CN108749581A - A kind of emergency brake circuit system of pure electric vehicle unmanned vehicle - Google Patents
A kind of emergency brake circuit system of pure electric vehicle unmanned vehicle Download PDFInfo
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- CN108749581A CN108749581A CN201810451154.0A CN201810451154A CN108749581A CN 108749581 A CN108749581 A CN 108749581A CN 201810451154 A CN201810451154 A CN 201810451154A CN 108749581 A CN108749581 A CN 108749581A
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/02—Dead-man's devices
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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
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
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- Life Sciences & Earth Sciences (AREA)
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- Sustainable Energy (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present invention proposes a kind of emergency brake circuit system of pure electric vehicle unmanned vehicle, including monitoring braking system and redundant braking system, monitors braking system and redundant braking system is two to try to be friendly with independent system, power supply is mutual indepedent, and braking system is mutual indepedent：A set of conventional line control brake system, a set of Pneumatic braking system, only mutually monitored by the respective entire car controller of two systems, once a system there is a problem, signal is then transmitted to by another controller by entire car controller and carries out emergency braking, and the power conditions in each system also each monitoring system, once there is brownout or voltage loss, controller sends out instruction implementation emergency braking after receiving low level signal.
Description
Technical field
The invention belongs to the technical fields of pure electric vehicle unmanned vehicle, and in particular to a kind of emergency braking electricity of pure electric vehicle unmanned vehicle
Road system.
Background technology
Pure electric automobile is the important directions of future automobile development, the environmental-protecting performance and energy substitution of electric vehicle compared with
It is good, and pure electric automobile with the advantages of its line traffic control as the chassis of unmanned transformation and test, so the unmanned vapour of pure electric vehicle
Vehicle is increasingly becoming the trend of automotive research.Currently, we are it also seen that the accident that the unmanned automobile of pure electric vehicle emerges one after another, from benz thing
Part, the accident for assisting driving to tesla, it is seen that pure electric vehicle unmanned vehicle is presently, there are great security risk, and these hidden danger
It solves to be unable to do without automobile brake, unmanned vehicle without driver because participate in, with greater need for a set of safely and effectively emergency braking
System can be braked timely and effectively when an emergency situation is encountered for vehicle, prevent accident.
Invention content
In view of this, the present invention provides a kind of emergency brake circuit system of pure electric vehicle unmanned vehicle, the system is to prevent
Supplemented by, based on detection, conventional brake is combined with redundancy braking, the safety of electronic unmanned vehicle can be improved, reduce accident
Occur.
Realize that technical scheme is as follows：
A kind of emergency brake circuit system of pure electric vehicle unmanned vehicle, including：Monitor braking system and redundant braking system；
Monitoring braking system includes entire car controller, vehicle low-tension supply, vehicle switch, safety return circuit and braking system
System；
Vehicle low-tension supply is that entire car controller and braking system are powered, and entire car controller monitors safety return circuit, whole in real time
The state of sensor in stopping switch and braking system, when there are abnormal conditions, entire car controller issues promptly to braking system
Braking instruction so that pure electric vehicle unmanned vehicle is braked；
Entire car controller monitors the steering engine power supply in vehicle low-tension supply and braking system in real time, when vehicle low-tension supply is different
Often or steering engine abnormity of power supply, entire car controller can send the instruction that reports an error to redundant braking system；
Redundant braking system includes redundant power, redundancy entire car controller and Pneumatic braking system；
Redundant power is that redundancy entire car controller and Pneumatic braking system are powered, when redundancy entire car controller receives monitoring
What the entire car controller of braking system transmitted reports an error, and redundancy vehicle control unit controls Pneumatic braking system makes pure electric vehicle unmanned vehicle
Emergency braking.
Further, the abnormal conditions of sensor are safety return circuit in the safety return circuit, vehicle switch and braking system
Low tension switch or unmanned switch in disconnection or vehicle switch are opened or the real-time feedback data of sensor is beyond threshold value.
