CN112550257A - Electro-hydraulic hybrid brake device - Google Patents
Electro-hydraulic hybrid brake device Download PDFInfo
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- CN112550257A CN112550257A CN202011509072.0A CN202011509072A CN112550257A CN 112550257 A CN112550257 A CN 112550257A CN 202011509072 A CN202011509072 A CN 202011509072A CN 112550257 A CN112550257 A CN 112550257A
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- 238000009826 distribution Methods 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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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
- 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
- B60T13/74—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 electrical assistance or drive
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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
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
Abstract
The invention relates to an electro-hydraulic hybrid brake device. The electro-hydraulic hybrid brake device can keep the stability of a vehicle body of a low-speed unmanned vehicle under the severe running working condition by implanting the ESP system into the EHB system (a brake-by-wire system), overcomes the defect that the conventional ESP system must give pedal signals manually, and improves the signal response efficiency. In addition, the mode of sharing the master cylinder is adopted, so that the overall structure of the brake control system of the unmanned vehicle is further reduced, and meanwhile, the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of automobile wire control, in particular to an electro-hydraulic hybrid brake device.
Background
The existing brake systems are mainly divided into a mechanical brake-by-wire system and a hydraulic brake-by-wire system.
The current mechanical brake-by-wire EMB technology presents many advantages, such as: the whole system is not connected with a brake pipeline, the structure is simple, the size is small, signals are transmitted through electricity, the response is sensitive, the braking distance is reduced, the work is stable, the maintenance is simple, no hydraulic oil pipeline exists, the problem of hydraulic oil leakage does not exist, and the like. But at the present time, the technology is not mature and few are fitted on conventional vehicles.
Furthermore, most of the traditional hydraulic brake-by-wire is based on an electronic brake pedal and a driving brake-by-wire scheme. However, for a low-speed unmanned vehicle, due to the fact that a cab is not arranged and a brake pedal is not provided, a driver is difficult to precisely and currently control the low-speed unmanned vehicle, and the low-speed unmanned vehicle is very easy to roll over particularly when the low-speed unmanned vehicle runs under the working conditions of rain, snow and sharp turns.
Therefore, providing a novel brake-by-wire system to improve the stability and safety of low-speed unmanned vehicles is a technical problem to be solved in the field.
Disclosure of Invention
The invention aims to provide an electro-hydraulic hybrid brake device, which is used for improving the running stability and safety of a low-speed unmanned vehicle while finishing accurate control of the low-speed unmanned vehicle.
In order to achieve the purpose, the invention provides the following scheme:
an electro-hydraulic hybrid brake device comprising: the system comprises a braking mechanical system, a data acquisition system, an ESP system and a work control system;
the brake mechanical system and the ESP system share the same master cylinder; the data acquisition system is arranged on the braking mechanical system and used for acquiring vehicle data; the vehicle data includes: the wheel speed and the body posture of the low-speed unmanned vehicle;
the data acquisition system is electrically connected with the ESP system; the ESP system is used for judging whether the low-speed unmanned vehicle turns over according to the vehicle data and generating a wheel torque distribution signal according to a judgment result;
the ESP system is electrically connected with the industrial control system; the power control system is electrically connected with the braking mechanical system; the industrial control system is used for generating a braking instruction according to the wheel torque distribution signal to control the braking mechanical system, acquiring meteorological data and feeding the meteorological data back to the ESP system, and the ESP system generates the wheel torque distribution signal by combining the meteorological data; the braking commands include a turn command and an emergency braking command.
Preferably, the braking mechanism system comprises: the brake device comprises a brake motor loop, a hydraulic loop and a band-type brake device;
the brake motor circuit and the band-type brake device are used for receiving the instruction of the industrial control system and carrying out corresponding action, and the brake motor circuit is matched with the hydraulic circuit to form braking.
Preferably, the data acquisition system comprises: a wheel speed sensor and a motion attitude sensor;
the wheel speed sensor and the motion attitude sensor are both electrically connected with the ESP system; the wheel speed sensor is used for detecting the wheel speed of the low-speed unmanned vehicle; the motion attitude sensor is used for detecting the body attitude of the low-speed unmanned vehicle.
