CN110641439A - Brake system and control method of unmanned vehicle - Google Patents
Brake system and control method of unmanned vehicle Download PDFInfo
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- CN110641439A CN110641439A CN201910955278.7A CN201910955278A CN110641439A CN 110641439 A CN110641439 A CN 110641439A CN 201910955278 A CN201910955278 A CN 201910955278A CN 110641439 A CN110641439 A CN 110641439A
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to the technical field of vehicle braking, in particular to a braking system of an unmanned vehicle. A braking system of an unmanned vehicle is provided, which adopts the technical scheme that: the vehicle control unit is in signal connection with the motor controller, the motor controller is in signal connection with the brake motor, the power reversing mechanism transmits the power output of the brake motor to the double-cylinder brake main cylinder, and two output ends of the double-cylinder brake main cylinder respectively control corresponding brake actuating mechanisms through the front brake oil path and the rear brake oil path; and the oil pressure sensor detects the change of the oil pressure in the front brake oil way and/or the rear brake oil way, and the oil pressure sensor is in signal connection with the whole vehicle controller. The double-cylinder type brake master cylinder is provided with the front and rear independent adjustable brake fluid paths, so that the risk of brake failure is reduced; the oil pressure sensor is arranged, so that closed-loop control of braking is realized, and more accurate braking force and deceleration control is realized. The invention also discloses a brake control method of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to a braking system of an unmanned vehicle.
Background
Aiming at the characteristics of small volume and high automation degree of the unmanned vehicle, the braking system of the unmanned vehicle and the braking systems of vehicles such as passenger vehicles have the following differences: 1) the unmanned vehicle is not provided with a driver, the braking system is completely in electric servo control, the unmanned vehicle is not provided with components such as a brake pedal and a vacuum booster, the structure is simplified, the requirement on reliability is higher, and once the electric control system fails, the driver can not brake by manpower like a passenger vehicle. 2) Compared with passenger cars, the wheelbase, the wheel base, the weight and the like of the unmanned car are greatly reduced. The passenger car adopts a tandem master cylinder as a source of brake hydraulic pressure, and adopts a power reversing mechanism to convert the rotary motion of a brake motor into translational motion so as to compress the tandem master cylinder; the tandem master cylinder is large in size, the pressure and the discharge capacity far exceed the requirements of unmanned vehicles, and the tandem master cylinder cannot respectively adjust the discharge capacity of the front cylinder body and the rear cylinder body. 3) The unmanned vehicle is used as an autonomous operation carrier platform with high technology content, and a pull-wire type brake system similar to an electric tricycle should not be adopted. The pull-wire type brake system has weak braking force and poor reliability, and needs frequent adjustment and maintenance.
Disclosure of Invention
The purpose of the invention is: in order to realize braking and accurate speed reduction control of the unmanned vehicle, the braking system of the unmanned vehicle is provided.
The technical scheme of the invention is as follows: a brake system for an unmanned vehicle, comprising: the brake system comprises a brake motor, a power reversing mechanism, a brake actuating mechanism, a double-cylinder brake main cylinder, an oil pressure sensor, a front brake oil way, a rear brake oil way, a whole vehicle controller and a motor controller;
the vehicle control unit is in signal connection with the motor controller and is used for outputting a braking control signal to the motor controller; the motor controller is in signal connection with the brake motor and is used for controlling the output of the brake motor; the power of the brake motor is output to the input end of the power reversing mechanism, the output end of the power reversing mechanism is connected with the input shaft of the double-cylinder brake master cylinder, and the output of the brake motor converts the rotary motion into linear motion through the power reversing mechanism to compress the input end of the double-cylinder brake master cylinder; the two output ends of the double-cylinder type brake main cylinder are respectively connected with the front brake oil path and the rear brake oil path, and the double-cylinder type brake main cylinder outputs outwards through two independent brake oil paths and can respectively adjust the braking force of front and rear wheels; the front brake oil path and the rear brake oil path control the corresponding brake actuating mechanisms respectively, the number of the brake actuating mechanisms is matched with that of tires of the unmanned vehicle, and the brake actuating mechanisms perform brake action under the action of hydraulic oil in the front brake oil path and the rear brake oil path; the oil pressure sensor at least detects the oil hydraulic pressure change in one of the front brake oil way and the rear brake oil way, and the oil pressure sensor is in signal connection with the whole vehicle controller and is used for sending the oil hydraulic pressure change information in the front brake oil way and/or the rear brake oil way to the whole vehicle controller.
