CN110371093A - A kind of plain type auto pedal automatic executive device - Google Patents
A kind of plain type auto pedal automatic executive device Download PDFInfo
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- CN110371093A CN110371093A CN201910680741.1A CN201910680741A CN110371093A CN 110371093 A CN110371093 A CN 110371093A CN 201910680741 A CN201910680741 A CN 201910680741A CN 110371093 A CN110371093 A CN 110371093A
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- bracing wire
- steering engine
- fixed frame
- rocker arm
- clamp
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention discloses a kind of plain type auto pedal automatic executive devices, including first part and second part, are connected by bracing wire.First part includes clamp, end cap, the steel wire pull line with housing, L shape part, bulb joint bearing, adjusting rod, bracing wire set rocker arm, triangular support base, fixed frame and hexagonal double-ended bolt.Clamp are located at the top of foot pedal lever, end cap is located at the left side of clamp, two bulb joint bearings are located at the both ends of adjusting rod, L shape part is located at the upper end of adjusting rod, bracing wire set rocker arm is connected with the bracing wire housing of bracing wire, bracing wire set rocker arm is arranged to be hinged to triangular support base, and fixed frame is located at the lower section of triangular support base, and hexagonal double-ended bolt is located at the lower section of fixed frame.Second part includes that steering engine, rocker arm, bracing wire, bracing wire set fixing axle and steering engine fixing seat, rocker arm are fixed on the steering wheel of large torque steering engine, and the ears head and rocker arm of bracing wire are hinged, and bracing wire set is hinged in steering engine fixing seat by fixing axle.
Description
Technical field
The present invention relates to braking system field more particularly to a kind of plain type auto pedal automatic executive devices.
Background technique
The effect of the braking system of vehicle is to comply with the travel speed for needing to reduce vehicle of driver, or even maintain vehicle
Stationary state, work normally be safety traffic important leverage.The work of most braking systems is former on the market at present
Reason are as follows: driver's brake pedal, foot pedal lever will push master cylinder push rod (can generally concatenate therebetween after pedal force amplification
Power assisting device reduces required pedal force such as vacuum booster), the hydraulic oil in master cylinder is discharged, through brake pipe stream
The brake callipers (corresponding disc brake) or wheel cylinder (corresponding drum brake) to wheel are moved, piston is pushed to make brake block and brake disc
(or brake rim) is contacted and is compressed, and using the kinetic energy of the frictional force consumption vehicle of generation, is translated into the interior energy of braking system,
To make vehicle deceleration.
Since motor vehicle braking system is born, basic operation method is manually to trample, and the size of brake force is mainly led to
The size of pedal force is crossed to control.With the development of technology, the braking system with electron assistant technology occurs, such as anti-lock system
Dynamic system (ABS) and active emergency braking system (AEB) etc., further improve drive safety.Wherein the former is to driving
The brake force that member takes is controlled, and the latter can completely take over brake operating under specific circumstances.In recent years, automatic Pilot and
The long-range continuous expansion for driving research scale, before automatic control and line traffic control execution function modifications to braking system become necessity
It mentions.
Automatic Pilot and long-range driving research require the braking system of instruction carriage to possess automatic control or remote control function.
Currently, related fields substantially divides mechanical and electronic type to this implementation.It is mechanically installed in former vehicle braking system attached
The movement of the mechanical actuating unit added, drive simulating person operates brake pedal etc., and cost is relatively low, but response is slower, with
It is poor with effect；The more complex mechanism of existing scheme has higher requirements to the space until pedal of vehicles rear to firewall,
Ask pedal rear space sufficient, thereby increases and it is possible to interfere the manual operation of script, furthermore actuator design there need to be enough maximum, force/power
Square output, is otherwise difficult to ensure the original performance that can give full play to braking system.The electronics control that electronic type is equipped with using former vehicle
Unit processed directly controls booster power output and braking oil pressure by sending corresponding signal；It requires vehicle intelligence itself
Change horizontal higher, have additional hydraulic control system or servo motor driving system to support brake-by-wire, implement threshold and
Cost is also higher.