Preferably, the ESP system comprises: a control unit;
and the control unit generates wheel torque distribution signals according to the vehicle data acquired by the data acquisition system.
Preferably, the industrial control system comprises a vehicle control unit and a meteorological receiver;
the vehicle control unit is used for generating a braking instruction according to the wheel torque distribution signal so as to control the braking mechanical system;
the meteorological receiver is used for acquiring meteorological data and feeding the meteorological data back to the ESP system.
Preferably, the vehicle control unit is electrically connected with the data acquisition system;
the vehicle control unit is used for determining four-wheel pressure and action time of the low-speed unmanned vehicle according to the vehicle data acquired by the data acquisition system, and feeding the four-wheel pressure and the action time back to the ESP system, and the ESP system generates braking time by combining the meteorological data and the driving road condition of the low-speed unmanned vehicle and then transmits the braking time to the vehicle control unit to generate a braking instruction.
Preferably, the electro-hydraulic hybrid brake device further includes: the system comprises a wireless transceiving system and an upper computer;
the wireless receiving and transmitting system is electrically connected with the industrial control system; the wireless receiving and transmitting system carries out data interaction with the upper computer; the upper computer is used for receiving the data signals transmitted by the wireless transceiving system and generating braking instructions according to the data signals and then transmitting the braking instructions to the wireless transceiving system.
Preferably, the wireless transceiver system is a wireless communication module, an 4/5G communication module or a satellite communication module.
Preferably, the electro-hydraulic hybrid brake device further includes: an anti-collision system;
the anti-collision system is electrically connected with the industrial control system; the collision avoidance system is used for detecting whether the low-speed unmanned vehicle collides with an obstacle or not and sending a detection result to the industrial control system, and the industrial control system generates a control instruction according to the detection result.
Preferably, the collision avoidance system comprises: the anti-collision detection strip and the camera are arranged;
the anti-collision detection strip is used for sensing whether the low-speed unmanned vehicle collides with an obstacle or not, and the camera is used for shooting the running environment of the low-speed unmanned vehicle;
when the anti-collision detection strip senses that the low-speed unmanned vehicle collides with an obstacle, the industrial control system generates an emergency braking instruction and feeds the emergency braking instruction back to the ESP system, and the ESP system generates a torque distribution signal according to the emergency braking instruction so as to keep the vehicle body of the low-speed unmanned vehicle stable; when the collision avoidance detection strip cannot sense that the low-speed unmanned vehicle collides with an obstacle, the industrial control system determines whether pre-collision occurs according to the driving environment shot by the camera, when the pre-collision occurs, pre-collision time is generated and fed back to the ESP system, and the ESP system generates a torque distribution signal according to the pre-collision time so as to ensure the driving stability of the vehicle body.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the electro-hydraulic hybrid brake device provided by the invention, the ESP system is implanted into the EHB system (brake-by-wire system), so that the stability of a vehicle body of a low-speed unmanned vehicle can be kept under the severe driving working condition, the defect that the conventional ESP system must artificially give a pedal signal is overcome, and the signal response efficiency is improved. In addition, the mode of sharing the master cylinder is adopted, so that the overall structure of the brake control system of the unmanned vehicle is further reduced, and meanwhile, the production cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an electro-hydraulic hybrid brake device provided by the invention.
Description of the symbols:
the system comprises a brake mechanical system, a data acquisition system, a 3-ESP system, an industrial control system, a 5-wireless transceiving system, a 6-upper computer and a 7-collision avoidance system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an electro-hydraulic hybrid brake device, which is used for improving the running stability and safety of a low-speed unmanned vehicle while finishing accurate control of the low-speed unmanned vehicle.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of an electro-hydraulic hybrid brake apparatus provided by the present invention, and as shown in fig. 1, the electro-hydraulic hybrid brake apparatus includes: the system comprises a braking mechanical system 1, a data acquisition system 2, an ESP system 3 and an industrial control system 4.
The brake mechanical system 1 and the ESP system 3 share the same master cylinder. The data acquisition system 2 is arranged on the braking mechanical system 1 and used for acquiring vehicle data. The vehicle data includes: the wheel speed and body attitude of the low speed unmanned vehicle.
