CN112644444A - Brake-by-wire system with high dynamic brake pressure regulation characteristic - Google Patents
Brake-by-wire system with high dynamic brake pressure regulation characteristic Download PDFInfo
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- CN112644444A CN112644444A CN202110139823.2A CN202110139823A CN112644444A CN 112644444 A CN112644444 A CN 112644444A CN 202110139823 A CN202110139823 A CN 202110139823A CN 112644444 A CN112644444 A CN 112644444A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 239000007788 liquid Substances 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000035807 sensation Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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
- B60T13/10—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
- B60T13/12—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 the fluid being liquid
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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
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a line control brake system with high dynamic brake pressure regulation characteristic, which comprises a direct drive motor pump, an overflow valve, a high-pressure energy accumulator, an oil can, a pressure sensor, a displacement sensor, not less than three direct drive three-way proportional valves, a brake pedal, a brake feeling simulator, a brake controller and a brake wheel cylinder. The brake controller is characterized in that the brake controller respectively collects a driver intention signal and a high-pressure oil circuit pressure signal through a displacement sensor and a pressure sensor so as to control a direct-drive motor pump and a direct-drive three-way proportional valve; when the pressure of the high-pressure oil way is smaller than a set value, the direct-drive motor pump works; the pressure of a brake wheel cylinder and the pressure of an oil cylinder of the brake feel simulator are adjusted in real time by a direct-drive three-way proportional valve; each direct-drive three-way proportional valve is directly driven by a linear motor based on a Halbach permanent magnet array. The invention obviously reduces the number of control valves of the brake system and has the advantages of rapid pressure regulation response, high precision and the like.
Description
Technical Field
The invention relates to the technical field of automobile brake-by-wire, in particular to a brake-by-wire technology with high dynamic brake pressure regulation characteristic.
Background
After one hundred years of innovative development in the automobile industry, the traditional hydraulic Brake system directly connected mechanically cannot meet the development requirement of automobile electromotion, and Brake-By-Wire (Brake-By-Wire) becomes the main development direction of the automobile Brake system.
Brake-by-wire systems include two types: hydraulic brake-by-wire systems and mechanical brake-by-wire systems. The drive-by-wire mechanical brake system thoroughly abandons a hydraulic component, has no mechanical backup, takes a power supply as an energy source, and has the development problems of a motor, a power supply, safety, cost and the like; compared with a linear control mechanical brake system, the linear control hydraulic brake system is easier to realize and lower in development cost, and the brake safety of the vehicle can be still ensured when the electronic control unit fails. At present, a wire control hydraulic brake system generally adopts a high-speed switch electromagnetic valve to control flow, and has the advantages of high reliability and low cost. However, a plurality of on-off valves are often needed to realize the pressure adjustment of the brake wheel cylinder, and the conventional on-off valve influences the dynamic response performance due to the limitation of the driving element, so that the response speed and the real-time control precision of the pressure adjustment of the brake wheel cylinder are influenced. In addition, the arrangement of pipelines among the brake master cylinder, the brake wheel cylinders and the electromagnetic valves with a large number is complex, and the reliability, the maintainability and the economical efficiency of the brake system are reduced.
The brake-by-wire system with high dynamic brake pressure regulation characteristic adopts the direct drive motor pump and the high pressure accumulator to establish the oil pressure of the brake high pressure oil path, adopts the direct drive proportional valve to regulate the pressure of the brake wheel cylinder, obviously reduces the number of electromagnetic valves in the brake system and reduces the complexity of the pipeline, and the pressure regulation of the brake system has the advantage of rapid response of the direct drive technology, and simultaneously improves the precision of the real-time regulation of the pressure of the brake wheel cylinder and the pressure of the hydraulic cylinder of the brake feeling simulator.
Disclosure of Invention
The designed line control brake system with the high dynamic brake pressure regulation characteristic aims to establish brake high-pressure oil line oil pressure by adopting a direct-drive motor pump and a high-pressure energy accumulator, regulate the pressure of a brake wheel cylinder by adopting a direct-drive proportional valve, obviously reduce the number of electromagnetic valves in the brake system and reduce the complexity of pipelines, and the pressure regulation of the brake system has the advantage of rapid response of a direct-drive technology, and simultaneously the direct-drive proportional valve also improves the precision of real-time regulation of the pressure of the brake wheel cylinder and the pressure of a hydraulic cylinder of a brake feel simulator. The problems that a hydraulic pipeline of an existing brake-by-wire system is complex, and response speed and real-time control precision of pressure regulation are insufficient are solved.