The double-cylinder type brake master cylinder can be a serial brake master cylinder or a parallel brake master cylinder; when the tandem type brake master cylinder is selected, the hydraulic pressure changes in the front brake oil path and the rear brake oil path are the same; when the parallel brake master cylinder is selected, the oil pressure in the front brake oil path and the rear brake oil path can be independently adjusted.
The unmanned vehicle is provided with 4 wheels, and therefore, the number of brake actuators corresponds to 4. The front brake oil way is communicated with the left front brake branch and the right front brake branch; the left front brake branch and the right front brake branch are arranged in parallel; the left front brake branch and the right front brake branch are respectively connected with a brake actuating mechanism; the rear brake oil path is communicated with the left rear brake branch and the right rear brake branch; the left rear braking branch and the right rear braking branch are arranged in parallel; the left rear braking branch and the right rear braking branch are respectively connected with a braking executing mechanism. The brake fluid pressure of front and rear wheels is regulated by a parallel brake master cylinder, so that the braking force of a steering wheel can be properly weakened, and the braking force of a driving wheel can be increased to prevent sideslip.
On the basis of the scheme, the front brake oil path is further communicated with the left front brake branch and the right front brake branch through the first distribution valve, so that the hydraulic oil amount conveyed to the left front side brake actuating mechanism and the right front side brake actuating mechanism by the front brake oil path can be controlled. Similarly, the rear brake oil path can also be communicated with the left rear brake branch and the right rear brake branch through the second distribution valve, so that the hydraulic oil quantity conveyed to the left rear brake actuating mechanism and the right rear brake actuating mechanism by the rear brake oil path can be controlled.
On the basis of the above scheme, specifically, the brake actuator includes: brake calipers and brake discs; the brake caliper and the brake disc in the brake actuating mechanism are both arranged on the inner side of the corresponding tire.
On the basis of the scheme, the power reversing mechanism can adopt a crankshaft connecting rod mechanism, a worm gear or a lead screw nut. The crankshaft connecting rod mechanism is adopted, braking is carried out at a position close to a mechanical dead point, the rigidity is very high, and response is fast; the crankshaft connecting rod mechanism includes: the brake system comprises a crankshaft for receiving power output of a brake motor, a sliding shaft connected with an input shaft of a double-cylinder brake master cylinder, and a connecting rod connected with the crankshaft and the sliding shaft. Furthermore, in order to avoid dead point positions, the movement of the sliding shaft is very close to linear transmission, and the extension line of the central shaft of the sliding shaft does not intersect with the extension line of the central shaft of the crankshaft.
The other technical scheme of the invention is as follows: a brake control method of unmanned vehicle, it uses the brake system of an unmanned vehicle as above, when the unmanned vehicle runs, the vehicle controller outputs an analog voltage Ut to the motor controller according to the current speed Vc, target speed Vt and deceleration period T, the motor controller controls the brake motor according to the analog voltage Ut, the output of the brake motor is transmitted to the power reversing mechanism, the power reversing mechanism converts the rotary motion of the brake motor into the translational motion to compress the double-cylinder brake master cylinder, the hydraulic oil in the double-cylinder brake master cylinder is transmitted to the brake actuating mechanism through the front brake oil path and the rear brake oil path; the oil pressure sensor converts the detected oil pressure in the front brake oil path into a detection voltage Us and outputs the detection voltage Us to the vehicle control unit, and the vehicle control unit judges whether the target speed is finished according to the difference value of the analog voltage Ut and the detection voltage Us.
