CN112849105B - Vehicle braking system, control method and vehicle - Google Patents
Vehicle braking system, control method and vehicle Download PDFInfo
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- CN112849105B CN112849105B CN201911181954.6A CN201911181954A CN112849105B CN 112849105 B CN112849105 B CN 112849105B CN 201911181954 A CN201911181954 A CN 201911181954A CN 112849105 B CN112849105 B CN 112849105B
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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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
- B60T8/4081—Systems with stroke simulating devices for driver input
- B60T8/409—Systems with stroke simulating devices for driver input characterised by details of the stroke simulating device
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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
- B60T13/14—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 using accumulators or reservoirs fed by pumps
- B60T13/142—Systems with master cylinder
- B60T13/147—In combination with distributor valve
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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
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a vehicle braking system, a control method and a vehicle, wherein the vehicle braking system can be used in different vehicle modes (driving mode and non-driving mode) by adding an electromagnetic valve and a foot feeling simulator, so that functions of the vehicle braking system are enriched, interaction between a user and the vehicle braking system in the non-driving mode can be realized without adding too many devices, and the integral integration of the vehicle is ensured. The electromagnetic valve is in an off state in a driving mode and is in an on state in a non-driving mode, so that the electromagnetic valve does not need to be in a working state all the time, the service life of the electromagnetic valve is prolonged, and the reliability of a vehicle braking system and the whole vehicle is further ensured.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle braking system, a control method and a vehicle.
Background
With the popularization of automobiles and the development of related scientific technologies, people are increasingly dependent on automobiles in daily life. The braking system is an important guarantee for safe driving of the automobile, and the intelligent driving technology is continuously developed, so that more possibilities are provided for the interaction modes of the driver and the passenger with the automobile, and more development space is also available for the vehicle-mounted entertainment technology. However, the introduction of multiple interaction modes increases the frequency of use of a portion of the devices or mechanisms in the vehicle braking system, which results in a reduced service life of the portion of the devices or mechanisms in the vehicle braking system, reducing the overall reliability of the vehicle.
Disclosure of Invention
The embodiment of the invention provides a vehicle braking system, a control method and a vehicle, which are used for solving the problems that the service life of part of equipment or a mechanism is reduced and the overall reliability of the vehicle is reduced due to the introduction of a plurality of interaction modes in the vehicle braking system at present.
In a first aspect, an embodiment of the present invention provides a vehicle brake system, including:
a brake pedal connected with the brake master cylinder through a vacuum booster;
the brake master cylinder is respectively connected with the input end of the electromagnetic valve and the hydraulic control unit through a brake oil pipe;
the hydraulic control unit is connected with the brake;
the output end of the electromagnetic valve is connected with the foot feeling simulator, and the control end of the electromagnetic valve is connected with the control unit;
a foot feel simulator;
and the control unit is used for sending a mode control instruction to the electromagnetic valve so as to control the on or off of the electromagnetic valve.
In a second aspect of the embodiment of the present invention, a control method for a vehicle brake system is provided, including:
receiving a mode switching signal, controlling the electromagnetic valve to be switched on or off according to the mode switching signal, wherein the input end of the electromagnetic valve is connected with a brake master cylinder, and the output end of the electromagnetic valve is connected with a foot feeling simulator;
And if the mode switching signal is a first switching signal, the electromagnetic valve is controlled to be conducted, and if the mode switching signal is a second switching signal, the electromagnetic valve is controlled to be closed, the first switching signal indicates that the vehicle enters a non-driving mode, and the second switching signal indicates that the vehicle enters a driving mode.
According to the vehicle braking system and the control method, the electromagnetic valve and the foot feeling simulator are added, so that the vehicle braking system can be used in different vehicle modes (driving mode and non-driving mode), functions of the vehicle braking system are enriched, interaction between a user and the vehicle braking system in the non-driving mode can be achieved without adding too many devices, and integral integration of the vehicle is guaranteed. The electromagnetic valve is in an off state in a driving mode and is in an on state in a non-driving mode, so that the electromagnetic valve does not need to be in a working state all the time, the service life of the electromagnetic valve is prolonged, and the reliability of a vehicle braking system and the whole vehicle is further ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a vehicle braking system in accordance with an embodiment of the present invention;
FIG. 2 is another schematic illustration of a vehicle braking system in accordance with an embodiment of the invention;
FIG. 3 is another schematic illustration of a vehicle braking system in accordance with an embodiment of the invention;
FIG. 4 is a schematic diagram of a foot-feel simulator according to an embodiment of the invention;
FIG. 5 is another schematic illustration of a vehicle braking system in accordance with an embodiment of the invention;
FIG. 6 is an interactive flow chart of a method of controlling a vehicle braking system in accordance with an embodiment of the present invention;
FIG. 7 is a schematic diagram of a computer device in accordance with an embodiment of the invention.
Reference numerals in the specification are as follows:
10. a brake pedal; 11. a vacuum booster; 12. an electronic vacuum pump; 13. a pedal sensor;
20. a brake master cylinder; 21. a first chamber; 22. a second chamber;
30. an electromagnetic valve;
40. a hydraulic control unit;
50. a brake;
60. a foot feel simulator; 61. a simulator cylinder; 62. an oil inlet; 63. a simulator piston; 64. a simulator spring;
70. and a control unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In one embodiment, as shown in fig. 1, an embodiment of the present invention proposes a vehicle brake system in which a brake pedal 10 is connected to a master cylinder 20 through a vacuum booster 11. The master cylinder 20 is connected to the input end of the solenoid valve 30 and the hydraulic control unit 40 through brake oil pipes, respectively.
