CN109606289A - A kind of hybrid power chassis descending energy consuming methods - Google Patents
A kind of hybrid power chassis descending energy consuming methods Download PDFInfo
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- CN109606289A CN109606289A CN201811568735.9A CN201811568735A CN109606289A CN 109606289 A CN109606289 A CN 109606289A CN 201811568735 A CN201811568735 A CN 201811568735A CN 109606289 A CN109606289 A CN 109606289A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of hybrid power chassis descending energy consuming methods, comprising: the entirety controller receives the gear signal that driving switch is sent；The counter of the wheel motor, which is controlled, according to the braking power drags generated output；Judge the state-of-charge of the electric storage device；It when the carrying capacity of the electric storage device reaches the upper limit, is consumed energy by the vehicle control unit controls ISG motor drag engine, the vehicle control unit controls engine control makes engine stop oil spout and closes exhaust butterfly valve as ISG motor load.It solves in the prior art by increasing resistance device and attached heat radiation cooling system come braking when assisting vehicle descending, increases the technical problem of economic cost space utilization rate difference.Reach through entire car controller to engine exhaust function usage mode, produced electricl energy using engine exhaust and brake function consumption electric braking, improve efficiency, meet superduty chassis, long abrupt slope demand, achievements conversion has the technical effect of bright prospects.
Description
Technical field
The present invention relates to vehicle equipment technology field more particularly to a kind of hybrid power chassis descending energy consuming methods.
Background technique
Vehicle often wants lower long slope, in order not to make vehicle continuous underground slope due to gravity itself accelerate to dangerous journey
Degree should carry out continuous braking to vehicle, so that the speed of descending vehicle is stablized in a certain safety value.It is difficult for depending merely on service brake
In completing this braking task, its temperature is increased greatly because brake continually works for a long time, makes brake efficiency
Decline is even entirely ineffective, therefore using auxiliary brakings forms such as retarder brakes under this driving conditions.Usual hybrid power bottom
Braking resistor can be arranged in disk, can guarantee in this way in the case where storage battery charge state has been expired, and wheel motor is counter to drag generation electricity
Amount is consumed by braking resistor heat.
But present invention applicant has found that the prior art at least has the following technical problems:
In the prior art by increasing resistance device and attached heat radiation cooling system come braking when assisting vehicle descending, increase
Add economic cost, increases economic cost and occupied space, the technical problem of space utilization rate difference.Particularly with superduty vehicle
Its big occupied space of braking resistor volume is larger for.
Summary of the invention
The embodiment of the invention provides a kind of hybrid power chassis descending energy consuming methods, solve and pass through increasing in the prior art
Add resistance device and attached heat radiation cooling system come braking when assisting vehicle descending, increase economic cost and occupied space,
The technical problem of space utilization rate difference.
In view of the above problems, the present invention provides a kind of hybrid power chassis descending energy consuming methods, are applied to a superduty
Vehicle, the superduty vehicle are equipped with whole controller, driving switch, wheel motor, electric storage device, ISG motor, start
Machine, which comprises the entirety controller receives the gear signal that the driving switch is sent, wherein the gear letter
Number include the superduty vehicle descending when vehicle need braking power；The wheel motor is controlled according to the braking power
Counter drag generated output；Judge the state-of-charge of the electric storage device；When the carrying capacity of the electric storage device reaches the upper limit, lead to
It crosses the whole controller and controls engine operation described in the ISG motor run, the engine stop oil spout, and control
The engine and exhaust brake consume extra electric energy.
Preferably, after the state-of-charge of the judgement electric storage device, comprising: when the carrying capacity of the electric storage device
Not up to the upper limit when, control the wheel motor and charge to the electric storage device.
Preferably, described that engine operation described in the ISG motor run is controlled by the whole controller, it is described
Engine stop oil spout, and control the engine and the extra electric energy of exhaust brake consumption, comprising: when the engine stop sprays
When oily, the wheel motor is controlled to the ISG motor, electric energy is provided.
Preferably, described that engine operation described in the ISG motor run is controlled by the whole controller, it is described
Engine stop oil spout, and control the engine and the extra electric energy of exhaust brake consumption, comprising: when the engine stop sprays
When oily, control exhaust butterfly valve is closed.
It preferably, include multiple generators, multiple engines on the superduty vehicle, wherein each engine
One exhaust butterfly valve of upper band.
Preferably, when the superduty vehicle includes multiple engines, the method also includes: according to the system
Dynamic power, the entirety controller select the usage quantity of the engine.