Further, before the unmanned vehicle runs, the vehicle controller outputs a test voltage Up of a braking slope to the motor controller, and the motor controller controls the braking motor according to the test voltage Up; the oil pressure in the front brake oil way detected by the oil pressure sensor is utilized, and if the oil pressure linearly increases and reaches a calibration value allowable error range, the unmanned carrying tool is allowed to run; and if the oil hydraulic pressure is increased in a nonlinear mode or the allowable error range of the calibration value is not reached, the unmanned vehicle is not allowed to run.
Further, the vehicle controller is provided with different braking modes, such as five braking modes of deep braking, medium braking, shallow braking and shallow braking, wherein the deep braking can directly brake the unmanned vehicle, and other braking modes are used according to different conditions; and the vehicle control unit outputs different analog voltages Ut to the motor controller according to different braking modes.
Furthermore, because the data collected by the oil pressure sensor has a lot of noises, the oil hydraulic data in the front brake oil path detected by the oil pressure sensor is converted into a detection voltage Us after being subjected to Kalman filtering, and then the detection voltage Us is output to the whole vehicle controller.
Has the advantages that: according to the invention, the double-cylinder type brake master cylinder is provided with the front and the rear independent brake oil paths, hydraulic oil is respectively output through the front brake oil path and the rear brake oil path, when any one brake oil path output by the double-cylinder type brake master cylinder fails, the brake master cylinder can still control the corresponding brake actuating mechanism through the other brake oil path, and the risk of brake failure is reduced; and a high-sensitivity oil pressure sensor is arranged on a brake oil path, so that closed-loop control of braking is realized, and more accurate braking force and deceleration control can be realized. The control method adopted by the invention adopts an intelligent algorithm based on fuzzy control, can control the speed and deceleration of the unmanned vehicle at the same time, and has high convergence and robustness.
Drawings
FIG. 1 is a block diagram showing the structure of embodiment 1 of the present invention;
FIG. 2 is a schematic structural diagram of example 2 of the present invention;
FIG. 3 is a schematic structural view of a crankshaft connecting rod mechanism in embodiment 3 of the invention;
in the figure: the brake system comprises a brake motor 1, a speed reducer 2, a power reversing mechanism 3, a crankshaft 31, a connecting rod 32, a sliding shaft 33, a double-cylinder brake master cylinder 4, an oil pressure sensor 5, a front brake oil path 6, a front left brake branch path 61, a front right brake branch path 62, a rear brake oil path 7, a rear left brake branch path 71, a rear right brake branch path 72, a vehicle control unit 8, a motor controller 9, a brake actuator 10, a first distribution valve 11 and a second distribution valve 12.
Detailed Description
the vehicle control unit 8 is in signal connection with the motor controller 9 and is used for outputting a braking control signal to the motor controller 9; the motor controller 9 is in signal connection with the brake motor 1 and is used for controlling the output of the brake motor 1; in the embodiment, the brake motor 1 adopts a direct current servo brake motor with high precision and quick response; the brake motor 1 is connected with the input end of the power reversing mechanism 3 through the speed reducer 2, the output end of the power reversing mechanism 3 is connected with the input shaft of the double-cylinder brake master cylinder 4, the output of the brake motor 1 is reduced by the speed reducer 2, and then the rotary motion is converted into linear motion through the power reversing mechanism 3, so that the input end of the double-cylinder brake master cylinder 4 is compressed; the two output ends of the double-cylinder type brake main cylinder 4 are respectively connected with a front brake oil path 6 and a rear brake oil path 7, and the double-cylinder type brake main cylinder 4 outputs outwards through two independent brake oil paths, so that the braking force of front and rear wheels can be respectively adjusted; the front brake oil path 6 and the rear brake oil path 7 control the corresponding brake actuating mechanisms 10 respectively, the number of the brake actuating mechanisms 10 is matched with that of tires of the unmanned vehicle, and the brake actuating mechanisms 10 execute brake actions under the action of hydraulic oil in the front brake oil path 6 and the rear brake oil path 7; the oil pressure sensor 5 has high sensitivity and is used for detecting the oil pressure change in the front brake oil way 6 and/or the rear brake oil way 7, and the oil pressure sensor 5 is in signal connection with the vehicle control unit 8; in this example, the oil pressure sensor 5 is only arranged at the front brake oil path 6, the oil pressure sensor 5 sends the oil pressure change information in the front brake oil path 6 to the vehicle control unit 8, so that closed-loop control of braking is realized, and the oil pressure change in the rear brake oil path 7 can be calculated and obtained through the reading of the oil pressure sensor 5 and the output ratio of the two cylinder bodies of the dual-cylinder brake master cylinder 4.