The hydraulic control unit 40 is connected to the brake 50, alternatively the hydraulic control unit may comprise an Anti-lock braking system (Anti-lock Braking System, ABS) or a body electronic stability system (ElectronicStability Program, ESP). The output of the solenoid valve 30 is connected to the foot-feel simulator 60 and the control of the solenoid valve is connected to the control unit 70, which may alternatively be an electronic control unit (ElectronicControl Unit, ECU). Alternatively, the solenoid valve 30 is a two-position two-way solenoid valve. The control unit 70 is configured to send a mode control command to the solenoid valve 30 to control on or off of the solenoid valve 30.
When the driver depresses the brake pedal 10 while the solenoid valve 30 is in the off state, pressure is built up in the brake master cylinder 20 by the assist force of the vacuum booster 11. The oil pressure established in the master cylinder 20 is transmitted to the brake 50 via the hydraulic control unit 40 through the brake oil pipe, thereby realizing braking of the vehicle while the vehicle is driving. The oil pressure built up in the master cylinder 20 cannot be transmitted into the foot feeling simulator 60 when the solenoid valve 30 is in the off state, in which the foot feeling simulator does not affect the driver's feeling of pedal at the time of normal driving.
When the driver depresses the brake pedal 10 while the solenoid valve 30 is in the on state, the brake fluid in the master cylinder 20 enters the foot feeling simulator 60 through the brake oil pipe and the solenoid valve 30, thereby realizing the simulation of the pedal feeling. In this state, since this passage of the master cylinder 20, the brake oil pipe, the solenoid valve 30, and the foot feeling simulator is conducted, a high pressure cannot be established in the master cylinder, and the influence on the pedal feel simulation is small.
The on and off of the solenoid valve 30 is controlled by a mode control command sent from the control unit 70. The mode control command is used to instruct switching of a specific mode of the vehicle. Specifically, the vehicle may include a driving mode and a non-driving mode. Wherein the non-driving mode is an interactive mode in which the vehicle braking system in the vehicle implements a different from the driving mode. For example, the non-driving mode may implement functions related to the in-vehicle entertainment mode (game, audio/video) for the vehicle braking system. I.e. the user performs entertainment functions or other functions through interaction with the vehicle braking system. The non-driving mode refers to a control mode that is opposite to a driving mode of the vehicle, i.e., a mode in which the vehicle brake system is set not to perform functions related to actual vehicle driving, but to perform other functions. These other functions may be a car game function, a car audio-visual function, a simulated driving function, or the like. Further, the non-driving mode may include an in-vehicle game mode, an in-vehicle audio-visual mode, or a simulated driving mode, etc.
The mode control command may be triggered after a preset operational action is performed for the user, for example, by interaction with a device/mechanism in the vehicle. For example, after a user clicks, presses, or slides a specific key in the vehicle, the vehicle triggers generation of the mode control command, and then sends the mode control command to the control unit. Or after the user operates the central PAD in the vehicle to indicate to enter the vehicle driving mode or enter the vehicle non-driving mode, the vehicle triggers to generate the mode control instruction and sends the mode control instruction to the control unit.
Further, after the preset operation behavior is implemented for the user, the vehicle further determines that the corresponding mode is allowed to be switched, and then triggers to generate the mode control instruction.
In the embodiment, the electromagnetic valve and the foot feeling simulator are added in the vehicle braking system, so that the vehicle braking system can be used in different vehicle modes (driving mode and non-driving mode), functions of the vehicle braking system are enriched, interaction between a user and the vehicle braking system in the non-driving mode can be realized without adding too many devices, and integral integration of the vehicle is ensured. The electromagnetic valve is in an off state in a driving mode and is in an on state in a non-driving mode, so that the electromagnetic valve does not need to be in a working state all the time, the service life of the electromagnetic valve is prolonged, and the reliability of a vehicle braking system and the whole vehicle is further ensured.
In one embodiment, the control unit is further configured to receive a mode switching signal, and if the mode switching signal is a first switching signal, detect a working condition signal of the vehicle, where the first switching signal indicates that the vehicle enters a non-driving mode, and the working condition signal includes at least one of a wheel speed sensor signal, a parking signal, a battery power signal, and an ignition switch signal. And if the working condition signal meets the preset switching condition, the control unit is further used for sending a mode control instruction to the electromagnetic valve so as to control the conduction of the electromagnetic valve.
The mode switching signal may be generated by triggering after a preset operation action is implemented for the user. The mode switch signal is illustratively triggered by a user through interaction with a device/mechanism in the vehicle. For example, the mode switch signal may be generated for the vehicle trigger after a user has clicked, pressed, slid, etc. a particular key in the vehicle. Optionally, the mode switch signal comprises a first switch signal indicating that the vehicle enters the non-driving mode.