Preferably, described according to the braking power, the entirety controller selects the usage quantity of the engine, packet
It includes: when the exhaust power of the single engine meets the braking power, then selecting the single engine action；Work as list
When the exhaust power of a engine is unsatisfactory for the braking power, then selects multiple engines while acting on.
Preferably, the driving switch is knob switch.
Said one or multiple technical solutions in the embodiment of the present application at least have following one or more technology effects
Fruit:
A kind of hybrid power chassis descending energy consuming methods provided in an embodiment of the present invention are applied to a superduty vehicle, institute
It states superduty vehicle and whole controller, driving switch, wheel motor, electric storage device, ISG motor, engine is installed, it is described
Method includes: to receive the gear signal that the driving switch is sent by the whole controller, wherein the gear signal packet
The braking power that vehicle needs when including the superduty vehicle descending；It is determined according to the braking power and needs corresponding counter to drag hair
Electrical power, according to it is determining it is described it is counter drag generated output to control wheel motor, while the charged situation of electric storage device is carried out
Detection judgement, obtains the state-of-charge of the electric storage device, when the carrying capacity of the electric storage device reaches the upper limit, by described
Whole controller controls engine stop oil spout, and engine is provided without kinetic energy at this time, in order to guarantee that its normal operation then passes through wheel
It is extra that the exhaust brake that the braking electric energy that side motor generates provides electric energy for it and makes its rotation, while controlling engine consume
Electric energy controls engine operation described in the ISG motor run, the engine stop spray by the whole controller
Oil, and the engine and the extra electric energy of exhaust brake consumption are controlled, to realize the braking electric energy generated in braking process
Effective consumption, be not required to be consumed using braking resistor, to solve in the prior art by increasing resistance device and attached
The heat radiation cooling system of category increases economic cost and occupied space come braking when assisting vehicle descending, space utilization rate difference
Technical problem.Reach and engine exhaust function usage mode has been controlled by entire car controller, has utilized engine exhaust
Braking function consumption electric braking produces electricl energy, and improves efficiency, meets superduty chassis, long abrupt slope demand, achievements conversion has
Quite wide prospect brings the technical effect of more economic benefits.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of hybrid power chassis descending energy consuming methods of the embodiment of the present invention；
Fig. 2 is a kind of course of work schematic diagram of hybrid power chassis descending energy consuming methods in the embodiment of the present invention.
Description of symbols: whole controller 1, driving switch 2, wheel motor 3, electric energy storage device 4, engine 5 are vented butterfly
Valve 6, ISG motor 7.
Specific embodiment
The embodiment of the invention provides a kind of hybrid power chassis descending energy consuming methods, pass through in the prior art for solving
Increase resistance device and attached heat radiation cooling system come braking when assisting vehicle descending, increases economic cost and occupy empty
Between, the technical problem of space utilization rate difference.
Technical solution general thought provided by the invention is as follows:
The entirety controller receives the gear signal that the driving switch is sent, wherein the gear signal includes institute
The braking power that vehicle needs when stating superduty vehicle descending；The counter of the wheel motor, which is controlled, according to the braking power drags hair
Electrical power；Judge the state-of-charge of the electric storage device；When the carrying capacity of the electric storage device reaches the upper limit, by described whole
Body controller controls engine operation described in the ISG motor run, the engine stop oil spout, and starts described in control
Machine and exhaust brake consume extra electric energy.Reach and engine exhaust function usage mode has been controlled by entire car controller
System, is produced electricl energy using engine exhaust and brake function consumption electric braking, is improved efficiency, is met superduty chassis, long abrupt slope need
It asks, achievements conversion has quite wide prospect, brings the technical effect of more economic benefits.
It should be understood that ISG is automobile start power generation all-in-one machine in the embodiment of the present invention, it is directly integrated on engine spindle.
Strategic concerns based on environmental protection and energy sustainable development, external many famous motor corporation such as Ford, Valeo,
Honda, Bosch, Siemens, Fiat, Delphi etc. are competitively developed or are used ISG technology, to show the technology of automobile brand
Intension.ISG has merged the technologies such as motor, modern power electronic, Digital Signal Processing, modern scientist, collects the starting of orthodox car
With generating function in one, have many advantages, such as outstanding/stop that control is fast, energy regeneration is made good use of, power-assisted is strong, especially
Effect is obvious in terms of reducing exhaust pollution, saving fuel oil, is internationally recognized orthodox car, hybrid vehicle and future
The inevitable development direction of electric car engine component.Laboratory prototype development is completed in the technology at present.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment one
Fig. 1 is a kind of flow diagram of hybrid power chassis descending energy consuming methods in the embodiment of the present invention.The present invention is real
It applies example and provides a kind of hybrid power chassis descending energy consuming methods, be applied to a superduty vehicle, the superduty vehicle installation
There are whole controller 1, driving switch 2, wheel motor 3, electric storage device 4, ISG motor 7, engine 5, please refers to Fig. 1-2, institute
The method of stating includes:
Step 10: the entirety controller 1 receives the gear signal that driving switch 2 is sent, wherein the gear signal packet
The braking power that vehicle needs when including the superduty vehicle descending.