The double-cylinder type brake master cylinder 4 in the scheme can select a serial type brake master cylinder or a parallel type brake master cylinder; when the tandem type brake master cylinder is selected, the hydraulic pressure changes in the front brake oil path 6 and the rear brake oil path 7 are the same; when a parallel brake master cylinder is selected, the oil pressure in the front brake oil path 6 and the oil pressure in the rear brake oil path 7 can be independently adjusted.
In this example, the brake actuator 10 includes: brake calipers and brake discs; the brake caliper and disc brake in each brake actuator 10 is mounted inside the corresponding tire and adjacent to the shock absorber of the unmanned vehicle suspension system.
The front brake oil path 6 is communicated with the left front brake branch 61 and the right front brake branch 62; the left front brake branch 61 and the right front brake branch 62 are arranged in parallel; the left front brake branch 61 and the right front brake branch 62 are respectively connected with a brake actuating mechanism 10 for braking a left front wheel and a right front wheel; the rear brake oil path 7 is communicated with the left rear brake branch 71 and the right rear brake branch 72; the left rear braking branch 71 and the right rear braking branch 72 are arranged in parallel; the left rear braking branch 71 and the right rear braking branch 72 are respectively connected with a braking executing mechanism 10 for braking the left rear wheel and the right rear wheel. The parallel brake master cylinder is used for adjusting the brake hydraulic pressure of the front wheel and the rear wheel, so that the brake force of the front wheel can be properly weakened, the brake force of the rear wheel can be increased, the side slip can be prevented, and the brake is more stable.
Further, the front brake fluid passage 6 communicates with the left and right front brake branches 61, 62 through the first distribution valve 11, whereby the amount of hydraulic fluid delivered from the front brake fluid passage 6 to the left and right front side brake actuators can be controlled. Similarly, the rear brake oil path 7 communicates with the left rear brake branch 71 and the right rear brake branch 72 via the second distribution valve 12, so that the amount of hydraulic oil delivered from the rear brake oil path 7 to the left rear brake actuator and the right rear brake actuator can be controlled.
Referring to fig. 3, the power reversing mechanism 3 in this example adopts a crankshaft connecting rod mechanism, and brakes at a position close to a mechanical dead point, so that the rigidity is very high, and the response is very fast; the crankshaft connecting rod mechanism includes: a crankshaft 31 sleeved on the output shaft of the speed reducer 2, a sliding shaft 33 connected with the input shaft of the double-cylinder brake master cylinder 4, and a connecting rod 32 connecting the crankshaft 31 and the sliding shaft 33.
Further, by designing the extension line of the center axis of the slide shaft 33 so as not to intersect with the extension line of the center axis of the crankshaft 31, a dead point position can be avoided, and the movement of the slide shaft 33 can be made very close to linear transmission.
In the process that the crankshaft 31 rotates anticlockwise to the limit position, the connecting rod 32 is pushed to move leftwards, the sliding shaft 33 moves leftwards, the input end of the double-cylinder brake main cylinder 4 is driven to be inserted into the double-cylinder brake main cylinder 4, the double-cylinder brake main cylinder 4 outputs hydraulic oil outwards through the front brake oil path 6 and the rear brake oil path 7, and the brake actuating mechanism works.
when the unmanned vehicle runs, the vehicle controller 8 outputs an analog voltage Ut to the motor controller 9 according to the current vehicle speed Vc, the target speed Vt and the deceleration period T; the calculation method of the analog voltage Ut comprises the following steps: deceleration a of the unmanned vehicle is (Vc-Vt)/T; the analog voltage Ut is k × a, where k is a coefficient.