The operating condition signal refers to a signal related to the operating condition of the vehicle, and the operating condition signal comprises at least one of a wheel speed sensor signal, a parking signal, a storage battery electric quantity signal and an ignition switch signal. The wheel speed sensor signal is used for indicating the wheel speed of the vehicle, and when the wheel speed sensor signal indicates that the wheel speed of the vehicle is not zero, the wheel speed sensor signal indicates that the vehicle is still in the driving process, and if the vehicle is allowed to enter a non-driving mode at the moment, risks can be brought. Therefore, whether the current working condition of the vehicle can enter the non-driving mode can be judged through detection of the wheel speed sensor signal. Further, if the parking signal in the vehicle is not activated, the vehicle may not have a condition to enter the non-driving mode. The battery power signal is used for indicating the power of the battery in the vehicle, and in a non-driving mode of the vehicle, the battery power in the vehicle is ensured to be sufficient, so that the situation that the battery power is insufficient and insufficient to support the realization of the driving mode of the vehicle when the vehicle is switched from the non-driving mode to the driving mode is avoided. A charge threshold, typically 20%, may be preset and the vehicle is not allowed to enter a non-driving mode when a battery charge signal is detected indicating that the battery charge in the vehicle is less than the charge threshold. Further, after the vehicle has entered the non-driving mode, if it is detected that the battery charge in the vehicle is less than the charge threshold, the vehicle is prompted to exit the non-driving mode. The ignition switch signal is used to indicate the shift information of the ignition switch, and may be set to allow the vehicle to enter a non-driving mode when the ignition switch is in a specific shift, which may be a power switch shift.
It will be appreciated that the above-listed operating condition signals (wheel speed sensor signal, park signal, battery charge signal, and ignition switch signal) may be individually activated or activated in combination depending on the actual application scenario and safety factor considerations.
After receiving the mode switching signal, if the mode switching signal is a first switching signal, a control unit in the vehicle is used for detecting a working condition signal of the vehicle, and if the working condition signal meets a preset switching condition, the control unit is also used for sending a mode control instruction to the electromagnetic valve so as to control the conduction of the electromagnetic valve.
The preset switching condition may be set according to a specific adopted working condition signal, for example, the preset switching condition may be at least one of a wheel speed sensor signal indicating that a wheel speed of the vehicle is zero, a parking signal is activated, a battery power signal indicating that a battery power is greater than a preset power threshold, or an ignition switch signal indicating that an ignition switch is in a specific gear.
If the working condition signal accords with the preset switching condition, the current working condition of the vehicle is indicated to enter a non-driving mode, and at the moment, the control unit sends a mode control instruction to the electromagnetic valve to control the conduction of the electromagnetic valve, so that the vehicle braking system enters the non-driving mode.
In one embodiment, the operating condition signals include a wheel speed sensor signal, a park signal, a battery charge signal, and an ignition switch signal. That is, after the mode switching signal is received as the first switching signal, the wheel speed sensor signal, the parking signal, the battery power signal and the ignition switch signal in the vehicle are detected, and after the four signals (the wheel speed sensor signal, the parking signal, the battery power signal and the ignition switch signal) respectively meet respective preset switching conditions, the control unit resends a mode control command to the electromagnetic valve so as to control the conduction of the electromagnetic valve. Thus, the safety of the vehicle and the user is better ensured.
In a specific embodiment, when the vehicle braking system is in the non-driving mode, the control unit is further configured to detect a working condition signal of the vehicle, and if the working condition signal does not meet a preset switching condition, send a mode control command to the electromagnetic valve to control closing of the electromagnetic valve. When the vehicle braking system is in the non-driving mode, if the working condition signal of the vehicle is detected to be changed, so that the current vehicle condition is not suitable for the non-driving mode, the control unit can send a mode control instruction to the electromagnetic valve to control the electromagnetic valve to be closed, and the vehicle braking system is caused to exit the non-driving mode, so that the safety of a user and the vehicle is ensured.
In this embodiment, the control unit is further configured to receive a mode switching signal, detect a working condition of the vehicle on the premise that the mode switching signal is a first switching signal, and send a mode control instruction to the electromagnetic valve on the premise that the working condition of the vehicle is ensured to be suitable (accords with a preset switching condition), so as to control the electromagnetic valve to be turned on, and control the vehicle braking system to enter a non-driving mode, so that the safety of a user and the vehicle is ensured while the vehicle braking system is switched in different modes.
In one embodiment, as shown in FIG. 2, the vehicle braking system further includes an electronic vacuum pump 12 that is connected to the vacuum booster 11 and the control unit 70, respectively.
The control unit 70 is further configured to send a switch switching signal to the electronic vacuum pump to control on or off of the electronic vacuum pump 12, where the electronic vacuum pump 12 is controlled to be turned off when the switch switching signal is a first switch signal, and the electronic vacuum pump 12 is controlled to be turned on when the switch switching signal is a second switch signal, where the first switch signal indicates that the vehicle enters a non-driving mode, and the second switch signal indicates that the vehicle enters a driving mode.
In a specific embodiment, after the control unit receives the mode switching signal, and the mode switching signal is the first switching signal, the control unit further detects a working condition signal of the vehicle, and if the working condition signal meets a preset switching condition, the control unit is further configured to send a first switching signal to the electronic vacuum pump, and control the electronic vacuum pump 12 to be turned off. It will be appreciated that if the vehicle exits from the non-driving mode (e.g., receives the second switching signal), and returns to the driving mode, the control unit sends the second switching signal to the electronic vacuum pump 12 to control the electronic vacuum pump 12 to be turned on. That is, the control unit sends the first switching signal to the electronic vacuum pump after receiving the first switching signal (on the premise that the working condition signal meets a preset switching condition), and the control unit sends the second switching signal to the electronic vacuum pump after receiving the second switching signal.
