctuation value every time at a certain interval, comparing the motor rotation speed fluctuation value output every time with a set threshold value, judging that the electric automobile enters a locking state if the motor rotation speed fluctuation values of a plurality of continuous interval periods X are all larger than the set threshold value, performing anti-lock braking control by a motor controller of the electric automobile, and exiting braking energy recovery control. The invention also discloses a detection system for realizing the detection method of the anti-lock state of the automobile for the electric automobile.
Description
Technical Field
The invention relates to the field of electric automobile control, in particular to an anti-lock state detection method and system for an electric automobile.
Background
The automobile anti-lock braking system (Antilock Brake System) is one of automobile braking systems, can effectively prevent the problem of dragging and sliding of automobile wheels in an automobile braking process, and improves the stability and control performance of the automobile braking system.
Compared with the traditional diesel locomotive, the electric automobile can convert part of kinetic energy recovered during braking into electric energy to be stored for driving, so that energy conservation is realized, the endurance mileage is improved, and the electric automobile has more competitive advantages. However, when an anti-lock braking system of an electric vehicle is operated, it is necessary to prohibit energy recovery in order to secure stability of the electric vehicle.
In order to realize the two functions, whether the current electric automobile is in a locking state needs to be accurately detected. At present, the ABS generally realizes the above-mentioned detection purpose by means of bus transmission. When part of the ABS is not provided with a mode of sending the electric automobile outwards through a bus but is not limited to the bus mode, the electric automobile cannot recover energy in any state because the electric automobile cannot inhibit energy recovery in the state of locking.
Based on the above studies, the applicant has advantageously explored and tried to find a solution to the above problems, and the technical solutions to be described below are created in this context.
Disclosure of Invention
One of the technical problems to be solved by the invention is as follows: aiming at the defects of the prior art, the anti-lock state detection method for the electric automobile is provided, and the detection method realizes that the electric automobile still has an energy recovery function when an ABS system in the electric automobile does not have the function of sending out a locking state, so that the safety and the stability of the electric automobile are improved.
The second technical problem to be solved by the invention is that: the detection system for realizing the detection method for the anti-lock state of the automobile for the electric automobile is provided.
An anti-lock state detection method for an electric automobile as a first aspect of the present invention includes the steps of:
collecting the original rotating speed of the motor of the electric automobile, calculating and processing the collected original rotating speed of the motor to generate an original rotating speed signal V of the motor 1 ；
For the generated motor original rotating speed signal V 1 Smoothing filter processing is carried out to generate a motor rotating speed smoothing filter signal V 2 ；
Calculating an original rotating speed signal V of the motor 1 And motor rotation speed smoothing filter signal V 2 The difference between Δv=v 1 -V 2 Taking the difference value DeltaV as a motor rotation speed fluctuation value;
outputting a motor rotation speed fluctuation value every time for a certain time T, comparing the motor rotation speed fluctuation value output every time with a set threshold M, and judging that the electric automobile enters a locking state if the motor rotation speed fluctuation values of a plurality of continuous interval periods X are all larger than the set threshold M, wherein a motor controller of the electric automobile performs anti-lock braking control and simultaneously exits braking energy recovery control.
In a preferred embodiment of the invention, a second order filter is used to generate the motor raw speed signal V 1 Smoothing filter processing is performed.
In a preferred embodiment of the invention, the transfer function of the second order filter is:
wherein, the value range of a is 0.7-1, the value range of b is 5.5-6.6, the value range of c is 1.5-2.5, and the value range of d is 4.5-5.
In a preferred embodiment of the present invention, the transfer function of the second order filter has values of a, b, c, d of 1, 6, 2 and 5, respectively.
In a preferred embodiment of the present invention, the set threshold M is 100rpm to 200rpm.
In a preferred embodiment of the present invention, the interval time T of the motor rotation speed fluctuation value output is 0.5ms to 1.5ms.
In a preferred embodiment of the invention, the number of consecutive intervals is 15-25.