The utility model provides a drive-by-wire braking system with high dynamic braking pressure regulation characteristic, direct-drive motor pump (1), overflow valve (2), high pressure accumulator (3), oilcan (4), pressure sensor (5), displacement sensor (8), direct-drive tee bend proportional valve (6), brake pedal (7), braking sense simulator (9), brake controller (10), brake wheel cylinder (11), its characterized in that includes: the liquid inlet of the direct-drive motor pump (1) is connected with the oil pot (4) and is a low-pressure oil way, and the liquid outlet of the direct-drive motor pump is connected with the high-pressure energy accumulator (3) and is a high-pressure oil way; an oil inlet and an oil outlet of the overflow valve (2) are respectively connected with a high-pressure oil way and a low-pressure oil way;
the hydraulic cylinder and the brake wheel cylinder (11) of the brake feel simulator (9) are respectively connected with a high-pressure oil path and a low-pressure oil path through a direct-drive three-way proportional valve (6); each direct-drive three-way proportional valve (6) is directly driven by only one linear motor based on a Halbach permanent magnet array; the brake controller (10) controls the direct-drive motor pump (1) and the direct-drive three-way proportional valve (6) according to the automobile working condition and the driver intention signal and the high-pressure oil circuit pressure signal which are respectively collected by the displacement sensor (8) and the pressure sensor (5), so that the pressure of a hydraulic cylinder and a brake wheel cylinder (11) of the brake feeling simulator (9) is controlled; a direct-drive three-way proportional valve (6) regulates the pressure of at least one brake wheel cylinder (11) or the hydraulic cylinder pressure of a brake feel simulator (9).
The direct-drive motor pump (1) is not provided with a rotary-linear motion conversion device, and a motor rotor directly drives a hydraulic pump moving part; when the pressure of the high-pressure oil way is smaller than a set value, the direct-drive motor pump (1) works. The pressure sensor (5) is used for testing the pressure of the high-pressure oil way, and the displacement sensor (8) is used for detecting the opening degree of the brake pedal (7).
The hydraulic cylinder of the brake feeling simulator (9) is a single-action hydraulic cylinder, and the direct-drive three-way proportional valve (6) is a normally closed valve.
The mover of the linear motor for driving the direct-drive three-way proportional valve (6) is of a moving coil type or a moving magnet type, and the output force of the linear motor and the driving current of the linear motor are in an approximately direct proportional relation.
The direct-drive three-way proportional valve (6) for regulating the pressure of the hydraulic cylinder of the brake feel simulator (9) and the brake wheel cylinder (11) has different parameter specifications.
The direct-drive three-way proportional valve (6) has three working states: t, P, A ports are all non-conductive, T, A ports are conductive, and P, A ports are conductive.
The invention relates to a line control brake system with high dynamic brake pressure regulation characteristic, which aims to establish brake high-pressure oil line oil pressure by adopting a direct-drive motor pump and a high-pressure energy accumulator, regulate the pressure of a brake wheel cylinder by adopting a direct-drive proportional valve, obviously reduce the number of electromagnetic valves in the brake system and reduce the complexity of pipelines, and the pressure regulation of the brake system has the advantage of quick response of a direct-drive technology, and simultaneously the direct-drive proportional valve also improves the precision of real-time regulation of the pressure of the brake wheel cylinder and the pressure of a hydraulic cylinder of a brake feel simulator.
The brake-by-wire system with high dynamic brake pressure regulation characteristic adopts the motor output shaft to directly drive the hydraulic pump, and a rotary-linear motion conversion device is not arranged between the motor rotor and the hydraulic pump moving part, so that the power transmission efficiency is high, and the dynamic response is rapid.
According to the brake-by-wire system with the high dynamic brake pressure regulation characteristic, the Halbach permanent magnet array-based permanent magnet linear motor is adopted, the air gap magnetic field intensity is enhanced, and the driving force and the response speed are improved; the linear motor rotor directly drives the hydraulic valve core, and the power transmission efficiency is high and the dynamic response is rapid.