In this embodiment, when the vehicle is in the driving mode, the electronic vacuum pump 12 is turned on to better perform the braking function of the vehicle in the driving mode in cooperation with the vacuum booster 11. When the vehicle is in the non-driving mode, no actual braking function of the vehicle is required, and therefore, the control unit may send a switch switching signal to the electronic vacuum pump 12 to control the electronic vacuum pump 12 to be turned off. Therefore, the electronic vacuum pump is not required to be in a working state in a non-driving mode, the service life of the electronic vacuum pump is further guaranteed, and the cruising duration of a vehicle is also guaranteed.
In one embodiment, as shown in fig. 2, the vehicle brake system further includes a pedal sensor 13 for detecting a magnitude of change of the brake pedal 10 and generating a pedal sensor signal.
The control unit 70 is further configured to detect the pedal sensor signal, and generate a control command according to the pedal sensor signal, so as to instruct a corresponding control action in the non-driving mode.
Specifically, the pedal sensor 13 may be an angle sensor, a displacement sensor, a force sensor, or the like. The pedal sensor 13 is used to detect the magnitude of the brake pedal variation to convert the user's action on the brake pedal into a pedal sensor signal. The control unit generates a control instruction according to the received pedal sensor signal and the preset corresponding relation to indicate the corresponding control action in the non-driving mode. The control action may be implemented for other functions in the non-driving mode, such as control of other devices, virtual braking in a game, or other predefined functions, such as in a racing game, the control action being controlling braking of a vehicle in the game. In order to meet the pedal feel requirements of different drivers, the adaptation to different users can be realized by adjusting the corresponding relation between the variation amplitude of the brake pedal and the deceleration of the vehicle in the game through the control unit in advance or in real time. Further, the corresponding control action further comprises control of a vehicle brake lamp in the game, and a control instruction is generated according to the pedal sensor signal to instruct the on or off of the vehicle brake lamp in the game. Specifically, when the driver depresses the brake pedal 10, the control unit generates a control instruction that instructs the turning on of the vehicle brake lamp in the game. When the driver releases the brake pedal 10, the control unit generates a control instruction indicating the turning off of the vehicle brake light in the game.
In the present embodiment, the magnitude of the variation of the brake pedal 10 is detected by providing the pedal sensor 13, and the magnitude of the variation is converted into a pedal sensor signal. The control unit is used for detecting the pedal sensor signal and generating a control instruction according to the pedal sensor signal so as to indicate corresponding control actions in a non-driving mode. Therefore, other functions of the brake pedal can be realized in the non-driving mode, and the function of the vehicle brake system in the non-driving mode is ensured to be realized in a diversified manner.
In one embodiment, the master cylinder includes a first chamber 21 and a second chamber 22, the first chamber 21 is connected to the hydraulic control unit 40 through a brake oil pipe, and the second chamber 22 is connected to an input end of the solenoid valve 30 and the hydraulic control unit 40 through a brake oil pipe, respectively. The smooth realization of the braking function in the vehicle braking system can be better ensured under the vehicle driving mode.
In one embodiment, as shown in fig. 4, the foot-feel simulator includes:
the simulator cylinder 61 is provided with an oil inlet 62.
A simulator piston 63 is disposed within the simulator cylinder and connected to one end of the simulator spring.
And a simulator spring 64 arranged in the simulator cylinder body, wherein the other end of the simulator spring is connected with the bottom of the simulator cylinder body.
When the brake pedal 10 is depressed by a driver while the vehicle brake system is in the non-driving mode, brake fluid passes through the vacuum booster 11, the master cylinder 20, the solenoid valve 30 to the foot feeling simulator 60, then acts on the simulator piston 63 through the oil inlet, and the foot feeling of the brake pedal in the real driving mode is simulated by the elastic deformation of the simulator spring 64.
In one embodiment, as shown in fig. 5, the control unit 70 receives a mode switching signal to correspondingly switch the modes (driving mode and non-driving mode) of the vehicle brake system. Specifically, if the received mode switching signal is the first switching signal, the control unit detects a working condition signal of the vehicle. The wheel speed sensor signal, the parking signal, the battery power signal and the ignition switch signal in the vehicle are read, and after the four signals (the wheel speed sensor signal, the parking signal, the battery power signal and the ignition switch signal) respectively meet respective preset switching conditions, a first switching signal is sent to the electromagnetic valve 30, the electromagnetic valve is controlled to be conducted, and a first switching signal is sent to the electronic vacuum pump 12 to control the electronic vacuum pump 12 to be turned off. Thus, the vehicle braking system enters a non-driving mode.
In the non-driving mode, when the driver depresses the brake pedal 10, the brake fluid in the master cylinder 20 enters the feel simulator 60 through the brake pipe and the solenoid valve 30, thereby realizing the simulation of the pedal feel. In this state, since this passage of the master cylinder 20, the brake oil pipe, the solenoid valve 30, and the foot feeling simulator is conducted, a high pressure cannot be established in the master cylinder, and the influence on the pedal feel simulation is small. In addition, in the non-driving mode, the electronic vacuum pump is in a closed state, so that the electronic vacuum pump is prevented from being frequently started to realize vacuum assistance in the non-driving mode, the service life of the electronic vacuum pump is influenced, meanwhile, the noise of the operation of the pump is reduced, and the game playing comfort and experience are better.