As a second aspect of the present invention, a detection system for implementing the above-mentioned method for detecting an anti-lock state of an electric automobile includes:
the motor rotating speed sensor is arranged in an electric motor of the electric automobile and used for collecting the original rotating speed of the motor, and the collected original rotating speed of the motor is converted into a motor rotating speed electric signal by the motor rotating speed sensor to be output;
the motor main controller comprises a motor rotating speed calculation module, a motor rotating speed smoothing filter module, a locking state judgment module and a motor control module;
the motor rotating speed calculating module is provided with a motor rotating speed signal input end and a motor rotating speed signal output end, the motor rotating speed signal input end of the motor rotating speed calculating module is connected with the signal output end of the motor rotating speed sensor and is used for receiving the motor rotating speed electric signal output by the motor rotating speed sensor, calculating and processing the received motor rotating speed electric signal and generating a motor original rotating speed signal V 1 Outputting;
the motor rotating speed smoothing filter module is provided with a motor rotating speed smoothing filter input end and a motor rotating speed smoothing filter output end, and the motor of the motor rotating speed smoothing filter moduleThe motor rotating speed signal output end of the motor rotating speed calculation module is connected with the rotating speed smoothing filter input end and is used for receiving the motor original rotating speed signal V output by the motor rotating speed calculation module 1 And receives the original rotating speed signal V of the motor 1 Smoothing filter processing is carried out to generate a motor rotating speed smoothing filter signal V 2 Outputting;
the locking state judging module is provided with a motor original rotating speed signal input end, a motor rotating speed smooth filtering signal input end and a locking state signal output end, wherein the motor original rotating speed signal input end and the motor rotating speed smooth filtering signal input end of the locking state judging module are respectively connected with the motor rotating speed signal output end of the motor rotating speed calculating module and the motor rotating speed smooth filtering output end of the motor rotating speed smooth filtering module, and are used for receiving a motor original rotating speed signal V output by the motor rotating speed calculating module 1 And a motor rotation speed smoothing filter signal V output by the motor rotation speed smoothing filter module 2 And calculates the original rotating speed signal V of the motor 1 And motor rotation speed smoothing filter signal V 2 The difference between Δv=v 1 -V 2 The difference value DeltaV is used as a motor rotation speed fluctuation value, the motor rotation speed fluctuation value is compared with a set threshold value, if the motor rotation speed fluctuation values of a plurality of continuous interval periods are all larger than the set threshold value, the electric automobile is judged to enter a locking state, and the locking state judgment module outputs a locking state signal through the locking state signal output end;
the motor control module is provided with a locking state signal output end and a motor control signal output end, the locking state signal output end of the motor control module is connected with the locking state signal output end of the locking state judging module, the motor control signal output end of the motor control module is connected with an electric motor of the electric automobile, and the motor control module receives the locking state signal output by the locking state judging module and then performs anti-lock braking control on the electric motor of the electric automobile and simultaneously exits braking energy recovery control.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. when ABS in an electric vehicle does not have a function of transmitting a locking state to the outside, the electric vehicle may still have an energy recovery function.
2. Whether the automobile is in a locking state or not is judged through the rotation speed of the motor, and the motor is convenient, direct and high in reliability.
3. The filter algorithm based on the second-order filter is adopted to carry out smooth filter processing on the original rotating speed of the motor, and the filter algorithm has the advantage of high response speed and has good filter effect on the rotating speed of the motor in the locking state. Meanwhile, according to different vehicle types, the optimal filtering effect can be obtained by calibrating the parameters a, b, c and d of the second-order filter.
4. According to different electric automobile types, whether the electric automobile is in a locking state currently or not can be accurately judged through a calibration threshold M, a sampling time T and a continuous interval period X, so that anti-lock control is rapidly adopted, braking energy recovery is simultaneously exited, and the safety and stability of the system are improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an anti-lock state detection method for an electric automobile according to the present invention.
Fig. 2 is a block diagram of a second order filter of the present invention.