The brake-by-wire system with the high dynamic brake pressure regulation characteristic provided by the invention has the advantages that the number of pressure control valves in the brake-by-wire system is obviously reduced, hydraulic pipelines among a brake master cylinder, a brake wheel cylinder and a large number of electromagnetic valves are simplified, and the brake-by-wire system has positive significance for the design of the whole automobile.
The brake-by-wire system with high dynamic brake pressure regulation characteristic has the advantages of good dynamic performance of brake pressure regulation, simple structure and the like, and brings huge economic benefit after being put into industrial application.
Drawings
Fig. 1 is a schematic composition diagram of a brake-by-wire system with high dynamic brake pressure regulation characteristics according to the present invention.
Fig. 2 is a schematic diagram of a brake-by-wire system with high dynamic brake pressure regulation characteristic according to the present invention when used in combination with a conventional manual hydraulic brake system.
Fig. 3 shows a direct-drive three-way proportional valve (moving coil type) of a brake-by-wire system with high dynamic brake pressure regulation characteristic according to the present invention, wherein the arrow direction is the permanent magnet magnetizing direction.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in the figure, the brake-by-wire system with high dynamic brake pressure regulation characteristic comprises a direct-drive motor pump (1), an overflow valve (2), a high-pressure accumulator (3), an oil can (4), a pressure sensor (5), a displacement sensor (8), a direct-drive three-way proportional valve (6), a brake pedal (7), a brake feeling simulator (9), a brake controller (10) and a brake wheel cylinder (11), and is characterized by comprising: the liquid inlet of the direct-drive motor pump (1) is connected with the oil pot (4) and is a low-pressure oil way, and the liquid outlet of the direct-drive motor pump is connected with the high-pressure energy accumulator (3) and is a high-pressure oil way; an oil inlet and an oil outlet of the overflow valve (2) are respectively connected with a high-pressure oil way and a low-pressure oil way; a hydraulic cylinder and a brake wheel cylinder (11) of the brake feel simulator (9) are respectively connected with a high-pressure oil path and a low-pressure oil path through a direct-drive three-way proportional valve (6); each direct-drive three-way proportional valve (6) is directly driven by only one linear motor based on a Halbach permanent magnet array; the brake controller (10) controls the direct-drive motor pump (1) and the direct-drive three-way proportional valve (6) according to the automobile working condition and the driver intention signal and the high-pressure oil circuit pressure signal which are respectively collected by the displacement sensor (8) and the pressure sensor (5), so that the pressure of a hydraulic cylinder and a brake wheel cylinder (11) of the brake feeling simulator (9) is controlled; a direct-drive three-way proportional valve (6) regulates the pressure of at least one brake wheel cylinder (11) or the hydraulic cylinder pressure of a brake feel simulator (9).
The direct-drive motor pump (1) is not provided with a rotary-linear motion conversion device, and a motor rotor directly drives a hydraulic pump moving part; when the pressure of the high-pressure oil way is smaller than a set value, the direct-drive motor pump (1) works. The pressure sensor (5) is used for testing the pressure of the high-pressure oil way, and the displacement sensor (8) is used for detecting the opening degree of the brake pedal (7).
The hydraulic cylinder of the brake feeling simulator (9) is a single-action hydraulic cylinder, and the direct-drive three-way proportional valve (6) is a normally closed valve.
Each direct-drive three-way proportional valve (6) is directly driven by only one linear motor based on a Halbach permanent magnet array, a rotor of the linear motor is of a moving coil type or a moving magnet type, and the output force of the linear motor and the drive current of the linear motor are in approximate direct proportional relation.
The direct-drive three-way proportional valve (6) for regulating the pressure of the hydraulic cylinder of the brake feel simulator (9) and the brake wheel cylinder (11) has different parameter specifications.
The direct-drive three-way proportional valve (6) has three working states: t, P, A ports are all non-conductive, T, A ports are conductive, and P, A ports are conductive.
