CN110775038A - Integrated electronic parking system for new energy vehicle and control method thereof - Google Patents

Integrated electronic parking system for new energy vehicle and control method thereof Download PDF

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CN110775038A
CN110775038A CN201910882010.5A CN201910882010A CN110775038A CN 110775038 A CN110775038 A CN 110775038A CN 201910882010 A CN201910882010 A CN 201910882010A CN 110775038 A CN110775038 A CN 110775038A
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brake
brake disc
vehicle
braking
temperature
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CN110775038B (en
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宋建勋
尹浩
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Zhejiang Zero Run Technology Co Ltd
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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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  • Regulating Braking Force (AREA)
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Abstract

The invention relates to the technical field of vehicle control, in particular to an integrated electronic parking system for a new energy vehicle and a control method thereof, and the integrated electronic parking system comprises the following steps: A) monitoring and recording the service condition of a brake in the running process of a vehicle; B) when the vehicle is parked, the efficiency evaluation of the brake disc is obtained according to the service condition of the brake; C) and determining the clamping force of the brake disc when parking according to the performance evaluation of the brake disc. The substantial effects of the invention are as follows: the temperature of the brake disc is calculated by monitoring the service condition of the brake in the running process of the vehicle, the efficiency of the brake disc is evaluated, when the efficiency of the brake disc is poor, the clamping force is supplemented in time, the parking clamping force of the vehicle is ensured, and the stability of the vehicle during parking is improved.