Further, Pneumatic braking system include normally closed solenoid valve, cylinder, master cylinder, brake circuit, brake caliper and
Brake disc；
When redundant power abnormal power-down, normally closed solenoid valve disconnects, and cylinder pushes the pressure of master cylinder control brake circuit
Power, so that brake caliper friction brake disk carries out emergency braking.
Further, entire car controller realizes that the control of emergency braking, the circuit board include by circuit board：4
74LS74 triggers K1-K4 and 9 logic circuits with or door K5-K13；
Whether vehicle low-tension supply accesses the ends S of K1 to the signal of circuit board power supply；The letter electrically activated on entire car controller
Number entrance " house dog ", then from " house dog " go out to be respectively connected to the ends R of K1, the ends S of K2, the ends S of K3, K6 input terminal and
The input terminal of K9；Unmanned on off state and K4 in vehicle switchIt terminates into K5；The input terminal of the output access K6 of K5；Peace
Full loop detects the input terminal of signal access K6；The input terminal of the input terminal and K10 of the output access K7 of K6；K1'sTerminate into
The input terminal of K7；The ends R of the output access K2 of K7；The output Q of K2 terminates the input terminal into K10；The output of K10 is respectively connected to
The input terminal of the input terminal of K11, the input terminal of K12, K13；The input terminal of the cut-off signal access K8 of safety return circuit；Traveling is completed
State accesses the ends R of K3；Vehicle accesses the ends S of K4 in state of sailing；The output Q of K3 terminates the input of input terminal and K9 into K8
End；The ends R of the output access K4 of K9；The input terminal of the output access K13 of K8；Whether the ends the Q output vehicle low-tension supply of K1 gives
The signal of circuit board power supply, the upper power detection signal of steering engine power supply are respectively connected to the input terminal of K11 and the input terminal of K12, and K11 is defeated
Go out the signal whether emergency braking triggers, the signal whether K12 output redundant emergency brakes activate, K13 output safeties circuit after
The status signal of electric appliance, the ends Q of K4 export current vehicle condition, and signal that whether emergency braking triggers, redundant emergency brake are
The signal of no activation, the status signal of safety return circuit relay and current vehicle condition signal are sent out after entire car controller is handled
Give braking system.
Advantageous effect：
1, two sets of control systems of the invention can independently carry out emergency braking, keep braking scheme diversified.
2, present invention monitoring braking system and redundant braking system complement each other, and are mutually monitored between controller, a side has
Problem then starts another.
3, present invention monitoring braking system is implemented by passive non-programmed logic completely, more reliable and more stable.
Description of the drawings
Fig. 1 is emergency braking system schematic diagram of the present invention.
Fig. 2 present invention monitors braking system logic diagram.
Fig. 3 is the logic chart of entire car controller circuit board section.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Currently on the market, the solution of a set of security system is essentially formed for the secure context of pure electric automobile,
But the accident to emerge one after another proves that these safety guarantee are far from being enough, it is also necessary to carry out various driving feelings on this basis
Improvements in security under condition and security system innovative design.
Inspiration of the present invention is derived from engineering practice, the urgent system based on various preventions, monitoring and the electronic racing car of emergency mode
Dynamic scheme.Therefore emergency braking system is designed to one supplemented by prevention, based on detection, conventional brake is mutually tied with redundancy braking
The system of conjunction can contribute in the safety Design and reduction accident for improving electric vehicle.Total mentality of designing is to be based on
Non-programmable logic carries out the design of two sets of braking systems, a set of conventional brake-by-wire, the Pneumatic braking system of a set of redundancy.
A kind of emergency brake circuit system of pure electric vehicle unmanned vehicle, including：Monitor braking system and redundant braking system.Figure
1 indicates that monitoring braking system and redundant braking system are two to try to be friendly with independent system, and power supply is mutual indepedent, braking system
(a set of conventional line control brake system, a set of Pneumatic braking system) independently of each other only passes through the respective vehicle of two systems
Controller is mutually monitored, once a system there is a problem, then signal is transmitted to another control by entire car controller
Device processed carries out emergency braking.And the power conditions in each system also each monitoring system, once occur brownout or
Voltage is lost, and controller sends out instruction implementation emergency braking after receiving low level signal.