In this embodiment, the integrated hydraulic pump directly driven by the slotless moving coil type linear oscillation motor of the present invention is described in detail by taking as an example that each direct-drive three-way proportional valve 6 is directly driven by only one moving coil type linear motor based on a Halbach permanent magnet array. As shown in fig. 3, the moving-coil linear motor includes a displacement sensor 61, a connecting plate 62, a positioning plate 63, an outer yoke 64, a permanent magnet array 65, a bobbin 66, an inner yoke 67, a coil 68, a valve body 69, a connecting plate 610, a transmission rod 611, a valve core 612, and a centering spring 613. The valve core 611 of the direct-drive three-way proportional valve 6 is directly driven by only one linear motor rotor (a connecting plate 62, a coil framework 66, a coil 68 and a transmission rod 611) based on a Halbach permanent magnet array 65, a P port is set for each direct-drive three-way proportional valve 6 to serve as an oil supply port and be connected with a high-pressure oil way, a T port is an oil return port and is connected with a low-pressure oil way, and an A port is an output port and is connected with a hydraulic cylinder to be controlled.
As shown in fig. 1, in the normal brake boosting stage, after the driver depresses the brake pedal 7, the displacement sensor 8 and the pressure sensor 5 respectively detect the opening degree of the brake pedal 7 and the pressure of the high-pressure oil line, and transmit the signals to the brake controller, and the brake controller 10 analyzes and calculates the execution command required to be output. The direct-drive three-way proportional valve 6.1 receives an electric signal output by the brake controller to generate positive displacement, accurately controls the oil pressure and flow of the high-pressure oil way continuously and proportionally, and at the moment, high-pressure oil flows into the output port A through the oil supply port P and flows into a hydraulic cylinder of the brake feel simulator 9 to generate the feel of a pedal of a driver. The second direct-drive three-way proportional valve 6.2, the third direct-drive three-way proportional valve 6.3, the fourth direct-drive three-way proportional valve 6.4 and the fifth direct-drive three-way proportional valve 6.5 which are configured on each wheel cylinder 11 are electrified and opened according to an electric signal of the brake controller 10, the high-pressure energy accumulator 3 works, brake fluid of the high-pressure energy accumulator 3 flows to the output port A through an oil supply port P of the direct-drive three-way proportional valve 6 and flows into each wheel cylinder 11, and gaps between a brake disc and friction plates are eliminated. When the pressure of the high-pressure oil way is smaller than a preset value, the direct-drive motor pump 1 works to pump the oil in the oil pot 4 in the low-pressure oil way into the high-pressure oil way to replenish the high-pressure energy accumulator 3. When the expected braking effect is achieved, the brake controller 10 analyzes and calculates an execution command required to be output to generate an electrical signal, the second direct-drive three-way proportional valve 6.2, the third direct-drive three-way proportional valve 6.3, the fourth direct-drive three-way proportional valve 6.4 and the fifth direct-drive three-way proportional valve 6.5 which are arranged on each wheel cylinder 11 act according to the electrical signal of the brake controller and generate reverse displacement to a valve core, the force balance is kept through the centering spring 613, and at the moment, the oil pressure in each wheel cylinder 11 is kept unchanged. When braking is finished, the brake controller 10 analyzes and calculates an execution command required to be output to generate an electrical signal, the second direct-drive three-way proportional valve 6.2, the third direct-drive three-way proportional valve 6.3, the fourth direct-drive three-way proportional valve 6.4 and the fifth direct-drive three-way proportional valve 6.5 which are arranged on each wheel cylinder 11 act according to the electrical signal of the brake controller 10 and generate reverse displacement to a reverse stroke end point, and brake fluid of the wheel cylinders 11 reversely flows into the oil return port T through the output port A of the direct-drive three-way proportional valve 6 and flows into the oil can 4 to realize pressure reduction of the wheel cylinders 11.
As shown in fig. 2, when the brake-by-wire system with high dynamic brake pressure regulation characteristic according to the present invention is used in combination with a conventional manual hydraulic brake system, it is necessary to install a switching valve 12 between the outlet of a brake cylinder 11 and the outlet of a brake master cylinder. When the conventional manual hydraulic brake system is a backup brake system, the switch valve 12 is a normally closed valve, when the manual hydraulic brake system needs to work, the switch valve 12 is opened, the direct-drive three-way proportional valve 6 for adjusting the pressure of the brake wheel cylinder 11 works in a normally closed position, and the direct-drive three-way proportional valve 6 for adjusting the pressure of the hydraulic cylinder of the brake feel simulator 9 works in a T, A opening all-conducting position.