The motor controller 9 controls the brake motor 1 according to the analog voltage Ut, the output of the brake motor 1 is transmitted to the power reversing mechanism 3 after being decelerated by the speed reducer 2, the power reversing mechanism 3 converts the rotation motion of the brake motor 1 into translation motion to compress the double-cylinder brake master cylinder 4, and the hydraulic oil in the double-cylinder brake master cylinder 4 is transmitted to the brake executing mechanism through the front brake oil path 6 and the rear brake oil path 7.
The oil pressure sensor 5 converts the detected oil hydraulic data in the front brake oil circuit 6 into detection voltage Us and outputs the detection voltage Us to the vehicle control unit 8, and because the data acquired by the oil pressure sensor 5 has a lot of noise, the acquired signals are output to the vehicle control unit 8 after Kalman filtering; the vehicle control unit 8 judges whether the braking force is appropriate according to the difference value between the analog voltage Ut and the detection voltage Us, then calculates whether the braking deceleration reaches the requirement, and finally judges whether the target speed is finished.
Further, before the unmanned vehicle runs, the vehicle controller 8 outputs a test voltage Up of a braking slope to the motor controller 9, and the motor controller 9 controls the braking motor 1 according to the test voltage Up; by utilizing the oil pressure in the front brake oil circuit 6 detected by the oil pressure sensor 5, if the oil pressure linearly increases and reaches more than 95% of a calibrated value, allowing the unmanned vehicle to run; if the oil hydraulic pressure is increased in a nonlinear mode or does not reach 95% of a calibrated value, the unmanned vehicle is not allowed to operate, and the vehicle control unit 8 sends alarm information.
Further, the vehicle controller 8 is provided with different braking modes, such as five braking modes of deep braking, medium braking, shallow braking and shallow braking, wherein the deep braking can directly brake the unmanned vehicle, and other braking modes are used according to different conditions; the vehicle control unit 8 outputs different analog voltages Ut to the motor controller 9 according to different braking modes.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A braking system for an unmanned vehicle, the braking system comprising: the brake system comprises a brake motor (1), a power reversing mechanism (3), a brake actuating mechanism (10), a double-cylinder brake master cylinder (4), an oil pressure sensor (5), a front brake oil way (6), a rear brake oil way (7), a vehicle control unit (8) and a motor controller (9);
the vehicle control unit (8) is in signal connection with the motor controller (9), the motor controller (9) is in signal connection with the brake motor (1), the input end of the power reversing mechanism (3) receives power output of the brake motor (1), the output end of the power reversing mechanism (3) is connected with the input shaft of the double-cylinder brake master cylinder (4), and two output ends of the double-cylinder brake master cylinder (4) respectively control the corresponding brake executing mechanisms (10) through the front brake oil path (6) and the rear brake oil path (7); the oil pressure sensor (5) at least detects the oil hydraulic pressure change in one of the front brake oil way (6) and the rear brake oil way (7), and the oil pressure sensor (5) is in signal connection with the whole vehicle controller (8).
2. A braking system for unmanned vehicles according to claim 1, wherein said front brake fluid path (6) communicates with a left front brake branch (61) and a right front brake branch (62); the left front braking branch (61) and the right front braking branch (62) are arranged in parallel; the left front braking branch (61) and the right front braking branch (62) are respectively connected with one braking actuating mechanism (10);
the rear brake oil path (7) is communicated with the left rear brake branch (71) and the right rear brake branch (72); the left rear braking branch (71) and the right rear braking branch (72) are arranged in parallel; the left rear braking branch (71) and the right rear braking branch (72) are respectively connected with one braking actuating mechanism (10).
3. A braking system for unmanned vehicles according to claim 2, wherein said front braking oil path (6) is in communication with said front left braking branch (61) and said front right braking branch (62) through a first distribution valve (11), and/or said rear braking oil path (7) is in communication with said rear left braking branch (71) and said rear right braking branch (72) through a second distribution valve (12).
4. A braking system for unmanned vehicles according to any of claims 1-3, wherein the brake actuator (10) comprises: brake calipers and brake discs; the brake caliper and the brake disc in each brake actuating mechanism (10) are arranged on the inner side of the corresponding tire.