Therefore, those skilled in the art is dedicated to developing a kind of plain type auto pedal automatic executive device.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to how reduce the same of cost
When, braking response speed is fast, it is desirable that vehicle intelligent level itself is lower, and does not interfere the manual operation of script.
To achieve the above object, the present invention provides a kind of plain type auto pedal automatic executive devices, which is characterized in that packet
First part and second part are included, between brake pedal and firewall, the second part is located at institute for the first part
It states around first part, is connected between the first part and the second part by the steel wire pull line with housing；
The first part includes clamp, end cap, foot pedal lever bracing wire, L shape part, the first bulb joint bearing, second
Bulb joint bearing, adjusting rod, bracing wire set rocker arm, triangular support base, fixed frame crossbeam, fixed frame vertical beam and hexagonal double-ended bolt, it is described
Clamp are located at the top of the foot pedal lever, and the end cap is located at the left side of the clamp, the L shape part, first ball
Head oscillating bearing and the second bulb joint bearing are located at the right side of the foot pedal lever, the first bulb joint bearing position
In the lower end of adjusting rod, the second bulb joint bearing is located at the upper end of adjusting rod, and the L shape part is located at second ball
The upper end of head oscillating bearing, the bracing wire set rocker arm are connected with the bracing wire housing of the bracing wire, and the bracing wire set rocker arm is set
To be hinged to the triangular support base, the fixed frame crossbeam is located at the lower section of the triangular support base, and the fixed frame vertical beam is located at
The top of the fixed frame crossbeam, the hexagonal double-ended bolt are located at the lower section of the fixed frame vertical beam；
The second part includes large torque steering engine, steering engine rocker arm, bracing wire, bracing wire set fixing axle and steering engine fixing seat, institute
It states steering engine rocker arm to be fixed on the steering wheel of the large torque steering engine, the ears head and the rocker arm of the bracing wire are hinged, the drawing
Line set is connected with bracing wire set fixing axle, and the bracing wire set fixing axle is arranged to be hinged in the steering engine fixing seat,
The shaft of the steering engine fixing seat is parallel with steering engine axis.
Further, the clamp and the foot pedal lever tighten fixation by side bolt.
Further, the end cap is connected with the clamp by side bolt, intermediate there are gap, and the bracing wire can be
It is move freely in this gap.
Further, the clamp and the end cap have an identical semicircular indentations, the columnar head of the bracing wire with
Pass through semicircular indentations transmitting forces between the clamp and the combination of the end cap.
Further, the bracing wire set rocker arm has the slot for allowing the bracing wire to laterally penetrate.
Further, the fixed frame crossbeam and the triangular support base are connected by bolt.
Further, the fixed frame crossbeam and the fixed frame vertical beam are fastened by bolts, and the fixed frame crossbeam can
The relatively described fixed frame vertical beam adjusting position and angle.
The invention also discloses a kind of control methods of plain type auto pedal automatic executive device, which is characterized in that in work
During work, the control method includes the following steps:
1) it is executing in operating condition automatically, when needing to increase brake force, the steering engine output shaft of second part is rotated clockwise to
Required angle, affects the bracing wire, and subsequent work is completed by first part；
2) bracing wire tightening of first part, draws the clamp and the foot pedal lever is driven to turn to firewall direction
Dynamic, compression master cylinder push rod implements braking action to wheel；
3) when needing to reduce brake force, the steering engine output shaft rotates counterclockwise to required angle, at this time first part
Foot pedal lever is sprung back under the action of the master cylinder push rod and return spring, while affecting cylindricality pull wire head, makes bracing wire always
Keep exceptionally straight.
Further, the angular speed of steering engine described in step 3) and the linear velocity relationship of bracing wire are non-linear.