Fig. 3 is a simulation diagram of the smoothing filter effect of the second order filter of the present invention.
Fig. 4 is a schematic structural view of the detection system of the present invention.
Detailed Description
The invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.
Referring to fig. 1, an anti-lock state detection method for an electric automobile is provided, which includes the following steps:
step 1, acquiring the original rotating speed of a motor of an electric automobile, and calculating the acquired original rotating speed of the motor to generate an original rotating speed signal V of the motor 1 ；
Step 2, adopting a second-order filter to generate an original rotating speed signal V of the motor 1 Smoothing filter processing is carried out to generate a motor rotating speed smoothing filter signal V 2 。
Wherein, referring to fig. 2 and 3, the transfer function of the second order filter is:
wherein, the value range of a is 0.7-1, the value range of b is 5.5-6.6, the value range of c is 1.5-2.5, and the value range of d is 4.5-5. Preferably, the values of a, b, c, d in the transfer function of the second-order filter are 1, 6, 2 and 5 respectively.
Step 3, calculating an original rotating speed signal V of the motor 1 And motor rotation speed smoothing filter signal V 2 The difference between Δv=v 1 -V 2 And the difference DeltaV is taken as a motor rotation speed fluctuation value.
And 4, outputting a motor rotation speed fluctuation value every time at a certain time T, comparing the motor rotation speed fluctuation value output every time with a set threshold M, and judging that the electric automobile enters a locking state if the motor rotation speed fluctuation values of a plurality of continuous interval periods X are all larger than the set threshold M. Wherein, the threshold M is set to be 100 rpm-200 rpm. The interval time T of the motor rotation speed fluctuation value output is 0.5 ms-1.5 ms, preferably 1ms. The number of consecutive intervals is 15 to 25, preferably 20.
And 5, performing anti-lock braking control by a motor controller of the electric automobile, and exiting braking energy recovery control.
Referring to fig. 4, a detection system for implementing the above-mentioned method for detecting the anti-lock state of an electric automobile includes a motor rotation speed sensor 100 and a motor main controller 200.
The motor rotation speed sensor 100 is installed in an electric motor of the electric automobile, rotates along with the electric motor, and is used for collecting the original rotation speed of the electric motor, and converting the collected original rotation speed of the electric motor into an electric signal of the rotation speed of the electric motor to output.
The motor main controller 200 includes a motor speed calculation module 210, a motor speed smoothing filter module 220, a locking state judgment module 230, and a motor control module 240.
The motor speed calculation module 210 has a motor speed signal input end and a motor speed signal output end, and the motor speed signal input end of the motor speed calculation module 210 is connected with the signal output end of the motor speed sensor 100. The motor rotation speed calculating module 210 is configured to receive the motor rotation speed electric signal output by the motor rotation speed sensor 100, calculate and process the received motor rotation speed electric signal, and generate a motor original rotation speed signal V 1 And outputting.
The motor speed smoothing filter module 220 has a motor speed smoothing filter input end and a motor speed smoothing filter output end, and the motor speed smoothing filter input end of the motor speed smoothing filter module 220 is connected with the motor speed signal output end of the motor speed calculating module 210. The motor rotation speed smoothing filter module 220 is configured to receive the motor original rotation speed signal V output by the motor rotation speed calculation module 210 1 And receives the original rotating speed signal V of the motor 1 Smoothing filter processing is carried out to generate a motor rotating speed smoothing filter signal V 2 And outputting.