Further, the driving switch 2 is knob switch.
Specifically, sending gear signal, institute using the driving switch 2 using knob switch as driving switch 2
It states whole controller 1 and receives the gear signal, by analyzing the gear signal so that it is determined that the system that current descending needs
Dynamic power, the entirety controller 1 are in the core control in the hybrid power domain descending energy consuming methods of the embodiment of the present invention
The heart receives acquisition signal and accordingly controls other operation elements and makes alignment processing.
Step 20: the counter of wheel motor 3 being controlled according to the braking power and drags generated output.
Specifically, determining that wheel motor 3 needs to provide according to the braking power obtained in the gear signal
Generated output, the control signal to the wheel motor 3 issued by the whole controller 1, wherein the wheel side is electric
It is provided on machine 3 and receives control signal with the controller of 1 communication connection of the whole controller, to control the wheel motor
The 3 anti-needs for dragging generated output size to meet the braking power, described counter to drag generated output be the wheel motor 3 in vehicle
The electricity that its counter drags is generated when being braked.
Step 30: judging the state-of-charge of electric storage device 4.
Further, after the state-of-charge of the judgement electric storage device 4, comprising: when the lotus of the electric storage device 4
When electricity is not up to the upper limit, controls the wheel motor 3 and charge to the electric storage device 4.
Specifically, while the generated output of the wheel motor 3 has been determined, to the storage of power battery on vehicle
The charged situation of device 4 is detected, at the same be correspondingly arranged on the electric storage device 4 controller of battery management with it is described whole
Body controller 1 carries out communication connection, feeds back to the state-of-charge of the electric storage device 4, and the entirety controller 1 is according to connecing
The carrying capacity received judges the state-of-charge of the electric storage device 4, when the quantity of electric charge of the electric storage device 4 is not up to the upper limit, i.e.,
4 electricity of electric storage device is less than, then controls the regenerative electric energy of the braking of wheel motor 3 generation preferentially to the electric storage device
4 charge.
Step 40: when the carrying capacity of the electric storage device 4 reaches the upper limit, being controlled by the whole controller 1 described
ISG motor 7 drag engine 5 work, engine 5 stop oil spout, and control the engine 5 and exhaust brake consumption it is extra
Electric energy.
Further, described that the stopping oil spout of engine 5 is controlled by the whole controller 1, and control engine 5 and row
Gas braking consumes extra electric energy, comprising: when the engine 5 stops oil spout, it is electronic using ISG to control the wheel motor 3
Machine 7 provides electric energy to the engine 5.
Further, described that the stopping oil spout of engine 5 is controlled by the whole controller 1, and control engine 5 and row
Gas braking consumes extra electric energy, comprising: when the engine 5 stops oil spout, control exhaust butterfly valve 6 is closed.
Specifically, cannot then continue to be charged into electricity when the electric storage device 4 has had arrived at the charged upper limit, this
When need to consume extra electricity by other approach, traditional method be addition braking resistor consumed, but increase
The cost for having added part, particularly with superduty vehicle their braking resistor volume, very occupied space, the present invention are implemented greatly
Example consumes extra electric energy by engine 5 and exhaust brake, controls described start in particular by the whole controller 1
Machine 5 stops oil spout, and providing kinetic energy using the regenerative electric energy that the wheel motor 3 generates at this time for the engine 5 keeps it normal
Operation.The wheel motor 3 electric energy for generating in braking is sent to the ISG motor 7 of vehicle, on the ISG motor 7
It is provided with the controller with 1 communication connection of the whole controller, receives the control signal that the whole controller 1 starts, institute
It states ISG motor 7 and provides power to the engine 5, the ISG motor 7 is used as motor at this time, and the present invention is implemented
ISG motor 7 described in example may be used as ISG motor 7 for ISGISG motor 7 and be also used as motor use, pass through
The ISG motor 7 is the electric energy that load consumption braking generates, and switchs to motor by the ISG motor 7 and uses, utilizes
The electric energy drive that the braking the generates rotation of engine 5 carries out power consumption, while gas circuit is opened and restores air pressure for exhaust
Butterfly valve 6 is closed, and the exhaust gas of the engine 5, which is suppressed, makes it become to load to consume the electric energy that the wheel motor 3 generates,
To realize the consumption of excess energy, and then solve in the prior art by increasing resistance device and attached cooling
System increases economic cost and occupied space, the technical problem of space utilization rate difference come braking when assisting vehicle descending.Reach
By entire car controller engine exhaust function usage mode is controlled, improve efficiency, meets superduty chassis, long steep
Slope demand, achievements conversion have quite wide prospect, bring the technical effect of more economic benefits.