If the mode switching signal received by the control unit is the second switching signal, the control unit sends the second switching signal to the electromagnetic valve 30, controls the electromagnetic valve to be turned off, and sends the second switching signal to the electronic vacuum pump 12, and controls the electronic vacuum pump 12 to be turned on. Thus, the vehicle braking system enters a driving mode.
In the driving mode, when the driver depresses the brake pedal 10, pressure is built up in the brake master cylinder 20 by the assist force of the vacuum booster 11. The oil pressure established in the master cylinder 20 is transmitted to the brake 50 via the hydraulic control unit 40 through the brake oil pipe, thereby realizing braking of the vehicle while the vehicle is driving. The oil pressure built up in the master cylinder 20 cannot be transmitted into the foot feeling simulator 60 when the solenoid valve 30 is in the off state, in which the foot feeling simulator does not affect the driver's feeling of pedal at the time of normal driving. In addition, in the driving mode, the electromagnetic valve is in a closed state, so that the working time of the electromagnetic valve in a vehicle braking system is reduced, the service life of the electromagnetic valve is prolonged, and the reliability of the vehicle braking system and the whole vehicle is further ensured.
An embodiment of the present invention further provides a control method of a vehicle brake system, which may be applied to a control unit in a vehicle brake system, and preferably, the control method is applied to the control unit of the vehicle brake system according to any one of the above embodiments, and the control method includes:
and receiving a mode switching signal, controlling the electromagnetic valve to be switched on or off according to the mode switching signal, wherein the input end of the electromagnetic valve is connected with the brake master cylinder, and the output end of the electromagnetic valve is connected with the foot feeling simulator.
And if the mode switching signal is a first switching signal, the electromagnetic valve is controlled to be conducted, and if the mode switching signal is a second switching signal, the electromagnetic valve is controlled to be closed, the first switching signal indicates that the vehicle enters a non-driving mode, and the second switching signal indicates that the vehicle enters a driving mode.
The mode switching signal may be generated by triggering after a preset operation action is implemented for the user. The mode switch signal is illustratively triggered by a user through interaction with a device/mechanism in the vehicle. For example, the mode switch signal may be generated for the vehicle trigger after a user has clicked, pressed, slid, etc. a particular key in the vehicle. Optionally, the mode switch signal comprises a first switch signal indicating that the vehicle enters the non-driving mode.
In the embodiment, the electromagnetic valve and the foot feeling simulator are added in the vehicle braking system, and the control unit is used for controlling the vehicle braking system to be used in different vehicle modes, so that functions of the vehicle braking system are enriched, the functions can be realized without too many devices, and the integral integration of the vehicle is ensured. And the electromagnetic valve is not required to be in a conducting state all the time, so that the service life of the electromagnetic valve is prolonged, and the reliability of a vehicle braking system is further improved.
In one embodiment, as shown in fig. 6, the controlling the electromagnetic valve to be turned on or off according to the mode switching signal includes:
s601: after receiving the mode switching signal as a first signal, detecting a working condition signal of the vehicle, wherein the working condition signal comprises at least one of a wheel speed sensor signal, a parking signal, a storage battery electric quantity signal and an ignition switch signal.
S602: and if the working condition signal meets the preset switching condition, sending a mode control instruction to the electromagnetic valve so as to control the conduction of the electromagnetic valve.
The operating condition signal refers to a signal related to the operating condition of the vehicle, and the operating condition signal comprises at least one of a wheel speed sensor signal, a parking signal, a storage battery electric quantity signal and an ignition switch signal. The wheel speed sensor signal is used for indicating the wheel speed of the vehicle, and when the wheel speed sensor signal indicates that the wheel speed of the vehicle is not zero, the wheel speed sensor signal indicates that the vehicle is still in the driving process, and if the vehicle is allowed to enter a non-driving mode at the moment, risks can be brought. Therefore, whether the current working condition of the vehicle can enter the non-driving mode can be judged through detection of the wheel speed sensor signal. Further, if the parking signal in the vehicle is not activated, the vehicle may not have a condition to enter the non-driving mode. The battery power signal is used for indicating the power of the battery in the vehicle, and in a non-driving mode of the vehicle, the battery power in the vehicle is ensured to be sufficient, so that the smooth operation of the vehicle can be ensured. A charge threshold, typically 20%, may be preset and the vehicle is not allowed to enter a non-driving mode when a battery charge signal is detected indicating that the battery charge in the vehicle is less than the charge threshold. Further, after the vehicle has entered the non-driving mode, if it is detected that the battery charge in the vehicle is less than the charge threshold, the vehicle is prompted to exit the non-driving mode. The ignition switch signal is used to indicate the shift information of the ignition switch, and may be set to allow the vehicle to enter a non-driving mode when the ignition switch is in a specific shift, which may be a power switch shift.
It will be appreciated that the above-listed operating condition signals (wheel speed sensor signal, park signal, battery charge signal, and ignition switch signal) may be individually activated or activated in combination depending on the actual application scenario and safety factor considerations.