Further, when manually performing operating condition, the bracing wire of first part is not moved, and the foot pedal lever is in pedal force
It is rotated under effect to firewall direction, the pull wire head is separated with the clamp at this time, and the two is independent of each other.
The present invention is on the basis of mechanical, for its above-mentioned deficiency, has carried out split-type design to executing agency, transmission
Mechanism and driving mechanism independently separate and by transmission wire pulling works, and core driving mechanism part can arbitrarily be put in a certain range
It sets, very little, and compatible normal artificial Driving control is required to pedal rear space.In addition, the present invention is not necessarily to original braking always
At any secondary operation is carried out, dismounting debugging is convenient, and its mechanical characteristic has certain adjustable range, therefore is suitable as automatic/remote
Journey drives the line control brake system low cost repacking of general sample car in research.
Cost substantially reduces, small in size, convenient for the drive-by-wire chassis function modifications of automatic driving vehicle.
It is easy for installation, have structure regulatory function, the main ginseng such as cable travel, dynamics range can be realized towards different automobile types
Number adapts to variation；
It is succinct to execute actuation mechanism, has the advantages that response time is fast, and transmission efficiency is high, meets unmanned middle line traffic control
The basic need of dynamic function.
Compatible normal manned control, need to only enable actuator stroke be zeroed, do not influence manually to brake drives after installation
Sail operation.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the front of the first part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Structural schematic diagram；
Fig. 2 is the side of the first part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Structural schematic diagram；
Fig. 3 is the short power of the first part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Schematic diagram is arranged in arm；
Fig. 4 is the long power of the first part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Schematic diagram is arranged in arm；
Fig. 5 is the automatic of the first part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Execute status diagram；
Fig. 6 is the artificial of the first part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Execute status diagram；
Fig. 7 is the structure of the second part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Schematic diagram；
Fig. 8 is the rocker arm of the second part of the plain type auto pedal automatic executive device of a preferred embodiment of the invention
Motion state schematic diagram of the thread drawing mechanism in different trips.
Specific embodiment
A preferred embodiment of the present invention is introduced below with reference to Figure of description, keeps its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.
" long-range to drive " addressed herein refers to technology of the driver far from the simultaneously controlled vehicle of real time management.CAN: i.e. " control
General ability area network bus technology ", a kind of vehicle electronics means of communication being widely used.PWM: pulse-width signal, the present invention
In for controlling steering engine angle.
As shown in Figure 1 and Figure 2, the mechanical structure of plain type auto pedal automatic executive device includes first part and second
Point, first part is between brake pedal and firewall, and second part can be placed arbitrarily, between first part and second part
It is connected by the steel wire pull line (the suitable brake cable of ready-made specification or clutch line can be used) with housing.
First part includes clamp 1, end cap 3, bracing wire columnar head 4, bracing wire 5, the first bulb joint bearing 6, adjusting rod 7, L
Shape part 8, the second bulb joint bearing 9, the bending part 11 of bracing wire set, bracing wire cover rocker arm 12, shaft 13, shaft 14, triangle
Support 15, fixed frame crossbeam 16, fixed frame stringer 17 and hexagonal double-ended bolt 18.Clamp 1 are located at the top of foot pedal lever 2, pass through side
Face bolt tightens fixation,.End cap 3 is located at the left side of clamp 1, there is a semicircular indentations identical with clamp 1 on the right side of end cap 3,
End cap 3 is connected with clamp 1 by side bolt, and there are gap, bracing wire 5 can be move freely in this gap for centre.1 upper left of clamp
Respectively there are a semicircular indentations in side with 3 top of end cap, and diameter is identical as the columnar head 4 of steel wire pull line 5, is used for and columnar head 4
Pressure is transmitted when contact.First bulb joint bearing, 6 one end is fixed on clamp 1.8 sets of L shape part is in foot pedal lever 2 and master cylinder