It further, include multiple ISG motor 7, multiple engines 5 on the superduty vehicle, wherein each described
One exhaust butterfly valve 6 of band on engine 5.
Further, when the superduty vehicle includes multiple engines 5, the method also includes: according to institute
Braking power is stated, the entirety controller 1 selects 5 usage quantity of engine.
Further, described according to the braking power, the entirety controller 1 selects the use number of the engine 5
Amount, comprising: when the exhaust power of the single engine 5 meets the braking power, then the single engine 5 of selection is made
With；When the exhaust power of the single engine 5 is unsatisfactory for the braking power, then multiple engines 5 are selected simultaneously
Effect.
Specifically, the hybrid power domain descending energy consuming methods of the embodiment of the present invention mainly for superduty vehicle,
The superduty vehicle would generally use two engines, 5, two ISG motor 7 enough for its generation since tonnage is overweight
Power guarantees to operate normally, and might have more than two ISG motor 7, the engine 5 according to tonnage amount, each
Engine 5 has an exhaust butterfly valve 6, is carrying out extra braking power consumption by the engine 5 and exhaust brake function
When, one or two described ISG motor 7, the engine 5 can also be selected to carry out energy consumption work according to braking power
With specifically the whole controller 1 is according to the actual demand of the ramp inclination degree and vehicle speed of the heavy vehicle descending
Situation determines whether the exhaust power of single engine 5 can satisfy braking power requirement, the braking needed for the gradient and speed
It is that load consumption is braked using the single ISG motor 7 when the exhaust power of the single engine 5 of power can satisfy
The electric energy of generation drives single 5 degassing function of engine to work, the electricity generated to braking by the ISG motor 7
It can be carried out consumption, it can be by double ISG motor 7, double hairs when required braking power is larger and the single engine 5 is unsatisfactory for
5 degassing function of motivation acts on simultaneously, or the ISG motor 7,5 collective effect of the engine, and guarantees braking effect
The effect of fruit and energy consumption has reached and has utilized hybrid power chassis double motor and engine exhaust and brake function consumption electricity system
It is dynamic to produce electricl energy, realize that the superduty chassis abrupt slope Xia Chang function, system are easily achieved, convenience is good, and as the case may be into
Row is specifically chosen more convenient, the technical effect for avoiding unnecessary part from using.It further solves and passes through increasing in the prior art
Add resistance device and attached heat radiation cooling system come braking when assisting vehicle descending, increase economic cost and occupied space,
The technical problem of space utilization rate difference.
Said one or multiple technical solutions in the embodiment of the present application at least have following one or more technology effects
Fruit:
A kind of hybrid power chassis descending energy consuming methods provided in an embodiment of the present invention are applied to a superduty vehicle, institute
It states superduty vehicle and whole controller, driving switch, wheel motor, electric storage device, ISG motor, engine is installed, it is described
Method includes: to receive the gear signal that the driving switch is sent by the whole controller, wherein the gear signal packet
The braking power that vehicle needs when including the superduty vehicle descending；It is determined according to the braking power and needs corresponding counter to drag hair
Electrical power, according to it is determining it is described it is counter drag generated output to control wheel motor, while the charged situation of electric storage device is carried out
Detection judgement, obtains the state-of-charge of the electric storage device, when the carrying capacity of the electric storage device reaches the upper limit, by described
Whole controller controls engine stop oil spout, and engine is provided without kinetic energy at this time, in order to guarantee that its normal operation then passes through wheel
It is extra that the exhaust brake that the braking electric energy that side motor generates provides electric energy for it and makes its rotation, while controlling engine consume
Electric energy controls engine operation described in the ISG motor run, the engine stop spray by the whole controller
Oil, and the engine and the extra electric energy of exhaust brake consumption are controlled, to realize the braking electric energy generated in braking process
Effective consumption, be not required to be consumed using braking resistor, to solve in the prior art by increasing resistance device and attached
The heat radiation cooling system of category increases economic cost and occupied space come braking when assisting vehicle descending, space utilization rate difference
Technical problem.Reach and engine exhaust function usage mode has been controlled by entire car controller, has utilized engine exhaust
Braking function consumption electric braking produces electricl energy, and improves efficiency, meets superduty chassis, long abrupt slope demand, achievements conversion has
Quite wide prospect brings the technical effect of more economic benefits.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of hybrid power chassis descending energy consuming methods are applied to a superduty vehicle, the superduty vehicle is equipped with whole
Body controller, driving switch, wheel motor, electric storage device, ISG motor, engine, which is characterized in that the described method includes:
The entirety controller receives the gear signal that the driving switch is sent, wherein the gear signal includes described super
The braking power that vehicle needs when heavy vehicle descending；
The counter of the wheel motor, which is controlled, according to the braking power drags generated output；
Judge the state-of-charge of the electric storage device；
When the carrying capacity of the electric storage device reaches the upper limit, the ISG motor run is controlled by the whole controller
The engine operation, the engine stop oil spout, and control the engine and the extra electric energy of exhaust brake consumption.