Monitoring braking system includes entire car controller, vehicle switch, safety return circuit and braking system.The braking system
For conventional line control brake system.
As shown in Figure 2, the shape of sensor during monitoring braking system monitors safety return circuit in real time, vehicle switchs and braking system
State judges that entire car controller issues emergency braking instruction to braking system when there are abnormal conditions by entire car controller,
So that the braking of pure electric vehicle unmanned vehicle.
In Fig. 2, entire car controller monitors the state of safety return circuit in real time, once emergency stop is pressed, the safety return circuit of vehicle
It will disconnect, entire car controller sends emergency braking activation instruction to emergency braking logic, carries out emergency braking；
Low tension switch controls the low-tension supply on pure electric vehicle unmanned vehicle and powers for entire car controller, unmanned switch control vehicle
Someone or unmanned pattern, once low tension switch or unmanned switch are disconnected, entire car controller loses driving condition activation
Signal, can be issued emergency braking to braking system instruction；It is only closed at low tension switch and unmanned switch, emergency braking is
It can stop.
Entire car controller monitors the state of multiple sensors in braking system in real time, when the data of some sensor exceed
Given threshold, entire car controller issue emergency braking instruction to braking system so that pure electric vehicle unmanned vehicle is braked.
Entire car controller monitors the steering engine power supply in vehicle low-tension supply and braking system in real time, when entire car controller loses
Steering engine in power supply or braking system loses power supply, and entire car controller can send the instruction that reports an error to redundant braking system；
Redundant braking system includes redundant power, redundancy entire car controller and Pneumatic braking system；
Redundant power is that redundancy entire car controller and Pneumatic braking system are powered, when redundancy entire car controller receives monitoring
What the entire car controller of braking system transmitted reports an error, the solenoid valve of redundancy vehicle control unit controls Pneumatic braking system, implements pure
The emergency braking of electronic unmanned vehicle.
Pneumatic braking system includes normally closed solenoid valve, cylinder, master cylinder, brake circuit, brake caliper and brake disc；
When redundant power abnormal power-down, normally closed solenoid valve disconnects, and cylinder pushes the pressure of master cylinder control brake circuit
Power, so that brake caliper friction brake disk carries out emergency braking.
It is meant that even if individual system fails, system remains able to reach safe shape for one completely redundant emergency braking
State.
Redundancy in terms of circuit is supplied by redundant power, even if can be redundancy if emergency braking logic failure redundant power
Entire car controller is powered, and redundancy entire car controller is made to trigger emergency braking.In the case where redundancy entire car controller fails, promptly
Braking is by non-programmable logic automatic trigger.Mechanical side redundancy depends on selected system.
Redundant braking system devises Pneumatic braking system, Pneumatic braking system include solenoid valve, cylinder, master cylinder,
Brake circuit, brake caliper and brake disc；
Braking energy stores in the cylinder, and is discharged into master cylinder by normally closed solenoid valve, and then controls brake oil
The pressure on road, so that brake caliper friction brake disk carries out emergency braking.
Design of the control of entire car controller of the present invention based on non-programmable logic, for emergency brake circuit plate whether on
Electrical activation, safety return circuit detect on electrical activation, entire car controller, nobody switchs, electro-detection, full-vehicle control on braking system steering engine
Device disconnects safety return circuit, traveling completion status, vehicle in a variety of inputs such as the state of sailing, and is exported by a series of logic judgment tight
Whether anxious braking circuit plate activates, whether emergency braking triggers, whether redundant emergency brake activates, pacifies on emergency brake circuit plate
The states such as full loop relay, current vehicle condition carry out the complete accurate logic judgment of emergency braking.