The data acquisition system 2 is electrically connected to the ESP system 3. The ESP system 3 is used for judging whether the low-speed unmanned vehicle turns over according to the vehicle data and generating a wheel torque distribution signal according to a judgment result.
The ESP system 3 is electrically connected to the industrial control system 4. The industrial control system 4 is electrically connected with the braking mechanical system 1. The industrial control system 4 is used for generating a braking instruction according to the wheel torque distribution signal to control the braking mechanical system 1, obtaining meteorological data and feeding the meteorological data back to the ESP system 3, and the ESP system 3 generates the wheel torque distribution signal by combining the meteorological data. The braking commands include a turn command and an emergency braking command.
Among them, the above-mentioned braking machine system 1 preferably includes: the brake system comprises a brake motor loop, a hydraulic loop and a band-type brake device.
The brake motor loop and the band-type brake device are used for receiving instructions of the industrial control system and performing corresponding actions, and the brake motor loop and the hydraulic loop are matched to form braking.
The data acquisition system 2 preferably includes: a wheel speed sensor and a motion attitude sensor.
The wheel speed sensor and the motion attitude sensor are both electrically connected with the ESP system. The wheel speed sensor is used for detecting the wheel speed of the low-speed unmanned vehicle. The motion attitude sensor is used for detecting the body attitude of the low-speed unmanned vehicle.
The above ESP system 3 preferably includes: a control unit. The control unit generates wheel torque distribution signals according to the vehicle data acquired by the data acquisition system.
The industrial control system 4 preferably includes a vehicle control unit and a weather receiver.
The vehicle control unit is used for generating a braking instruction according to the wheel torque distribution signal to control the braking mechanical system 1.
The meteorological receiver is used for acquiring meteorological data and feeding the meteorological data back to the ESP system 3.
Preferably, the vehicle control unit is electrically connected with the data acquisition system 2. The vehicle control unit is used for determining four-wheel pressure and action time of the low-speed unmanned vehicle according to vehicle data acquired by the data acquisition system, feeding the four-wheel pressure and the action time back to the ESP system, and the ESP system generates braking time by combining meteorological data and the driving road condition of the low-speed unmanned vehicle and then transmits the braking time to the vehicle control unit to generate a braking instruction.
Further in order to improve the safety of vehicle operation, the invention provides the electro-hydraulic hybrid brake device, which further comprises: a wireless transceiver system 5 and an upper computer 6.
The wireless transceiver system 5 is electrically connected with the industrial control system 4. The wireless transceiver system 5 performs data interaction with the upper computer 6. The upper computer 6 is used for receiving the data signals transmitted by the wireless transceiving system 5, generating braking instructions according to the data signals and transmitting the braking instructions to the wireless transceiving system 5.
The wireless transceiver system 5 is a wireless communication module, an 4/5G communication module, or a satellite communication module.
In addition, in order to further prevent the low-speed unmanned vehicle from rolling over during collision, the electro-hydraulic hybrid braking device provided by the invention preferably further comprises: a collision avoidance system 7.
And the anti-collision system 7 is electrically connected with the industrial control system 4. And the anti-collision system 7 is used for detecting whether the low-speed unmanned vehicle collides with the barrier or not, sending a detection result to the industrial control system 4, and generating a control instruction by the industrial control system 4 according to the detection result.
Wherein, above-mentioned collision avoidance system preferably includes: anticollision detection strip and camera.
The anti-collision detection strip is used for perceiving whether the low-speed unmanned vehicle collides with the barrier, and the camera is used for shooting the running environment of the low-speed unmanned vehicle.
When the anti-collision detection strips sense that the low-speed unmanned vehicle collides with the barrier, the industrial control system 4 generates an emergency braking instruction and feeds the emergency braking instruction back to the ESP system 3, and the ESP system 3 generates a torque distribution signal according to the emergency braking instruction so as to keep the vehicle body of the low-speed unmanned vehicle stable. When the collision-prevention detection strips cannot sense that the low-speed unmanned vehicle collides with the obstacle, the industrial control system 4 determines whether pre-collision occurs according to the driving environment shot by the camera, when the pre-collision occurs, pre-collision time is generated and fed back to the ESP system 3, and the ESP system 3 generates a torque distribution signal according to the pre-collision time so as to ensure the driving stability of the vehicle body.