2. the method as described in claim 1, which is characterized in that after the state-of-charge of the judgement electric storage device, packet
It includes:
When the carrying capacity of the electric storage device is not up to the upper limit, controls the wheel motor and charge to the electric storage device.
3. the method as described in claim 1, which is characterized in that described electronic by the whole controller control ISG
Machine drags the engine operation, the engine stop oil spout, and controls the engine and the extra electricity of exhaust brake consumption
It can, comprising:
When the engine stop oil spout, the wheel motor is controlled to the ISG motor, electric energy is provided.
4. the method as described in claim 1, which is characterized in that described electronic by the whole controller control ISG
Machine drags the engine operation, the engine stop oil spout, and controls the engine and the extra electricity of exhaust brake consumption
It can, comprising:
When the engine stop oil spout, control exhaust butterfly valve is closed.
5. the method as described in claim 1, which is characterized in that include multiple generators, Duo Gefa on the superduty vehicle
Motivation, wherein one exhaust butterfly valve of band on each engine.
6. the method as described in claim 1, which is characterized in that when the superduty vehicle includes multiple engines,
The method also includes:
According to the braking power, the entirety controller selects the usage quantity of the engine.
7. method as claimed in claim 6, which is characterized in that described according to the braking power, the entirety controller choosing
Select the usage quantity of the engine, comprising:
When the exhaust power of the single engine meets the braking power, then the single engine action is selected；
When the exhaust power of the single engine is unsatisfactory for the braking power, then selects multiple engines while making
With.
8. the method as described in claim 1, which is characterized in that the driving switch is knob switch.
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| CN201811568735.9A CN109606289A (en) | 2018-12-21 | 2018-12-21 | A kind of hybrid power chassis descending energy consuming methods |
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| CN201811568735.9A CN109606289A (en) | 2018-12-21 | 2018-12-21 | A kind of hybrid power chassis descending energy consuming methods |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111806510A (en) * | 2020-07-24 | 2020-10-23 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle brake control method and system and rail vehicle |
| CN112297859A (en) * | 2020-10-30 | 2021-02-02 | 湖北航天技术研究院特种车辆技术中心 | Vehicle energy regeneration system, energy regeneration control method based on vehicle energy regeneration system and storage medium |
| CN113479067A (en) * | 2021-07-05 | 2021-10-08 | 东风汽车集团股份有限公司 | Brake control method and device for hybrid vehicle and hybrid vehicle |
| CN114013422A (en) * | 2021-10-31 | 2022-02-08 | 东风商用车有限公司 | Auxiliary braking system and method for vehicle-mounted engine and vehicle |
| CN114876652A (en) * | 2022-05-20 | 2022-08-09 | 湖北三江航天万山特种车辆有限公司 | Braking system and vehicle |
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| CN113479067A (en) * | 2021-07-05 | 2021-10-08 | 东风汽车集团股份有限公司 | Brake control method and device for hybrid vehicle and hybrid vehicle |
| CN113479067B (en) * | 2021-07-05 | 2022-04-15 | 东风汽车集团股份有限公司 | Brake control method and device for hybrid vehicle and hybrid vehicle |
| CN114013422A (en) * | 2021-10-31 | 2022-02-08 | 东风商用车有限公司 | Auxiliary braking system and method for vehicle-mounted engine and vehicle |
| CN114013422B (en) * | 2021-10-31 | 2023-05-30 | 东风商用车有限公司 | Auxiliary braking system and method of vehicle-mounted engine and vehicle |
| CN114876652A (en) * | 2022-05-20 | 2022-08-09 | 湖北三江航天万山特种车辆有限公司 | Braking system and vehicle |
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