Fig. 3 is the realization schematic diagram of the present invention.Entire car controller realizes the control of emergency braking, the circuit by circuit board
Plate includes：4 74LS74 triggers K1-K4 and 9 logic circuits with or door K5-K13 constitute；
Whether vehicle low-tension supply accesses the ends S of K1 to the signal of circuit board power supply；The letter electrically activated on entire car controller
Number entrance " house dog ", then from " house dog " go out to be respectively connected to the ends R of K1, the ends S of K2, K3 the ends S, K6 and K9；Vehicle
Unmanned on off state and K4 in switchIt terminates into K5；The output of K5 accesses K6；Safety return circuit detects signal and accesses K6；K6
Output access K7 and K10；K1'sIt terminates into K7；The ends R of the output access K2 of K7；The output Q of K2 is terminated into K10；K10's
Output is respectively connected to K11, K12, K13；The cut-off signal of safety return circuit accesses K8；Travel the ends R of completion status access K3；Vehicle
The ends S of K4 are accessed in state of sailing；The output Q of K3 is terminated into K8 and K9；The ends R of the output access K4 of K9；The output of K8 accesses
K13；The ends the Q output vehicle low-tension supply of K1 whether to circuit board power supply signal, the upper power detection signal difference of steering engine power supply
K11 and K12, the signal whether K11 output emergency brakings trigger are accessed, K12 exports the signal whether redundant emergency brake activates,
The ends Q of the status signal of K13 output safeties circuit relay, K4 export current vehicle condition.
Integrated circuit is powered by low-tension supply, all gate circuit chip power supply voltage 5V.
1, after high-low voltage power source is connected, into manned state to be sailed, entire car controller is started to work, output
" being electrically activated on entire car controller " signal；In general, part of the safety return circuit before the circuit board is all closed, peace
Full loop exports always high level, as 1, and the signal for disconnecting safety return circuit is 0, and activation emergency brake circuit partitioned signal is 1, nothing
The signal of people's switch is 0, and power detection signal is 0 on braking system steering engine, and traveling completes signal and vehicle sailing status signal and is
1。
Under above-mentioned input, it is the input of 1, R feet that the S feet input of K1 is permanent becomes 1, therefore its Q outputs 0 from 0,Output is 1,
And it latches；It is 1 that it is permanent, which to become the input of 1, R feet, from 0 for the S feet input of K3, therefore Q feet output 1；K8 outputs 1；The output of K9 is become from 0
1；It is 1, R feet that the S feet input of K4 is permanent becomes 1, therefore Q outputs 0 from 0,Output 1；K5 exports 1, K6 and exports 1, K7 outputs 1；K2
The input of S feet to become the input of 1, R feet from 0 be 1, therefore Q feet output 1 and is latched；K10 outputs 1.
To sum up, whether indicating emergency braking circuit plate activates, whether redundant emergency brake activates and current vehicle condition all
Output 0；It is 1 that whether emergency braking, which triggers and control safety return circuit relay output on emergency brake circuit plate,.
Since whether activation signal is 0 to emergency brake circuit plate, i.e. emergency braking does not enter " activation " state；Control is urgent
Safety return circuit relay signal is 1 on braking circuit plate, and the relay of control safety return circuit is closed on the circuit board.
2, in the case of the 1st kind, it is closed unmanned switch, into unmanned pattern to be sailed.Unmanned switching signal becomes
1；Activation emergency brake circuit partitioned signal becomes 0；Vehicle control unit controls brake steering engine braking, and are changed according to oil pressure and judge system
Whether dynamic system is normal, if being detected after braking, oil pressure rises, and proves that braking system is working properly, output 1, and keeps 1, instead
Then export 0.
It is 1 that the S feet input of K1 becomes 0, R feet still from 1, so Q outputs 1,Output 0, and latch.Braking system steering engine
Upper power detection signal is 1, and redundant emergency brake activation, control solenoid signal is 1, i.e. solenoid valve is closed, rest part circuit
Without influence.