5. A braking system for unmanned vehicles according to any of claims 1-3 wherein said power steering mechanism (3) employs a crankshaft linkage; the crankshaft connecting rod mechanism includes: the brake system comprises a crankshaft (31) for receiving power output of the brake motor (1), a sliding shaft (33) connected with an input shaft of the double-cylinder brake master cylinder (4), and a connecting rod (32) connected with the crankshaft (31) and the sliding shaft (33).
6. A braking system for unmanned vehicles according to claim 5, wherein the extension line of the central axis of said sliding shaft (33) does not intersect with the extension line of the central axis of said crankshaft (31).
7. A brake control method for an unmanned vehicle, which is used in a brake system for an unmanned vehicle according to any one of claims 1 to 6, characterized in that: when the unmanned vehicle runs, the vehicle controller (8) outputs an analog voltage Ut to the motor controller (9), the motor controller (9) controls the brake motor (1) according to the analog voltage Ut, the output of the brake motor (1) is transmitted to the power reversing mechanism (3), the power reversing mechanism (3) converts the rotary motion of the brake motor (1) into translational motion to compress the double-cylinder brake master cylinder (4), and hydraulic oil in the double-cylinder brake master cylinder (4) is transmitted to the brake executing mechanism through the front brake oil path (6) and the rear brake oil path (7); the oil pressure sensor (5) converts the detected oil hydraulic data in the front brake oil way (6) into a detection voltage Us and outputs the detection voltage Us to the vehicle control unit (8), and the vehicle control unit (8) judges whether the target speed is finished according to the difference value of the analog voltage Ut and the detection voltage Us.
8. A braking control method for an unmanned vehicle according to claim 7, wherein before the unmanned vehicle is operated, the vehicle control unit (8) outputs a test voltage Up of a braking slope to the motor controller (9), and the motor controller (9) controls the braking motor (1) according to the test voltage Up; the oil pressure in the front brake oil way (6) detected by the oil pressure sensor (5) is utilized, and if the oil pressure linearly increases and reaches a calibrated value allowable error range, the unmanned carrying tool is allowed to run; and if the oil hydraulic pressure is increased in a nonlinear mode or the allowable error range of the calibration value is not reached, the unmanned carrying tool is not allowed to run.
9. A braking control method for unmanned vehicles according to claim 7 or 8, characterized in that the vehicle control unit (8) is provided with different braking modes; and the vehicle control unit (8) outputs different analog voltages Ut to the motor controller (9) according to different braking modes.
10. The brake control method for an unmanned vehicle according to claim 7 or 8, wherein the oil hydraulic pressure data in the front brake oil path (6) detected by the oil pressure sensor (5) is kalman filtered, and converted into a detection voltage Us, which is output to the vehicle controller (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910955278.7A CN110641439A (en) | 2019-10-09 | 2019-10-09 | Brake system and control method of unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910955278.7A CN110641439A (en) | 2019-10-09 | 2019-10-09 | Brake system and control method of unmanned vehicle |
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| CN110641439A true CN110641439A (en) | 2020-01-03 |
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| CN201910955278.7A Pending CN110641439A (en) | 2019-10-09 | 2019-10-09 | Brake system and control method of unmanned vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976694A (en) * | 2020-07-08 | 2020-11-24 | 嘉善新石器智牛科技有限公司 | Brake fluid leakage detection method and device and unmanned vehicle |
| CN114715099A (en) * | 2022-04-18 | 2022-07-08 | 成都中科微信息技术研究院有限公司 | Unmanned and unmanned cooperative braking control system and method for vehicle |
-
2019
- 2019-10-09 CN CN201910955278.7A patent/CN110641439A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976694A (en) * | 2020-07-08 | 2020-11-24 | 嘉善新石器智牛科技有限公司 | Brake fluid leakage detection method and device and unmanned vehicle |
| CN114715099A (en) * | 2022-04-18 | 2022-07-08 | 成都中科微信息技术研究院有限公司 | Unmanned and unmanned cooperative braking control system and method for vehicle |
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