After the mode switching signal is received, if the mode switching signal is a first switching signal, a control unit in the vehicle further detects a working condition signal of the vehicle, and if the working condition signal meets a preset switching condition, the control unit sends a mode control instruction to the electromagnetic valve so as to control the conduction of the electromagnetic valve.
The preset switching condition may be set according to a specific adopted working condition signal, for example, the preset switching condition may be at least one of a wheel speed sensor signal indicating that a wheel speed of the vehicle is zero, a parking signal is activated, a battery power signal indicating that a battery power is greater than a preset power threshold, or an ignition switch signal indicating that an ignition switch is in a specific gear.
If the working condition signal accords with the preset switching condition, the current working condition of the vehicle is indicated to enter a non-driving mode, and at the moment, the control unit sends a mode control instruction to the electromagnetic valve to control the conduction of the electromagnetic valve, so that the vehicle braking system enters the non-driving mode.
In a specific embodiment, when the vehicle braking system is in the non-driving mode, the control unit continuously or regularly detects a working condition signal of the vehicle, and if the working condition signal does not meet a preset switching condition, a mode control command is sent to the electromagnetic valve so as to control the electromagnetic valve to be closed. When the vehicle braking system is in the non-driving mode, if the working condition signal of the vehicle is detected to be changed, so that the current vehicle condition is not suitable for the non-driving mode, the control unit can send a mode control instruction to the electromagnetic valve to control the electromagnetic valve to be closed, and the vehicle braking system is caused to exit the non-driving mode, so that the safety of a user and the vehicle is ensured.
In this embodiment, after receiving the mode switching signal, the control unit detects the working condition of the vehicle on the premise that the mode switching signal is the first switching signal, and on the premise of ensuring that the working condition of the vehicle is suitable (accords with the preset switching condition), sends a mode control instruction to the electromagnetic valve to control the conduction of the electromagnetic valve so as to control the vehicle braking system to enter the non-driving mode, so that the safety of a user and the vehicle is ensured while the vehicle braking system is switched in different modes.
In one embodiment, the control method further comprises:
and sending a switch switching signal to the electronic vacuum pump to control the vacuum pump to be turned on or turned off, wherein when the switch switching signal is a first switch signal, the electronic vacuum pump is controlled to be turned off, and when the switch switching signal is a second switch signal, the electronic vacuum pump is controlled to be turned on, the first switch signal indicates that the vehicle enters a non-driving mode, and the second switch signal indicates that the vehicle enters a driving mode.
In one embodiment, after the control unit receives the mode switching signal, and the mode switching signal is the first switching signal, the control unit further detects a working condition signal of the vehicle, and if the working condition signal meets a preset switching condition, the control unit sends the first switching signal to the electronic vacuum pump to control the electronic vacuum pump 12 to be turned off. It will be appreciated that if the vehicle exits from the non-driving mode and returns to the driving mode, the control unit sends a second switch signal to the electronic vacuum pump 12 to control the electronic vacuum pump 12 to be turned on.
In this embodiment, when the vehicle is in the driving mode, the electronic vacuum pump 12 is turned on to better perform the braking function of the vehicle in the driving mode in cooperation with the vacuum booster 11. When the vehicle is in the non-driving mode, no actual braking function of the vehicle is required, and therefore, the control unit may send a switch switching signal to the electronic vacuum pump 12 to control the electronic vacuum pump 12 to be turned off. Therefore, the electronic vacuum pump is not required to be in a working state in a non-driving mode, the service life of the electronic vacuum pump is further guaranteed, and the cruising duration of a vehicle is also guaranteed.
In one embodiment, if the working condition signal meets a preset switching condition, the control method further includes:
and detecting a pedal sensor signal in a pedal sensor, and generating a control instruction according to the pedal sensor signal to indicate a corresponding control action in a non-driving mode, wherein the pedal sensor is used for detecting the variation amplitude of the brake pedal and generating a pedal sensor signal.
Specifically, the pedal sensor may be an angle sensor, a displacement sensor, a force sensor, or the like. The pedal sensor is used for detecting the variation amplitude of the brake pedal so as to convert the action of a user on the brake pedal into a pedal sensor signal. The control unit generates a control instruction according to the received pedal sensor signal and the preset corresponding relation to indicate the corresponding control action in the non-driving mode. The control action may be implemented for other functions in the non-driving mode, such as control of other devices, virtual braking in a game, or other predefined functions, such as in a racing game, the control action being controlling braking of a vehicle in the game. In order to meet the pedal feel requirements of different drivers, the adaptation to different users can be realized by adjusting the corresponding relation between the variation amplitude of the brake pedal and the deceleration of the vehicle in the game through the control unit in advance or in real time. Further, the corresponding control action further comprises control of a vehicle brake lamp in the game, and a control instruction is generated according to the pedal sensor signal to instruct the on or off of the vehicle brake lamp in the game. Specifically, when the driver depresses the brake pedal 10, the control unit generates a control instruction that instructs the turning on of the vehicle brake lamp in the game. When the driver releases the brake pedal 10, the control unit generates a control instruction indicating the turning off of the vehicle brake light in the game.