Therefore, after unmanned switch is closed, whether activation signal activates emergency braking to the activation of emergency brake circuit plate, and tight
Anxious on-position cannot be reset in addition to cutting off the power.
If entire car controller loses power supply, either failure or safety return circuit signal are 0 (i.e. before emergency brake circuit
Safety return circuit disconnects), lead to K6 outputs 0, K10 outputs 0, whether indicating emergency braking triggers, whether redundant emergency brake activates
Become 0 with safety return circuit relay on control emergency brake circuit plate, the instruction current emergency braking of entire car controller is in triggering
State, triggering emergency braking mechanical component simultaneously disconnect safety return circuit.
3, in case 2, setting driving condition returns again to 1 after becoming 0 by 1, into unmanned pattern.
The S feet input of K4 returns to 1, R feet after becoming 0 from 1 be 1 constant, therefore, Q outputs 1,Output 0, and the state
It latches.
Current vehicle condition signal becomes 1 as a result, and instruction is currently in the state of sailing；The output of K5 at this time only with nobody
Switch closure is related, that is, represents in driving condition, and the state of unmanned systems main switch begins with the energy of triggering emergency braking
Power.
If entire car controller loses power supply, either failure or safety return circuit signal are 0 (i.e. before emergency brake circuit
Safety return circuit disconnects), lead to K6 outputs 0, K10 outputs 0, whether indicating emergency braking triggers, whether redundant emergency brake activates
Become 0 with safety return circuit relay on control emergency brake circuit plate, the instruction current emergency braking of entire car controller is in triggering
State, triggering emergency braking mechanical component simultaneously disconnect safety return circuit.
4, it drives and completes.Setting completion status is set to 0.
It is 1 that the R feet input of K3, which becomes 0, S feet still, so, Q outputs 0；K8, K13 output 0,；K9 outputs 0；The S feet of K4 are defeated
Enter and inputs 0 for 1, R feet, so Q outputs 0,Output 1.
Therefore, controlling safety return circuit relay signal on emergency brake circuit plate becomes 0, that is, is disconnected safety return circuit, cuts
Disconnected dynamical system power supply；Current vehicle condition signal becomes 0, and instruction is not presently within driving condition；Simultaneously as K4It is defeated
It is 1 to go out signal, so the output of K5 signals is unrelated with unmanned on off state, i.e., closing unmanned systems main switch at this time will not trigger
Emergency braking.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of emergency brake circuit system of pure electric vehicle unmanned vehicle, which is characterized in that monitoring braking system and redundancy braking system
System；
Monitoring braking system includes entire car controller, vehicle low-tension supply, vehicle switch, safety return circuit and braking system；
Vehicle low-tension supply is that entire car controller and braking system are powered, and entire car controller monitors safety return circuit in real time, vehicle is opened
The state with sensor in braking system is closed, when there are abnormal conditions, entire car controller issues emergency braking to braking system
Instruction so that pure electric vehicle unmanned vehicle is braked；
Entire car controller monitors the steering engine power supply in vehicle low-tension supply and braking system in real time, when vehicle low-tension supply is abnormal or
Person's steering engine abnormity of power supply, entire car controller can send the instruction that reports an error to redundant braking system；
Redundant braking system includes redundant power, redundancy entire car controller and Pneumatic braking system；
Redundant power is that redundancy entire car controller and Pneumatic braking system are powered, when redundancy entire car controller receives monitoring braking
What the entire car controller of system transmitted reports an error, and redundancy vehicle control unit controls Pneumatic braking system makes the tight of pure electric vehicle unmanned vehicle
Anxious braking.
2. a kind of emergency brake circuit system of pure electric vehicle unmanned vehicle as described in claim 1, which is characterized in that the safety
The abnormal conditions of sensor are the low pressure that safety return circuit is in disconnection or vehicle switch in circuit, vehicle switch and braking system
Switch or unmanned switch are opened or the real-time feedback data of sensor exceeds threshold value.