Pedestal in the hinged latch of push rod 10, as the second bulb joint bearing 9.7 both ends of adjusting rod are separately connected the first bulb pass
Bearings 6 and the second bulb joint bearing 9, effect one are to provide an additonal limit, prevent the card that only frictionally is fixed
The opposite foot pedal lever 2 of pincers 1 slides；Second is that the distance between two angle bar is adjusted by the part among rotation adjusting lever, thus
Change the arm of force of bracing wire 5, obtains suitable automatic execution sensitivity.The bending part 11 of bracing wire set is located at the columnar head of bracing wire 5
One end, to be rigid, to force the direction of motion of bracing wire 5 to change about 90 degree.Bracing wire set rocker arm 12 is used to fix the bending of bracing wire set
Part 11, there is stria in one side, and bracing wire 5 is facilitated to laterally penetrate；Bracing wire covers rocker arm 12 and passes through two mutually perpendicular shafts 13
It is hinged to triangular support base 15 with 14, can be rotated in horizontal and vertical direction, deviates bracing wire to avoid 5 Impact direction of bracing wire and covers end
Axis causes line and covers unnecessary friction and wear.For including a cross by the vehicle-mounted fixed frame of part 9~15
Beam 16 and two stringers 17, the former connects firmly with triangular support base 15, and the latter is fixed on former vehicle braking by four hexagonal double-ended bolts 18 and steps on
On plate assembly and four bolts of firewall connection.The cross of the two is respectively passed through between crossbeam 16 and two stringers 17 with a bolt
Vertical slot tightens fixation, and horizontal depth of beam, horizontal-shift can be adjusted in a big way, and angle can also be adjusted in a certain range
(must not necessarily be horizontally mounted), to adapt to different pedal assembly designs, and cooperation adjusting rod carries out adjustment of sensitivity.
As shown in Figure 3 and Figure 4, the torque arm length of the first part of plain type auto pedal automatic executive device can be carried out
It adjusts, to influence the sensitivity executed automatically.Fig. 3 is the short arm of force (high sensitivity) setting, and identical cable travel can at this time
Driving pedal lever 2 turns over bigger angle, i.e. sensitivity is higher, and response speed is faster；But required bracing wire driving force is also bigger,
And control accuracy can decline.Fig. 4 is the long arm of force (muting sensitivity) setting, and advantage and disadvantage are opposite with the former.
As shown in figure 5, when executing state automatically, bracing wire tightening draws clamp 1 and drives foot pedal lever to firewall direction
Rotation, and compress master cylinder push rod and wheel is implemented to brake.
As shown in fig. 6, bracing wire 5 is acted on respect to its housing without motion, foot pedal lever 2 in pedal force when manually performing operating condition
Lower to rotate to firewall direction, bracing wire columnar head 4 is separated with clamp 1 at this time, and the two is independent of each other (if pull wire head is fixed on always
On clamp 1, due to the possible unbearable enough pulling force of too thin steel wire, then toughness is stronger for thicker steel wire, can not arbitrarily be bent,
Plastic deformation or even fracture etc. may occur for bending by force).
As shown in fig. 7, second part includes that large torque steering engine 19, steering engine rocker arm 20, bracing wire 21, screw thread 22, bracing wire set are solid
Dead axle 23 and steering engine fixing seat 24.Large torque steering engine 19 has multi-stage speed-reducing gear set, and steering engine rocker arm 20 is fixed on large torque rudder
On the steering wheel of machine 19, the ears head and rocker arm 20 of bracing wire 21 are hinged, and the rocker arm 20 of replaceable different length is to adjust actuation mechanism
Sensitivity, generally should with first part cooperate adjust, with reach pedal effective travel enough, cable travel make full use of, rudder
The effect that the suitable three of machine effective travel takes into account.The bracing wire of bracing wire 5 covers included one section of screw thread 22 and two adjusting nuts, and being used for will
It is fixed in bracing wire set fixing axle 23 (two sides of two nuts abutting fixing axle aperture), rotates the changeable drawing of two adjusting nuts
The relative position of line set and fixing axle, more to make full use of cable travel, and effective angle range of fine tuning rocker arm 20.Bracing wire
Set fixing axle 23 is hinged in steering engine fixing seat 24, and the shaft of the latter is parallel with steering engine axis, and effect is to prevent 5 Impact direction of bracing wire
Deviate bracing wire and cover end axis, cause line and covers unnecessary friction and wear.