Description

Integrated electronic parking system for new energy vehicle and control method thereof
Technical Field
The invention relates to the technical field of vehicle control, in particular to an integrated electronic parking system for a new energy vehicle and a control method thereof.
Background
ESC is called car electron stable control system in the car control field, is the novel initiative safety coefficient of vehicle, is the further extension of car anti-lock braking system (ABS) and Traction Control System (TCS) function to on this basis, increased yaw rate sensor, lateral acceleration sensor and steering wheel corner sensor when the vehicle turns to the driving, ESC burns record in automobile-used ECU, through the drive power and the brake force of controlling front and back, left and right wheels, ensures the lateral stability that the vehicle went. EPB is the abbreviation of electric Park Brake, and the Chinese name is electronic parking Brake system, and it has replaced traditional mechanical lever and tire cable wire, can provide better help for the driver, and is safer than traditional pull rod handbrake, can not change braking effect because of driver's dynamics, has changed traditional handbrake pull rod into a button. In EPB, the braking force is adjustable to match the demand for longitudinal inclination. When the automobile is started, the brake can be automatically released by pressing the button. The brake disc can generate heat and the temperature rises in the braking process, the efficiency of the brake disc after the temperature rises is reduced, and if the efficiency of the brake disc is lower than a certain threshold value, the clamping force is insufficient, so that the parking of the vehicle is unstable. In the prior art, the ESC and the EPB are positioned in two ECUs, so that the vehicle cost is increased, and meanwhile, the EPB in the prior art cannot evaluate the efficiency of a brake disc and cannot ensure the stability of parking.
Chinese patent CN108995641A, published 2018, 12 months and 14 days, a vehicle parking control method based on an EPB system, includes a vehicle parking process and a vehicle parking release process, the vehicle parking release process is the reverse process of the vehicle parking request process, and includes that a driver releases parking through an EPB switch and the driver releases parking through an electronic shifter P-shift switch; in the method, in the process of requesting the parking of the vehicle, two conditions of trampling a brake pedal and an accelerator pedal by a driver are fully considered, and before the parking is executed, the torque limiting process of an engine is added until a preset torque value is reached, and then the parking is carried out, so that the stable transition is realized; in the process of requesting parking of the vehicle, when parking failure occurs or an EPB system fails, a driver is prompted to start emergency parking, and parking safety is guaranteed. But it does not solve the problem of brake disc clamping force deficiency due to temperature rise.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the existing EPB can not ensure the stable parking. The integrated electronic parking system for the new energy vehicle and the control method thereof are provided, wherein the parking temperature of the brake disc efficiency is evaluated by calculating the temperature of the brake disc.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a control method of an integrated electronic parking system for a new energy vehicle is suitable for the electronic parking system integrated in an ESC, and comprises the following steps: A) monitoring and recording the service condition of a brake in the running process of a vehicle; B) when the vehicle is parked, the efficiency evaluation of the brake disc is obtained according to the service condition of the brake; C) and determining the clamping force of the brake disc when parking according to the performance evaluation of the brake disc. The temperature and the efficiency of the brake disc are evaluated by monitoring the service condition of the brake in the driving process, and whether the brake disc needs to be further clamped when parking is judged. The brake disc is difficult to release due to over-tight clamping, stress damage is caused to the brake disc, and the service life of the brake disc is shortened. Among the prior art, EPB can provide an appropriate clamp force according to the vehicle longitudinal direction degree of inclination, and this technical scheme is based on this clamp force, and the step-up or do not do the processing again solves the problem that the clamp force that the brake disc leads to because of the temperature risees descends, improves the security and the stability of parking.
Preferably, in the step a), the service conditions of the brakes are monitored, wherein the service conditions of the brakes comprise the starting time of each brake, the vehicle speed at the starting time of the brake, the ending time of the brake and the vehicle speed at the ending time of the brake; and recording and monitoring the service condition of the brake in the starting and running processes of the vehicle, and storing the service condition as a brake record. It is sufficient to carry out an evaluation of the efficacy of the brake disc.
Preferably, in step B), the method for obtaining an evaluation of the effectiveness of the brake disc comprises: B1) initializing parameters: setting a speed threshold value v and a temperature threshold value K as a brake disc temperature T eSetting an initial value T 0(ii) a B2) Sequentially reading each record of the brake records, and circularly executing the steps B3-B4 until each record of the brake records is traversed; B3) updating the brake disc temperature T at the starting time of the brake according to the ending time of the last brake record, the brake disc temperature at the ending time of the last brake record and the starting time of the brake s(ii) a B4) Updating the temperature T of the brake disc according to the vehicle speed at the beginning and the vehicle speed at the end of the current brake record e(ii) a B5) According to the last recorded brake ending time of the brake record and the brake disc temperature T at the brake ending time eObtaining the temperature T of the brake disc at the pull-up time of the hand brake during parking e(ii) a B6) If the temperature T of the brake disc sIf the temperature is higher than the temperature threshold K, the efficiency of the brake disc is judged to be poor, and the brake needs to be addedAnd (4) judging that the efficiency of the brake disc is normal and the clamping force of the brake disc does not need to be increased if the clamping force of the brake disc is not normal.