3. a kind of emergency brake circuit system of pure electric vehicle unmanned vehicle as described in claim 1, which is characterized in that aerobraking
System includes normally closed solenoid valve, cylinder, master cylinder, brake circuit, brake caliper and brake disc；
When redundant power abnormal power-down, normally closed solenoid valve disconnects, and cylinder pushes the pressure of master cylinder control brake circuit, from
And brake caliper friction brake disk is made to carry out emergency braking.
4. a kind of emergency brake circuit system of pure electric vehicle unmanned vehicle as described in claim 1, which is characterized in that full-vehicle control
Device realizes that the control of emergency braking, the circuit board include by circuit board：4 74LS74 triggers K1-K4 and 9 logic circuits
With or door K5-K13；
Whether vehicle low-tension supply accesses the ends S of K1 to the signal of circuit board power supply；The signal electrically activated on entire car controller into
Enter " house dog ", then goes out to be respectively connected to the ends R of K1, the ends S of K2, the ends S of K3, the input terminal of K6 and K9 from " house dog "
Input terminal；Unmanned on off state and K4 in vehicle switchIt terminates into K5；The input terminal of the output access K6 of K5；Safety is returned
Detect the input terminal of signal access K6 in road；The input terminal of the input terminal and K10 of the output access K7 of K6；K1'sIt terminates into K7's
Input terminal；The ends R of the output access K2 of K7；The output Q of K2 terminates the input terminal into K10；The output of K10 is respectively connected to K11's
The input terminal of input terminal, the input terminal of K12, K13；The input terminal of the cut-off signal access K8 of safety return circuit；Travel completion status
Access the ends R of K3；Vehicle accesses the ends S of K4 in state of sailing；The output Q of K3 terminates the input terminal of input terminal and K9 into K8；K9
Output access K4 the ends R；The input terminal of the output access K13 of K8；Whether the ends the Q output vehicle low-tension supply of K1 gives circuit board
The upper power detection signal of the signal of power supply, steering engine power supply is respectively connected to the input terminal of K11 and the input terminal of K12, and K11 outputs are urgent
The signal whether triggered is braked, K12 exports the signal whether redundant emergency brake activates, K13 output safeties circuit relay
Status signal, the ends Q of K4 export current vehicle condition, and whether signal that whether emergency braking triggers, redundant emergency brake activate
Signal, safety return circuit relay status signal and current vehicle condition signal system is sent to after entire car controller is handled
Dynamic system.
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| CN109995141A (en) * | 2019-04-13 | 2019-07-09 | 北京京投亿雅捷交通科技有限公司 | A kind of power control unit that achievable emergency power off is self-locking and control method |
| CN113267992A (en) * | 2021-07-19 | 2021-08-17 | 北京踏歌智行科技有限公司 | Mine card unmanned control system based on redundancy design |
| CN113911137A (en) * | 2021-11-10 | 2022-01-11 | 清华大学苏州汽车研究院（吴江） | Vehicle sudden stop system and vehicle control method |
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| CN109365535A (en) * | 2018-11-20 | 2019-02-22 | 湖北新冶钢特种钢管有限公司 | A kind of push-bench rack gear electrical control protection circuit and its guard method |
| CN109365535B (en) * | 2018-11-20 | 2024-06-04 | 大冶特殊钢有限公司 | Electrical control protection circuit and protection method for rack of push bench |
| CN109995141A (en) * | 2019-04-13 | 2019-07-09 | 北京京投亿雅捷交通科技有限公司 | A kind of power control unit that achievable emergency power off is self-locking and control method |
| CN113267992A (en) * | 2021-07-19 | 2021-08-17 | 北京踏歌智行科技有限公司 | Mine card unmanned control system based on redundancy design |
| CN113267992B (en) * | 2021-07-19 | 2021-09-28 | 北京踏歌智行科技有限公司 | Mine card unmanned control system based on redundancy design |
| CN113911137A (en) * | 2021-11-10 | 2022-01-11 | 清华大学苏州汽车研究院（吴江） | Vehicle sudden stop system and vehicle control method |
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