Because all the main cylinders are completely decoupled, the brake-by-wire system with the high dynamic brake pressure regulation characteristic can freely regulate the pressure of all the main cylinders, and is convenient for realizing ABS braking, TCS working condition control, ESC working condition control, ACC working condition control and AEB working condition braking in automobile motion control.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A brake-by-wire system having a high dynamic brake pressure regulation characteristic, comprising: direct-drive motor pump (1), overflow valve (2), high pressure accumulator (3), oilcan (4), pressure sensor (5), displacement sensor (8), direct-drive tee bend proportional valve (6), brake pedal (7), braking sensation simulator (9), brake controller (10), brake wheel cylinder (11), its characterized in that includes: the liquid inlet of the direct-drive motor pump (1) is connected with the oil pot (4) and is a low-pressure oil way, and the liquid outlet of the direct-drive motor pump is connected with the high-pressure energy accumulator (3) and is a high-pressure oil way; an oil inlet and an oil outlet of the overflow valve (2) are respectively connected with a high-pressure oil way and a low-pressure oil way; a hydraulic cylinder and a brake wheel cylinder (11) of the brake feel simulator (9) are respectively connected with a high-pressure oil path and a low-pressure oil path through a direct-drive three-way proportional valve (6); each direct-drive three-way proportional valve (6) is directly driven by only one linear motor based on a Halbach permanent magnet array; the brake controller (10) controls the direct-drive motor pump (1) and the direct-drive three-way proportional valve (6) according to the automobile working condition and the driver intention signal and the high-pressure oil circuit pressure signal which are respectively collected by the displacement sensor (8) and the pressure sensor (5), so that the pressure of a hydraulic cylinder and a brake wheel cylinder (11) of the brake feeling simulator (9) is controlled; a direct-drive three-way proportional valve (6) regulates the pressure of at least one brake wheel cylinder (11) or the hydraulic cylinder pressure of a brake feel simulator (9).
2. A brake-by-wire system with high dynamic brake pressure regulation characteristics according to claim 1, characterized in that the direct drive motor pump (1) has no "rotary-to-linear" motion conversion device, and the motor mover directly drives the hydraulic pump moving part; when the pressure of the high-pressure oil way is smaller than a set value, the direct-drive motor pump (1) works, the pressure sensor (5) tests the pressure of the high-pressure oil way, and the displacement sensor (8) detects the opening degree of the brake pedal (7).
3. A brake-by-wire system with high dynamic brake pressure regulation characteristics according to claim 1, characterized in that the brake feel simulator (9) hydraulic cylinder is a single-acting hydraulic cylinder and the direct-drive three-way proportional valve (6) is a normally closed valve.
4. The brake-by-wire system with high dynamic brake pressure regulation characteristic according to claim 1, characterized in that the driving linear motor mover of the direct-drive three-way proportional valve (6) is of moving coil type or moving magnet type, and the linear motor output force is approximately in direct proportion to the linear motor driving current.
5. The brake-by-wire system with high dynamic brake pressure regulation characteristic according to claim 1, characterized in that the specifications of the direct-drive three-way proportional valve (6) for pressure regulation of the brake feel simulator (9) hydraulic cylinder and the brake wheel cylinder (11) are different.
6. A brake-by-wire system with high dynamic brake pressure regulation characteristics according to claim 1, characterized in that said direct-drive three-way proportional valve (6) has three operating states: t, P, A ports are all non-conductive, T, A ports are conductive, and P, A ports are conductive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110139823.2A CN112644444A (en) | 2021-02-02 | 2021-02-02 | Brake-by-wire system with high dynamic brake pressure regulation characteristic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110139823.2A CN112644444A (en) | 2021-02-02 | 2021-02-02 | Brake-by-wire system with high dynamic brake pressure regulation characteristic |
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| CN112644444A true CN112644444A (en) | 2021-04-13 |
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| CN202110139823.2A Pending CN112644444A (en) | 2021-02-02 | 2021-02-02 | Brake-by-wire system with high dynamic brake pressure regulation characteristic |
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