The braking performance of the electro-hydraulic hybrid braking device provided by the invention is explained below by taking rain and snow weather as an example, and in the specific application process, the technical scheme provided by the invention can also be applied to unmanned vehicle control in other occasions.
When the weather acquisition module acquires that the current weather is rain and snow, the industrial control system judges whether rain and snow fall or not by combining the vehicle data and the air condition data acquired by the data acquisition system, and feeds a judgment signal back to the ESP system.
When rain and snow occur, the ESP system judges that the low-speed unmanned vehicle is steered to run according to vehicle data acquired by the data acquisition system, and generates a wheel torque distribution signal according to the current vehicle data, for example, when the low-speed unmanned vehicle turns left and turns excessively (turns too fast) during road skidding, the low-speed unmanned vehicle can swing to the right, at the moment, the ESP system senses that the skidding can quickly generate a torque distribution signal opposite to the swing to the right, and the industrial control system receives the wheel torque distribution signal and then quickly generates a control instruction matched with a budget to be applied to a braking mechanical system, so that the running stability of the vehicle body is maintained.
When the collision system senses that the low-speed unmanned vehicle collides, the industrial control system generates an emergency braking instruction and feeds the emergency braking instruction back to the ESP system, and the ESP system quickly generates a torque distribution signal according to the emergency braking instruction and vehicle data acquired by the data acquisition system so as to prevent the low-speed unmanned vehicle from rollover.
When a camera in the collision system shoots that an obstacle exists on a low-speed unmanned vehicle driving route, the industrial control system determines the position of the obstacle and the pre-collision time according to the driving environment shot by the camera and feeds the position and the pre-collision time back to the ESP system, and the ESP system generates a torque distribution signal according to the pre-collision time so as to avoid the obstacle or ensure the driving stability of a vehicle body after parking.
In summary, compared with the prior art, the electro-hydraulic hybrid brake device provided by the invention has the following advantages:
1. by implanting the ESP system into the EHB system (brake-by-wire system), the stability of the vehicle body can be kept for the low-speed unmanned vehicle under the severe running working condition, the defect that the existing ESP system must give pedal signals manually is overcome, and the signal response efficiency is improved.
2. By adopting the mode of sharing the master cylinder, the production cost can be further reduced while the overall structure of the brake control system of the unmanned vehicle is reduced.
3. By adopting the collision system and the ESP system, the collision can be accurately sensed or pre-judged so as to prevent the vehicle from rolling over.
4. The wireless transceiving system and the upper computer are adopted to remotely control the running of the low-speed unmanned vehicle, so that the control applicability is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An electro-hydraulic hybrid brake device, comprising: the system comprises a braking mechanical system, a data acquisition system, an ESP system and a work control system;
the brake mechanical system and the ESP system share the same master cylinder; the data acquisition system is arranged on the braking mechanical system and used for acquiring vehicle data; the vehicle data includes: the wheel speed and the body posture of the low-speed unmanned vehicle;
the data acquisition system is electrically connected with the ESP system; the ESP system is used for judging whether the low-speed unmanned vehicle turns over according to the vehicle data and generating a wheel torque distribution signal according to a judgment result;
the ESP system is electrically connected with the industrial control system; the power control system is electrically connected with the braking mechanical system; the industrial control system is used for generating a braking instruction according to the wheel torque distribution signal to control the braking mechanical system, acquiring meteorological data and feeding the meteorological data back to the ESP system, and the ESP system generates the wheel torque distribution signal by combining the meteorological data; the braking commands include a turn command and an emergency braking command.
2. The electro-hydraulic hybrid brake of claim 1, wherein the braking mechanism system comprises: the brake device comprises a brake motor loop, a hydraulic loop and a band-type brake device;
the brake motor circuit and the band-type brake device are used for receiving the instruction of the industrial control system and carrying out corresponding action, and the brake motor circuit is matched with the hydraulic circuit to form braking.
3. The electro-hydraulic hybrid brake of claim 1, wherein the data acquisition system comprises: a wheel speed sensor and a motion attitude sensor;
the wheel speed sensor and the motion attitude sensor are both electrically connected with the ESP system; the wheel speed sensor is used for detecting the wheel speed of the low-speed unmanned vehicle; the motion attitude sensor is used for detecting the body attitude of the low-speed unmanned vehicle.