As shown in figure 8, in plain type auto pedal automatic executive device in use, steering engine exports when needing to increase brake force
Axis is rotated clockwise to required angle, affects the bracing wire 5 of second part, to manipulate first part's work.Need to reduce braking
When power, steering engine output shaft rotates counterclockwise to required angle, and the foot pedal lever 2 of first part in master cylinder push rod 10 and resets at this time
It is sprung back under the action of spring, while affecting cylindricality pull wire head, bracing wire 5 is made to remain exceptionally straight.Due to this process turning rocker arm 20
Turn turns to the linear motion of bracing wire 5, and the angular speed of steering engine and the linear velocity of bracing wire 5 are not proportional relationships.Specifically, if
Guarantee that the former is constant, then the latter section at the beginning of stroke and the speed of latter end can be slower than in middle section.Although the characteristic can make to control program
Mapping algorithm become more complicated, but also bring some apparent benefits: in section at the beginning of stroke (when i.e. pedal force is smaller)
Adjusting becomes finer, can be used for preferably finely tuning car speed；In mid-ranges, faster movement velocity can make device to mesh
It is sensitiveer to mark the response that brake force changes；In stroke latter end, since equivalent drag arm shortens, identical steering engine torque is available
Pulling force can be bigger, therefore the smaller steering engine of ultimate torque can be selected and meet maximum braking force requirement, to reduce weight and cost.
In terms of electronic control, after the equipment on controlled vehicle receives the wireless signal of console, decoding extracts braking
It, is sent to the single-chip microcontroller of responsible automatic executive device control by pedal target stroke information by CAN bus, and the latter is converted
Steering engine is sent to for pwm signal.Due to mechanism kinematic transmitting nonlinear characteristic, need to pedal target stroke → CAN signal →
Implement reversed nonlinear transformation during pwm signal, means can be theoretical calculation (plane analytic geometry) or look-up table.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of plain type auto pedal automatic executive device, which is characterized in that including first part and second part, described first
Part positioned at brake pedal and firewall between, the second part is located at around the first part, the first part with
It is connected between the second part by the steel wire pull line with housing；
The first part includes clamp, end cap, foot pedal lever bracing wire, L shape part, the first bulb joint bearing, the second bulb
Oscillating bearing, adjusting rod, bracing wire set rocker arm, triangular support base, fixed frame crossbeam, fixed frame vertical beam and hexagonal double-ended bolt, the clamp
Positioned at the top of the foot pedal lever, the end cap is located at the left side of the clamp, and the L shape part, first bulb close
Bearings and the second bulb joint bearing are located at the right side of the foot pedal lever, and the first bulb joint bearing, which is located at, to be adjusted
The lower end of pole, the second bulb joint bearing are located at the upper end of adjusting rod, and the L shape part is located at second bulb pass
The upper end of bearings, the bracing wire set rocker arm are connected with the bracing wire housing of the bracing wire, and the bracing wire set rocker arm is arranged to cut with scissors
It is connected to the triangular support base, the fixed frame crossbeam is located at the lower section of the triangular support base, and the fixed frame vertical beam is located at described
The top of fixed frame crossbeam, the hexagonal double-ended bolt are located at the lower section of the fixed frame vertical beam；
The second part includes large torque steering engine, steering engine rocker arm, bracing wire, bracing wire set fixing axle and steering engine fixing seat, the rudder
Machine rocker arm is fixed on the steering wheel of the large torque steering engine, and the ears head and the rocker arm of the bracing wire are hinged, the bracing wire set
It is connected with bracing wire set fixing axle, the bracing wire set fixing axle is arranged to be hinged in the steering engine fixing seat, described
The shaft of steering engine fixing seat is parallel with steering engine axis.