The locking state judging module 230 has a motor original rotation speed signal input end, a motor rotation speed smoothing filter signal input end and a locking state signal output end, and the motor original rotation speed signal input end and the motor rotation speed smoothing filter signal input end of the locking state judging module 230 are respectively connected with the motor rotation speed signal output end of the motor rotation speed calculating module 210 and the motor rotation speed smoothing filter output end of the motor rotation speed smoothing filter module 220. The locking status judging module 230 is used forReceiving motor original rotation speed signal V output by motor rotation speed calculation module 210 1 And motor rotation speed smoothing filter signal V output by motor rotation speed smoothing filter module 220 2 And calculates the original rotating speed signal V of the motor 1 And motor rotation speed smoothing filter signal V 2 The difference between Δv=v 1 -V 2 And taking the difference value DeltaV as a motor rotation speed fluctuation value, comparing the motor rotation speed fluctuation value with a set threshold value, and if the motor rotation speed fluctuation values of a plurality of continuous interval periods are all larger than the set threshold value, judging that the electric automobile enters a locking state, and outputting a locking state signal through the locking state signal output end by the locking state judging module 230.
The motor control module 240 has a locking state signal output end and a motor control signal output end, the locking state signal output end of the motor control module 240 is connected with the locking state signal output end of the locking state judging module 230, and the motor control signal output end is connected with an electric motor of the electric automobile. After receiving the signal of the locking state output by the locking state judging module, the motor control module 240 performs anti-lock braking control on the electric motor of the electric automobile, and simultaneously exits from braking energy recovery control.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An anti-lock state detection method for an electric automobile is characterized by comprising the following steps:
collecting the original rotating speed of the motor of the electric automobile, calculating and processing the collected original rotating speed of the motor to generate an original rotating speed signal V of the motor 1 ；
For the generated motor original rotating speed signal V 1 Smoothing filter processing is carried out to generate a motor rotating speed smoothing filter signal V 2 ；
Calculating an original rotating speed signal V of the motor 1 And motor rotation speed smoothing filter signal V 2 The difference between Δv=v 1 -V 2 Taking the difference value DeltaV as a motor rotation speed fluctuation value;
outputting a motor rotation speed fluctuation value every time for a certain time T, comparing the motor rotation speed fluctuation value output every time with a set threshold M, and judging that the electric automobile enters a locking state if the motor rotation speed fluctuation values of a plurality of continuous interval periods X are all larger than the set threshold M, wherein a motor controller of the electric automobile performs anti-lock braking control and simultaneously exits braking energy recovery control.
2. The method for detecting the anti-lock state of an electric automobile according to claim 1, wherein a second order filter is used for generating an original rotation speed signal V of the motor 1 Smoothing filter processing is performed.
3. The method for detecting the anti-lock state of an automobile for an electric automobile according to claim 2, wherein the transfer function of the second order filter is:
wherein, the value range of a is 0.7-1, the value range of b is 5.5-6.6, the value range of c is 1.5-2.5, and the value range of d is 4.5-5.
4. The method for detecting the anti-lock state of an electric automobile according to claim 3, wherein the transfer function of the second order filter has values of a, b, c, d of 1, 6, 2 and 5, respectively.
5. The method for detecting an anti-lock state of an electric automobile according to claim 1, wherein the set threshold M is 100rpm to 200rpm.
6. The method for detecting the anti-lock state of an electric automobile according to claim 1, wherein the interval time T of the motor rotation speed fluctuation value output is 0.5ms to 1.5ms.
7. The method for detecting the anti-lock state of an electric automobile according to claim 1, wherein the number of consecutive intervals is 15 to 25.