4. The electro-hydraulic hybrid brake system of claim 1, wherein the ESP system comprises: a control unit;
and the control unit generates wheel torque distribution signals according to the vehicle data acquired by the data acquisition system.
5. The electro-hydraulic hybrid brake device according to claim 1, wherein the industrial control system comprises a vehicle control unit and a meteorological receiver;
the vehicle control unit is used for generating a braking instruction according to the wheel torque distribution signal so as to control the braking mechanical system;
the meteorological receiver is used for acquiring meteorological data and feeding the meteorological data back to the ESP system.
6. The electro-hydraulic hybrid brake device according to claim 5, wherein the vehicle control unit is electrically connected with the data acquisition system;
the vehicle control unit is used for determining four-wheel pressure and action time of the low-speed unmanned vehicle according to the vehicle data acquired by the data acquisition system, and feeding the four-wheel pressure and the action time back to the ESP system, and the ESP system generates braking time by combining the meteorological data and the driving road condition of the low-speed unmanned vehicle and then transmits the braking time to the vehicle control unit to generate a braking instruction.
7. The electro-hydraulic hybrid brake device of claim 1, further comprising: the system comprises a wireless transceiving system and an upper computer;
the wireless receiving and transmitting system is electrically connected with the industrial control system; the wireless receiving and transmitting system carries out data interaction with the upper computer; the upper computer is used for receiving the data signals transmitted by the wireless transceiving system and generating braking instructions according to the data signals and then transmitting the braking instructions to the wireless transceiving system.
8. The electro-hydraulic hybrid brake of claim 7, wherein the wireless transceiver system is a wireless communication module, an 4/5G communication module, or a satellite communication module.
9. The electro-hydraulic hybrid brake device of claim 1, further comprising: an anti-collision system;
the anti-collision system is electrically connected with the industrial control system; the collision avoidance system is used for detecting whether the low-speed unmanned vehicle collides with an obstacle or not and sending a detection result to the industrial control system, and the industrial control system generates a control instruction according to the detection result.
10. The electro-hydraulic hybrid brake of claim 9, wherein the collision avoidance system comprises: the anti-collision detection strip and the camera are arranged;
the anti-collision detection strip is used for sensing whether the low-speed unmanned vehicle collides with an obstacle or not, and the camera is used for shooting the running environment of the low-speed unmanned vehicle;
when the anti-collision detection strip senses that the low-speed unmanned vehicle collides with an obstacle, the industrial control system generates an emergency braking instruction and feeds the emergency braking instruction back to the ESP system, and the ESP system generates a torque distribution signal according to the emergency braking instruction so as to keep the vehicle body of the low-speed unmanned vehicle stable; when the collision avoidance detection strip cannot sense that the low-speed unmanned vehicle collides with an obstacle, the industrial control system determines whether pre-collision occurs according to the driving environment shot by the camera, when the pre-collision occurs, pre-collision time is generated and fed back to the ESP system, and the ESP system generates a torque distribution signal according to the pre-collision time so as to ensure the driving stability of the vehicle body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011509072.0A CN112550257A (en) | 2020-12-18 | 2020-12-18 | Electro-hydraulic hybrid brake device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011509072.0A CN112550257A (en) | 2020-12-18 | 2020-12-18 | Electro-hydraulic hybrid brake device |
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| CN112550257A true CN112550257A (en) | 2021-03-26 |
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| CN202011509072.0A Pending CN112550257A (en) | 2020-12-18 | 2020-12-18 | Electro-hydraulic hybrid brake device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179772A (en) * | 2021-12-30 | 2022-03-15 | 舜泰汽车有限公司 | Novel electronic braking system |
| CN114212065A (en) * | 2021-12-30 | 2022-03-22 | 舜泰汽车有限公司 | Brake redundancy control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114179772A (en) * | 2021-12-30 | 2022-03-15 | 舜泰汽车有限公司 | Novel electronic braking system |
| CN114212065A (en) * | 2021-12-30 | 2022-03-22 | 舜泰汽车有限公司 | Brake redundancy control system |
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Application publication date: 20210326 |