2. plain type auto pedal automatic executive device as described in claim 1, which is characterized in that the clamp and the pedal
Lever tightens fixation by side bolt.
3. plain type auto pedal automatic executive device as described in claim 1, which is characterized in that the end cap and the clamp
It is connected by side bolt, there are gap, the bracing wire can be move freely in this gap for centre.
4. plain type auto pedal automatic executive device as described in claim 1, which is characterized in that the clamp and the end cap
There are an identical semicircular indentations, passes through semicircle between the columnar head of the bracing wire and the clamp and the combination of the end cap
Notch transmitting forces.
5. plain type auto pedal automatic executive device as described in claim 1, which is characterized in that the bracing wire set rocker arm has
The slot for allowing the bracing wire to laterally penetrate.
6. plain type auto pedal automatic executive device as described in claim 1, which is characterized in that the fixed frame crossbeam and institute
Triangular support base is stated to be connected by bolt.
7. plain type auto pedal automatic executive device as described in claim 1, which is characterized in that the fixed frame crossbeam and institute
It states fixed frame vertical beam to be fastened by bolts, the fixed frame crossbeam can the relatively described fixed frame vertical beam adjusting position and angle.
8. a kind of control method based on plain type auto pedal automatic executive device as described in claim 1, which is characterized in that
During the work time, the control method includes the following steps:
1) it is executing in operating condition automatically, when needing to increase brake force, needed for the steering engine output shaft of second part is rotated clockwise to
Angle, affects the bracing wire, and subsequent work is completed by first part；
2) bracing wire tightening of first part, draws the clamp and the foot pedal lever is driven to rotate to firewall direction,
It compresses master cylinder push rod and braking action is implemented to wheel；
3) when needing to reduce brake force, the steering engine output shaft rotates counterclockwise to required angle, at this time the pedal of first part
Lever is sprung back under the action of the master cylinder push rod and return spring, while affecting cylindricality pull wire head, remains bracing wire
It is exceptionally straight.
9. control method as claimed in claim 8, which is characterized in that the angular speed of steering engine described in step 3) and the line of bracing wire
Length velocity relation is non-linear.
10. control method as claimed in claim 8, which is characterized in that when manually performing operating condition, the bracing wire of first part does not have
There is movement, the foot pedal lever rotates under pedal force effect to firewall direction, at this time the pull wire head and the clamp point
From the two is independent of each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910680741.1A CN110371093B (en) | 2019-07-26 | 2019-07-26 | Simple automatic actuator for automobile pedal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910680741.1A CN110371093B (en) | 2019-07-26 | 2019-07-26 | Simple automatic actuator for automobile pedal |
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| Publication Number | Publication Date |
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| CN110371093A true CN110371093A (en) | 2019-10-25 |
| CN110371093B CN110371093B (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910680741.1A Active CN110371093B (en) | 2019-07-26 | 2019-07-26 | Simple automatic actuator for automobile pedal |
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| Country | Link |
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| CN (1) | CN110371093B (en) |
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| CN110667546A (en) * | 2019-08-26 | 2020-01-10 | 武汉理工大学 | Unmanned target vehicle braking method and system |
| CN113548019A (en) * | 2021-07-19 | 2021-10-26 | 武汉光昱明晟智能科技有限公司 | Vehicle pedal electric control actuating mechanism |
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| CN113548019A (en) * | 2021-07-19 | 2021-10-26 | 武汉光昱明晟智能科技有限公司 | Vehicle pedal electric control actuating mechanism |
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| Publication number | Publication date |
|---|---|
| CN110371093B (en) | 2021-08-20 |
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