8. A detection system for realizing the method for detecting an anti-lock state of an automobile for an electric automobile according to any one of claims 1 to 7, comprising:
the motor rotating speed sensor is arranged in an electric motor of the electric automobile and used for collecting the original rotating speed of the motor, and the collected original rotating speed of the motor is converted into a motor rotating speed electric signal by the motor rotating speed sensor to be output;
the motor main controller comprises a motor rotating speed calculation module, a motor rotating speed smoothing filter module, a locking state judgment module and a motor control module;
the motor rotating speed calculating module is provided with a motor rotating speed signal input end and a motor rotating speed signal output end, the motor rotating speed signal input end of the motor rotating speed calculating module is connected with the signal output end of the motor rotating speed sensor and is used for receiving the motor rotating speed electric signal output by the motor rotating speed sensor, calculating and processing the received motor rotating speed electric signal and generating a motor original rotating speed signal V 1 Outputting;
the motor rotating speed smoothing filter module is provided with a motor rotating speed smoothing filter input end and a motor rotating speed smoothing filter output end, wherein the motor rotating speed smoothing filter input end of the motor rotating speed smoothing filter module is connected with the motor rotating speed signal output end of the motor rotating speed calculating module and is used for receiving the motor original rotation output by the motor rotating speed calculating moduleSpeed signal V 1 And receives the original rotating speed signal V of the motor 1 Smoothing filter processing is carried out to generate a motor rotating speed smoothing filter signal V 2 Outputting;
the locking state judging module is provided with a motor original rotating speed signal input end, a motor rotating speed smooth filtering signal input end and a locking state signal output end, wherein the motor original rotating speed signal input end and the motor rotating speed smooth filtering signal input end of the locking state judging module are respectively connected with the motor rotating speed signal output end of the motor rotating speed calculating module and the motor rotating speed smooth filtering output end of the motor rotating speed smooth filtering module, and are used for receiving a motor original rotating speed signal V output by the motor rotating speed calculating module 1 And a motor rotation speed smoothing filter signal V output by the motor rotation speed smoothing filter module 2 And calculates the original rotating speed signal V of the motor 1 And motor rotation speed smoothing filter signal V 2 The difference between Δv=v 1 -V 2 The difference value DeltaV is used as a motor rotation speed fluctuation value, the motor rotation speed fluctuation value is compared with a set threshold value, if the motor rotation speed fluctuation values of a plurality of continuous interval periods are all larger than the set threshold value, the electric automobile is judged to enter a locking state, and the locking state judgment module outputs a locking state signal through the locking state signal output end;
the motor control module is provided with a locking state signal output end and a motor control signal output end, the locking state signal output end of the motor control module is connected with the locking state signal output end of the locking state judging module, the motor control signal output end of the motor control module is connected with an electric motor of the electric automobile, and the motor control module receives the locking state signal output by the locking state judging module and then performs anti-lock braking control on the electric motor of the electric automobile and simultaneously exits braking energy recovery control.
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| DE102007008613A1 (en) * | 2007-02-22 | 2008-08-28 | Robert Bosch Gmbh | Drive device for motor vehicle, has rotational speed sensors connected with evaluation circuit that provides adjusted jerk-free rotational speed and/or jerking-vibration information value during jerking vibrations |
| CN107406063A (en) * | 2015-03-26 | 2017-11-28 | Ntn株式会社 | Anti-block brake controller |
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| CN104192107A (en) * | 2014-08-14 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Precursor electric automobile regenerative braking and ABS matching control method |
| GB2538806B (en) * | 2015-05-29 | 2021-04-07 | Sevcon Ltd | Method and apparatus |
| CN105774562A (en) * | 2016-03-09 | 2016-07-20 | 郑州精益达汽车零部件有限公司 | Wheel-side motor driven vehicle anti-lock braking system and method |
| CN106627171B (en) * | 2017-01-12 | 2019-06-04 | 重庆长安新能源汽车科技有限公司 | A kind of the torque recycling and control method and control system of pure electric vehicle |
| CN208306386U (en) * | 2018-05-29 | 2019-01-01 | 创驱（上海）新能源科技有限公司 | A kind of automobile anti-lock braking condition detecting system for electric vehicle |
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| US4912744A (en) * | 1988-06-23 | 1990-03-27 | Lucas Industries Public Limited Company | Vehicle speed estimation in anti-lock braking systems |
| DE102007008613A1 (en) * | 2007-02-22 | 2008-08-28 | Robert Bosch Gmbh | Drive device for motor vehicle, has rotational speed sensors connected with evaluation circuit that provides adjusted jerk-free rotational speed and/or jerking-vibration information value during jerking vibrations |
| CN107406063A (en) * | 2015-03-26 | 2017-11-28 | Ntn株式会社 | Anti-block brake controller |
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