Preferably, step a) further comprises: A1) when the automobile is braked each time, the amplitude x of the treaded brake pedal is obtained by using the position sensor of the brake pedal, and the deceleration of the automobile in the braking process is calculated
Figure BDA0002206178460000021
Wherein t is 1To the brake start time, t 2To brake end time, v 1Speed of the vehicle at the start of braking, v 2Recording braking parameters for the vehicle speed at the end of braking
Figure BDA0002206178460000022
Obtaining a set of parameters { λ 1，λ 2，…，λ n}，λ i；i∈[1，n]The braking parameter of the ith brake is represented; step B) also includes: calculating the parameter difference d ═ lambda n-λ n-1If d is larger than the preset threshold value, the efficiency of the brake disc is judged to be poor, otherwise, the efficiency of the brake disc is judged to be normal.
Preferably, in step B3), the disc temperature at the time of starting the current braking
Figure BDA0002206178460000023
If T sLess than T 0Then T is s＝T 0Wherein, in the step (A), indicating the temperature of the brake disc at the end of the last braking, if the braking is the first braking, the temperature of the brake disc is measured
Figure BDA0002206178460000025
η is the cooling rate of the brake disc,
Figure BDA0002206178460000026
is the last brake ending time.
Preferably, in step B4), brake disc temperature T is updated eThe method comprises the following steps:
Figure BDA0002206178460000027
wherein, P is the heat production amount of a single rear wheel brake disc in the braking process, c represents the specific heat capacity of the brake disc, and m represents the mass of the brake disc.
Preferably, the heat generated by the single rear wheel brake disc during braking
Figure BDA0002206178460000028
Wherein M is the mass of the whole vehicle, Delta G is the variation of the gravitational potential energy of the vehicle, s is the distribution coefficient of the absorbed energy of the brake and the tire, a is the conversion efficiency of the energy, l is the heat distribution coefficient of the brake disc, q is the braking force distribution coefficient of the front brake and the rear brake, and r is the energy recovery coefficient.
Preferably, the brake disc temperature T at the start time of braking is calculated each time sDynamically correcting the cooling rate η of the brake disc, including B31) the last braking ending time Then, the ESC controls the brake disc to carry out non-inductive braking with preset clamping force and duration, and the average deceleration a of the vehicle in the non-inductive braking is obtained 1After a preset time interval, the non-inductive braking with the same clamping force and duration is carried out again to obtain the average deceleration a of the vehicle in the non-inductive braking 2(ii) a B32) Cooling rate of brake disc
Figure BDA0002206178460000032
η' is the cooling efficiency under laboratory conditions, η ═ f (T) e) Function f (T) e) And (5) performing experiments under laboratory conditions and fitting to obtain the correction factor k. The heat dissipation efficiency of the brake disc is not constant, the brake disc changes along with factors such as ambient temperature, ambient wind speed, wind direction, vehicle running speed, road surface dust, rainwater and the like, the deceleration change of the vehicle is measured twice through the non-inductive brake, the change of the friction force between the brake disc and the brake drum under the same clamping force is reflected, namely the change of the temperature of the brake disc is reflected, and the change of the deceleration can be reflected to reflect the change of the brake discThe change of the heat dissipation condition of the disc is large, the deceleration change is large, the heat dissipation condition is good, and the accuracy of calculating the temperature of the brake disc can be improved by correcting the heat dissipation efficiency obtained by measuring under the laboratory condition.
The integrated electronic parking system for the new energy vehicle executes the control method of the integrated electronic parking system for the new energy vehicle, and comprises an ECU for the new energy vehicle, wherein an ESC program and an EPB program are burnt in the ECU.
The substantial effects of the invention are as follows: the temperature of the brake disc is calculated by monitoring the service condition of the brake in the running process of the vehicle, the efficiency of the brake disc is evaluated, when the efficiency of the brake disc is poor, the clamping force is supplemented in time, the parking clamping force of the vehicle is ensured, and the stability of the vehicle during parking is improved.
Drawings
FIG. 1 is a flow chart of a control method of an integrated electronic parking system according to an embodiment.
Fig. 2 is a flowchart of a method for evaluating the performance of a brake disc according to an embodiment.
FIG. 3 is a flowchart illustrating a method for modifying a cooling rate of a brake disc according to an embodiment.
Detailed Description
The following provides a more detailed description of the present invention, with reference to the accompanying drawings.
The first embodiment is as follows:
a control method of an integrated electronic parking system for a new energy vehicle is suitable for an electronic parking system integrated in an ESC, as shown in FIG. 1, the embodiment includes the following steps:
A) and monitoring and recording the service condition of the brake in the running process of the vehicle. Monitoring the service condition of the brake, wherein the service condition comprises the starting time of each brake, the vehicle speed at the starting time of the brake, the ending time of the brake and the vehicle speed at the ending time of the brake; and recording and monitoring the service condition of the brake in the starting and running processes of the vehicle, and storing the service condition as a brake record.
When the automobile is braked each time, the treading amplitude x of the brake pedal is obtained by using the position sensor of the brake pedal, and the automobile in the braking process is calculatedDeceleration rate