In the present embodiment, the magnitude of variation of the brake pedal is detected by providing a pedal sensor, and the magnitude of variation is converted into a pedal sensor signal. The control unit detects the pedal sensor signal and generates a control instruction according to the pedal sensor signal to indicate a corresponding control action in a non-driving mode. Therefore, other functions of the brake pedal can be realized in the non-driving mode, and the function of the vehicle brake system in the non-driving mode is ensured to be realized in a diversified manner.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
In one embodiment, a control device of a vehicle brake system is provided, which corresponds to the control method of the vehicle brake system in the above embodiment one by one. The control device of the vehicle braking system includes a mode switching module:
the mode switching module is used for receiving a mode switching signal, controlling the electromagnetic valve to be switched on or switched off according to the mode switching signal, wherein the input end of the electromagnetic valve is connected with the brake master cylinder, and the output end of the electromagnetic valve is connected with the foot feeling simulator;
And if the mode switching signal is a first switching signal, the electromagnetic valve is controlled to be conducted, and if the mode switching signal is a second switching signal, the electromagnetic valve is controlled to be closed, the first switching signal indicates that the vehicle enters a non-driving mode, and the second switching signal indicates that the vehicle enters a driving mode.
Preferably, the mode switching module comprises a working condition detection unit and a control instruction sending unit.
The working condition detection unit is used for detecting working condition signals of the vehicle after receiving the mode switching signal as the first signal, wherein the working condition signals comprise at least one of a wheel speed sensor signal, a parking signal, a storage battery electric quantity signal and an ignition switch signal.
And the control instruction sending unit is used for sending a mode control instruction to the electromagnetic valve when the working condition signal accords with a preset switching condition so as to control the conduction of the electromagnetic valve.
Preferably, the control device of the vehicle braking system is further configured to send a switch switching signal to the electronic vacuum pump to control on or off of the vacuum pump, wherein when the switch switching signal is a first switch signal, the electronic vacuum pump is controlled to be turned off, and when the switch switching signal is a second switch signal, the electronic vacuum pump is controlled to be turned on, the first switch signal indicates that the vehicle enters a non-driving mode, and the second switch signal indicates that the vehicle enters a driving mode.
Preferably, if the working condition signal meets a preset switching condition, the control device of the vehicle brake system is further configured to detect a pedal sensor signal in a pedal sensor, generate a control command according to the pedal sensor signal, so as to instruct a corresponding control action in a non-driving mode, and the pedal sensor is configured to detect a variation amplitude of the brake pedal and generate a pedal sensor signal.
The specific limitations regarding the control device of the vehicle brake system may be referred to above as limitations regarding the control method of the vehicle brake system, and will not be described in detail herein. The respective modules in the control device of the vehicle brake system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a control unit, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store data used in the control method of the vehicle brake system in the above embodiment. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling a vehicle brake system.
In one embodiment, a computer device is provided that includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of controlling the vehicle braking system of the above embodiments when the computer program is executed by the processor.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the control method of the vehicle brake system in the above embodiment.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (9)
1. A vehicle braking system, comprising:
a brake pedal connected with the brake master cylinder through a vacuum booster;
the brake master cylinder is respectively connected with the input end of the electromagnetic valve and the hydraulic control unit through a brake oil pipe;
The hydraulic control unit is connected with the brake; the output end of the electromagnetic valve is connected with the foot feeling simulator, and the control end of the electromagnetic valve is connected with the control unit;
a foot feel simulator;
the control unit is used for sending a mode control instruction to the electromagnetic valve so as to control the on or off of the electromagnetic valve; the control unit is further used for receiving a mode switching signal, detecting a working condition signal of the vehicle if the mode switching signal is a first switching signal, wherein the first switching signal indicates the vehicle to enter a non-driving mode, the non-driving mode comprises a vehicle-mounted game mode, a vehicle-mounted video-audio mode or an analog driving mode, and the working condition signal comprises a wheel speed sensor signal, a parking signal, a storage battery electric quantity signal and an ignition switch signal;
if the working condition signal meets a preset switching condition, the switching condition comprises: the wheel speed sensor signal indicates that the wheel speed of the vehicle is zero, the parking signal is activated, the electric quantity signal of the storage battery indicates that the electric quantity of the storage battery is larger than a preset electric quantity threshold value, and the ignition switch signal indicates that the ignition switch is in a specific gear; the control unit is also used for sending a mode control instruction to the electromagnetic valve so as to control the conduction of the electromagnetic valve;
In the driving mode, the electromagnetic valve is in a state of being kept off, and only in the non-driving mode, the electromagnetic valve is in a state of being on, and when the brake pedal is depressed, brake fluid in the brake master cylinder enters the foot feeling simulator through the brake oil pipe and the electromagnetic valve, so that pedal feeling simulation is realized.
2. The vehicle braking system according to claim 1, characterized by further comprising:
the electronic vacuum pump is respectively connected with the vacuum booster and the control unit;
the control unit is further configured to send a switch switching signal to the electronic vacuum pump to control on or off of the electronic vacuum pump, wherein when the switch switching signal is a first switch signal, the electronic vacuum pump is controlled to be turned off, and when the switch switching signal is a second switch signal, the electronic vacuum pump is controlled to be turned on, the first switch signal indicates that the vehicle enters a non-driving mode, and the second switch signal indicates that the vehicle enters a driving mode.
3. The vehicle braking system according to any one of claims 1 to 2, characterized by further comprising:
the pedal sensor is used for detecting the variation amplitude of the brake pedal and generating a pedal sensor signal;
The control unit is also used for detecting the pedal sensor signal and generating a control instruction according to the pedal sensor signal so as to indicate corresponding control actions in a non-driving mode.