Figure BDA0002206178460000041
Wherein t is 1To the brake start time, t 2To brake end time, v 1Speed of the vehicle at the start of braking, v 2Recording braking parameters for the vehicle speed at the end of braking
Figure BDA0002206178460000042
Obtaining a set of parameters { λ 1，λ 2，…，λ n}，λ i，i∈[1，n]The braking parameter of the ith brake is represented; step B) also includes: calculating the parameter difference d ═ lambda n-λ n-1If d is larger than the preset threshold value, the efficiency of the brake disc is judged to be poor, otherwise, the efficiency of the brake disc is judged to be normal.
B) When the vehicle is parked, the effectiveness evaluation of the brake disc is obtained according to the use condition of the brake. As shown in fig. 2, the method for obtaining the performance evaluation of the brake disc includes: B1) initializing parameters: setting a speed threshold value v and a temperature threshold value K as a brake disc temperature T eSetting an initial value T 0. B2) And reading each record of the brake record in turn, and executing the steps B3-B4 in a circulating mode until each record of the brake record is traversed.
B3) Updating the brake disc temperature T at the starting time of the brake according to the ending time of the last brake record, the brake disc temperature at the ending time of the last brake record and the starting time of the brake s(ii) a Temperature of brake disc at the time of starting of the present brake
Figure BDA0002206178460000043
If T sLess than T 0Then T is s＝T 0Wherein, in the step (A),
Figure BDA0002206178460000044
indicating the temperature of the brake disc at the end of the last braking, if the braking is the first braking, the temperature of the brake disc is measured
Figure BDA0002206178460000045
η is a brake disc lifterThe rate of temperature is such that,
Figure BDA0002206178460000046
is the last brake ending time.
As shown in fig. 3, the disc temperature T at the start time of braking is calculated each time sDynamically correcting the cooling rate η of the brake disc, including B31) the last braking ending time
Figure BDA0002206178460000047
Then, the ESC controls the brake disc to carry out non-inductive braking with preset clamping force and duration, and the average deceleration a of the vehicle in the non-inductive braking is obtained 1After a preset time interval, the non-inductive braking with the same clamping force and duration is carried out again to obtain the average deceleration a of the vehicle in the non-inductive braking 2(ii) a B32) Cooling rate of brake disc
Figure BDA0002206178460000048
η' is the cooling efficiency under laboratory conditions, η ═ f (T) e) Function f (T) e) And (5) performing experiments under laboratory conditions and fitting to obtain the correction factor k. The heat dissipation efficiency of the brake disc is not constant, the brake disc changes along with factors such as ambient temperature, ambient wind speed, wind direction, vehicle running speed, road surface dust, rainwater and the like, deceleration changes of the vehicle are measured twice through a non-inductive brake, the change of friction force between the brake disc and a brake drum under the same clamping force is reflected, namely the change of the temperature of the brake disc is reflected, further, the change of the heat dissipation condition of the brake disc can be reflected from the change of the deceleration, the change of the heat dissipation condition of the brake disc is large, the change of the deceleration shows that the heat dissipation condition is good, and the heat dissipation efficiency measured under laboratory conditions is corrected, so that the accuracy of calculating the temperature of the brake disc can be.
B4) Updating the temperature T of the brake disc according to the vehicle speed at the beginning and the vehicle speed at the end of the current brake record e；
Figure BDA0002206178460000049
Wherein P is the heat generation amount of a single rear wheel brake disc in the braking process, c represents the specific heat capacity of the brake disc, and mIndicating the brake disc mass. Heat generation amount of single rear wheel brake disc during braking
Figure BDA00022061784600000410
Wherein M is the mass of the whole vehicle, Delta G is the variation of the gravitational potential energy of the vehicle, s is the distribution coefficient of the absorbed energy of the brake and the tire, a is the conversion efficiency of the energy, l is the heat distribution coefficient of the brake disc, q is the braking force distribution coefficient of the front brake and the rear brake, and r is the energy recovery coefficient.
B5) According to the last recorded brake ending time of the brake record and the brake disc temperature T at the brake ending time eObtaining the temperature T of the brake disc at the pull-up time of the hand brake during parking e。
B6) If the temperature T of the brake disc eIf the temperature is larger than the temperature threshold K, the efficiency of the brake disc is judged to be poor, and the clamping force of the brake disc needs to be increased, otherwise, the efficiency of the brake disc is judged to be normal, and the clamping force of the brake disc does not need to be increased.
C) And determining the clamping force of the brake disc when parking according to the performance evaluation of the brake disc.
The control method of the integrated electronic parking system for the new energy vehicle comprises an ECU for the new energy vehicle, wherein an ESC program and an EPB program are burnt in the ECU.
The embodiment has the following beneficial effects: the temperature and the efficiency of the brake disc are evaluated by monitoring the service condition of the brake in the driving process, and whether the brake disc needs to be further clamped when parking is judged. The brake disc is difficult to release due to over-tight clamping, stress damage is caused to the brake disc, and the service life of the brake disc is shortened. Among the prior art, EPB can provide an appropriate clamp force according to the vehicle longitudinal direction degree of inclination, and this technical scheme is based on this clamp force, and the step-up or do not do the processing again solves the problem that the clamp force that the brake disc leads to because of the temperature risees descends, improves the security and the stability of parking.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.

Claims (9)

1. A control method of an integrated electronic parking system for a new energy vehicle is suitable for the electronic parking system integrated in an ESC and is characterized in that,
the method comprises the following steps:
A) monitoring and recording the service condition of a brake in the running process of a vehicle;
B) when the vehicle is parked, the efficiency evaluation of the brake disc is obtained according to the service condition of the brake;
C) and determining the clamping force of the brake disc when parking according to the performance evaluation of the brake disc.
2. The control method of the integrated electronic parking system for the new energy vehicle as claimed in claim 1, wherein in the step a), the service conditions of the brake are monitored, wherein the service conditions of the brake comprise a starting time of each brake, a vehicle speed at the starting time of the brake, a braking ending time and a vehicle speed at the ending time of the brake; and recording and monitoring the service condition of the brake in the starting and running processes of the vehicle, and storing the service condition as a brake record.
3. The control method of the integrated electronic parking system for the new energy vehicle as claimed in claim 2, wherein in the step B), the method for obtaining the performance evaluation of the brake disc comprises:
B1) initializing parameters: setting a speed threshold value v and a temperature threshold value K as a brake disc temperature T eSetting an initial value T 0；
B2) Sequentially reading each record of the brake records, and circularly executing the steps B3-B4 until each record of the brake records is traversed;
B3) updating the brake disc temperature T at the starting time of the brake according to the ending time of the last brake record, the brake disc temperature at the ending time of the last brake record and the starting time of the brake s；
B4) Recording the starting speed and the ending speed according to the current brakeUpdating brake disc temperature T e；
B5) According to the last recorded brake ending time of the brake record and the brake disc temperature T at the brake ending time eObtaining the temperature T of the brake disc at the pull-up time of the hand brake during parking e；
B6) If the temperature T of the brake disc eIf the temperature is larger than the temperature threshold K, the efficiency of the brake disc is judged to be poor, and the clamping force of the brake disc needs to be increased, otherwise, the efficiency of the brake disc is judged to be normal, and the clamping force of the brake disc does not need to be increased.
4. The control method of the integrated electronic parking system for the new energy vehicle according to claim 2, wherein the step a) further comprises:
A1) when the automobile is braked each time, the amplitude x of the treaded brake pedal is obtained by using the position sensor of the brake pedal, and the deceleration of the automobile in the braking process is calculated
Figure FDA0002206178450000011
Wherein t is 1To the brake start time, t 2To brake end time, v 1Speed of the vehicle at the start of braking, v 2Recording braking parameters for the vehicle speed at the end of braking
Figure FDA0002206178450000021
Obtaining a set of parameters { λ 1，λ 2，...，λ n}，λ i，i∈[1，n]The braking parameter of the ith brake is represented;
step B) also includes: calculating the parameter difference d ═ lambda n-λ n-1If d is larger than the preset threshold value, the efficiency of the brake disc is judged to be poor, otherwise, the efficiency of the brake disc is judged to be normal.
5. The method as claimed in claim 3, wherein in step B3), the temperature of the brake disc at the time of starting the brake is controlled according to the temperature of the brake disc
Figure FDA0002206178450000022
Wherein the content of the first and second substances,
Figure FDA0002206178450000023
indicating the temperature of the brake disc at the end of the last braking, if the braking is the first braking, the temperature of the brake disc is measured
Figure FDA0002206178450000024
If T sLess than T 0Then T is s＝T 0And η is the cooling rate of the brake disc,
Figure FDA0002206178450000025
is the last brake ending time.
6. The method as claimed in claim 3, wherein in step B4), the brake disc temperature T is updated eThe method comprises the following steps:
Figure FDA0002206178450000026
wherein, P is the heat production amount of a single rear wheel brake disc in the braking process, c represents the specific heat capacity of the brake disc, and m represents the mass of the brake disc.
7. The control method of the integrated electronic parking system for the new energy vehicle as claimed in claim 6, wherein the heat generated by the single rear wheel brake disc during braking is increased
Figure FDA0002206178450000027
Wherein M is the mass of the whole vehicle, Delta G is the variation of the gravitational potential energy of the vehicle, s is the distribution coefficient of the absorbed energy of the brake and the tire, a is the conversion efficiency of the energy, l is the heat distribution coefficient of the brake disc, q is the braking force distribution coefficient of the front brake and the rear brake, and r is the energy recovery coefficient.
8. The integration of new energy vehicles according to claim 5The control method of the electronic parking system is characterized in that the temperature T of a brake disc at the starting moment of braking is calculated every time sAnd when the temperature reduction rate η of the brake disc is dynamically corrected, the method comprises the following steps:
B31) at last brake end time
Figure FDA0002206178450000028
Then, the ESC controls the brake disc to carry out non-inductive braking with preset clamping force and duration, and the average deceleration a of the vehicle in the non-inductive braking is obtained 1After a preset time interval, the non-inductive braking with the same clamping force and duration is carried out again to obtain the average deceleration a of the vehicle in the non-inductive braking 2；
B32) Cooling rate of brake disc
Figure FDA0002206178450000029
η' is the cooling efficiency under laboratory conditions, η ═ f (T) e) Function f (T) e) And (5) performing experiments under laboratory conditions and fitting to obtain the correction factor k.
9. An integrated electronic parking system for a new energy vehicle, which executes the control method of the integrated electronic parking system for the new energy vehicle according to any one of claims 1 to 8,
the system comprises an ECU for the new energy vehicle, wherein an ESC program and an EPB program are burnt in the ECU.
CN201910882010.5A 2019-09-18 2019-09-18 Integrated electronic parking system for new energy vehicle and control method thereof Active CN110775038B (en)