4. The vehicle brake system according to any one of claims 1 to 2, wherein the master cylinder includes a first chamber and a second chamber, the first chamber being connected to the hydraulic control unit through a brake oil pipe, the second chamber being connected to an input end of the solenoid valve and the hydraulic control unit through the brake oil pipe, respectively.
5. A vehicle braking system according to any one of claims 1 to 2 wherein the foot feel simulator comprises:
the simulator cylinder body is provided with an oil inlet;
the simulator piston is arranged in the simulator cylinder body and is connected with one end of the simulator spring;
the simulator spring is arranged in the simulator cylinder body, and the other end of the simulator spring is connected with the bottom of the simulator cylinder body.
6. A control method of a vehicle brake system, characterized by comprising:
receiving a mode switching signal, controlling the electromagnetic valve to be switched on or off according to the mode switching signal, wherein the input end of the electromagnetic valve is connected with a brake master cylinder, and the output end of the electromagnetic valve is connected with a foot feeling simulator;
If the mode switching signal is a first switching signal, the electromagnetic valve is controlled to be conducted, and if the mode switching signal is a second switching signal, the electromagnetic valve is controlled to be closed, the first switching signal indicates that the vehicle enters a non-driving mode, the non-driving mode comprises a vehicle-mounted game mode, a vehicle-mounted video mode or a simulated driving mode, and the second switching signal indicates that the vehicle enters the driving mode;
the controlling the electromagnetic valve to be turned on or off according to the mode switching signal comprises the following steps:
detecting working condition signals of a vehicle after receiving the mode switching signal as a first switching signal, wherein the working condition signals comprise a wheel speed sensor signal, a parking signal, a storage battery electric quantity signal and an ignition switch signal;
if the working condition signal meets a preset switching condition, the switching condition comprises: the wheel speed sensor signal indicates that the wheel speed of the vehicle is zero, the parking signal is activated, the electric quantity signal of the storage battery indicates that the electric quantity of the storage battery is larger than a preset electric quantity threshold value, and the ignition switch signal indicates that the ignition switch is in a specific gear; a mode control instruction is sent to the electromagnetic valve so as to control the conduction of the electromagnetic valve;
In the driving mode, the electromagnetic valve is in a state of being kept off, and only in the non-driving mode, the electromagnetic valve is in a state of being on, when a brake pedal of a vehicle brake system is depressed, brake fluid in the brake master cylinder enters the foot feeling simulator through a brake oil pipe of the vehicle brake system and the electromagnetic valve, so that pedal feeling simulation is realized.
7. The control method of a vehicle brake system according to claim 6, characterized in that the control method further comprises:
and sending a switch switching signal to the electronic vacuum pump to control the electronic vacuum pump to be turned on or turned off, wherein when the switch switching signal is a first switch signal, the electronic vacuum pump is controlled to be turned off, and when the switch switching signal is a second switch signal, the electronic vacuum pump is controlled to be turned on, the first switch signal indicates that the vehicle enters a non-driving mode, and the second switch signal indicates that the vehicle enters a driving mode.
8. The control method of a vehicle brake system according to claim 6, wherein if the operating condition signal meets a preset switching condition, the control method further comprises:
and detecting a pedal sensor signal in a pedal sensor, and generating a control instruction according to the pedal sensor signal to indicate a corresponding control action in a non-driving mode, wherein the pedal sensor is used for detecting the variation amplitude of the brake pedal and generating a pedal sensor signal.
9. A vehicle comprising a vehicle brake system according to any one of claims 1-5.
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| KR101337231B1 (en) * | 2011-11-22 | 2013-12-06 | 주식회사 만도 | Integrated Electronic Hydraulic Brake System |
| CN204605776U (en) * | 2015-03-27 | 2015-09-02 | 吉林大学 | There is the line traffic control of manpower amplification and the brake system of power-assisted complex function |
| CN105438148B (en) * | 2015-12-14 | 2018-06-29 | 郑州宇通客车股份有限公司 | A kind of electric motor coach parking braking control system and its control method |
| JP2018083528A (en) * | 2016-11-24 | 2018-05-31 | 日立オートモティブシステムズ株式会社 | Brake device and control method of brake device |
| DE102017113563A1 (en) * | 2017-06-20 | 2018-12-20 | Ipgate Ag | braking system |
| CN109774692B (en) * | 2017-11-15 | 2020-09-15 | 比亚迪股份有限公司 | Four-wheel independent braking device and automobile |
| CN108032851B (en) * | 2018-01-08 | 2024-01-02 | 吉林大学 | Brake pedal stroke simulator and control method thereof |
| CN207875612U (en) * | 2018-01-18 | 2018-09-18 | 万向钱潮股份有限公司 | A kind of line traffic control electro-hydraulic brake system |
| CN110316239B (en) * | 2018-03-30 | 2021-11-12 | 比亚迪股份有限公司 | Vehicle, entertainment system based on vehicle-mounted display terminal and control method thereof |
| CN110368679B (en) * | 2019-08-07 | 2024-03-08 | 广州小鹏汽车科技有限公司 | Vehicle-mounted game method, device, vehicle and machine-readable medium |
| CN110368682B (en) * | 2019-08-07 | 2023-10-31 | 广州小鹏汽车科技有限公司 | Interactive system and method for vehicle-mounted game |
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