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Publication number Priority date Publication date Assignee Title
CN111645658A (en) * 2020-06-18 2020-09-11 摩登汽车有限公司 Hydraulic compensation method for brake system, hydraulic compensation system for brake system and automobile

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CN104828055A (en) * 2014-02-06 2015-08-12 罗伯特·博世有限公司 Method for Providing a Clamping Force that is Generated by Means of an Automatic Parking Brake for a Vehicle
CN105711575A (en) * 2014-12-22 2016-06-29 罗伯特·博世有限公司 Method and Apparatus for Operating a Braking Device, Braking Device
CN106828478A (en) * 2017-01-21 2017-06-13 广州汽车集团股份有限公司 Vehicle, electronic brake system and its control method
CN109624943A (en) * 2019-01-15 2019-04-16 浙江吉利汽车研究院有限公司 A kind of electronic parking high temperature clamping method and system again

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Publication number Priority date Publication date Assignee Title
WO2013010969A1 (en) * 2011-07-19 2013-01-24 Continental Teves Ag & Co. Ohg Method for tightening an electromechanical brake, and electromechanical brake
CN104828055A (en) * 2014-02-06 2015-08-12 罗伯特·博世有限公司 Method for Providing a Clamping Force that is Generated by Means of an Automatic Parking Brake for a Vehicle
CN105711575A (en) * 2014-12-22 2016-06-29 罗伯特·博世有限公司 Method and Apparatus for Operating a Braking Device, Braking Device
CN106828478A (en) * 2017-01-21 2017-06-13 广州汽车集团股份有限公司 Vehicle, electronic brake system and its control method
CN109624943A (en) * 2019-01-15 2019-04-16 浙江吉利汽车研究院有限公司 A kind of electronic parking high temperature clamping method and system again

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111645658A (en) * 2020-06-18 2020-09-11 摩登汽车有限公司 Hydraulic compensation method for brake system, hydraulic compensation system for brake system and automobile

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