CN113500982A - Active brake pedal control system and method - Google Patents
Active brake pedal control system and method Download PDFInfo
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- CN113500982A CN113500982A CN202110801687.9A CN202110801687A CN113500982A CN 113500982 A CN113500982 A CN 113500982A CN 202110801687 A CN202110801687 A CN 202110801687A CN 113500982 A CN113500982 A CN 113500982A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000006378 damage Effects 0.000 abstract description 8
- 208000027418 Wounds and injury Diseases 0.000 abstract description 5
- 208000014674 injury Diseases 0.000 abstract description 5
- 208000018982 Leg injury Diseases 0.000 abstract description 3
- 206010061225 Limb injury Diseases 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000010485 coping Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012351 Integrated analysis Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000003721 gunpowder Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011076 safety test Methods 0.000 description 1
- 238000004148 unit process Methods 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
- 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
- B60T7/06—Disposition of pedal
- B60T7/065—Disposition of pedal with means to prevent injuries in case of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an active brake pedal control system and method. The system comprises a vehicle distance detection module, a relative speed calculation unit, an execution mechanism, an alarm module and a control unit, the distance and the relative speed between a vehicle and a front obstacle are comprehensively analyzed through the control unit, the possibility of front collision is judged in advance, a driver is reminded by timely alarming when collision possibly occurs, early warning is carried out, danger is relieved, when collision is bound to occur, a brake pedal is contracted to be far away from legs of the driver, and leg injury possibly caused by the brake pedal in front collision is reduced. According to the method, the control unit is used for processing and analyzing the relative distance and speed between the vehicle and the obstacle, the possibility of collision is judged in advance, and corresponding alarming and brake pedal adjusting strategies are formulated, so that the collision is avoided as much as possible, and before the inevitable collision occurs, the brake pedal is contracted, and the injury to the driver to move back is reduced.
Description
Technical Field
The invention relates to the field of brake pedals, in particular to an active brake pedal control system and method.
Background
When a vehicle is in a frontal collision, the backward movement of a brake pedal of the vehicle can cause serious damage to the legs of a driver, and the requirements of leg damage evaluation indexes and pedal backward movement amount penalties are related in new vehicle collision safety test regulations of various countries.
To this problem, chinese utility model patent CN201820817785.5 specification discloses a collision response formula safety brake pedal, including being used for fixed pedal bracket, the articulated pedal arm that is provided with on the pedal bracket still including being used for detecting the sensor of collision signal, is connected with on the pedal arm and is used for driving its pivoted executive module, and when the sensor detected the collision signal, executive module drive pedal arm turned towards the direction of keeping away from driver's shank. The patent is a passive adjustment measure which is taken after the collision is judged to have occurred based on a collision sensor, and has no prejudgment, so that the requirement on the response time of a system is extremely high, the driving force source is gunpowder, and the passive adjustment measure is destructive and has no characteristic of repeated use.
Chinese utility model patent CN201721755262.4 specification discloses a car brake pedal of prevention collision injury, including base, install vacuum booster and the pedal support at car cowl, through buffering plug-in components and slot cooperation, elasticity keeps off the piece and cooperates with the footboard, makes the impact force that the footboard arm received reduce with the footboard, and then the shank of prevention driver receives the impact force injury. The method is a passive adjustment measure, does not have active control capability and has relatively low effectiveness.
Disclosure of Invention
The invention aims to provide an active brake pedal control system and method, which can actively give an alarm and timely control a brake pedal to move away from legs before a vehicle collides frontally, so that the possible damage degree to the legs of a driver is effectively reduced.
In order to solve the technical problem, the active brake pedal control system comprises a vehicle distance detection module, a relative speed calculation unit, an execution mechanism, an alarm module and a control unit, wherein the vehicle distance detection module is used for acquiring the distance between a vehicle and a front obstacle in real time; the relative speed calculating unit is used for calculating the relative speed of the vehicle relative to the front obstacle according to the distance; the actuating mechanism is used for receiving a pedal control signal of the control unit and driving a brake pedal of the vehicle to move in a direction away from the legs of a person; the alarm module is used for receiving an alarm control signal of the control unit and sending alarm information; the control unit is used for judging whether the vehicle collides or not according to the current distance and the relative speed, if the vehicle is bound to collide, a pedal control signal is sent to the executing mechanism, and if the vehicle is likely to collide, an alarm control signal is sent to the alarm module.
In above-mentioned active brake pedal control system, through the distance and the relative speed of the integrated analysis vehicle and the place ahead barrier of the control unit, judge the possibility that frontal collision takes place in advance, in time report to the police and remind the driver when probably colliding, carry out the early warning, remove danger, when will colliding certainly, the shrink brake pedal keeps away from people's leg, reduce the leg injury that brake pedal probably caused in the frontal collision, thereby realize brake pedal's active control, protect the human body, do not influence brake pedal operation travelling comfort and security yet.
As an improvement of the active brake pedal control system of the present invention, the method of determining whether the vehicle is likely to collide includes: setting a safety distance threshold value, a collision time threshold value and a collision time threshold value which must occur; calculating the time required by the collision of the vehicle; if the distance is not greater than the safe distance threshold value and the required time is not greater than the necessary collision time threshold value, the vehicle is necessary to collide; if the distance is not greater than the safe distance threshold value and the required time is between the no-collision time threshold value and the necessary-collision time threshold value, the vehicle may collide. According to the actual specific driving condition, the time of imminent collision is calculated by using the distance and the relative speed, the time is compared with a set time threshold value of inevitable collision, and the distance between the current vehicle and the obstacle is used for prejudging the possibility of collision, so that the control unit actively adopts a coping strategy in advance.
As another improvement of the active brake pedal control system, the system further comprises a monitoring module, the vehicle is provided with an automatic brake system, the monitoring module is used for acquiring whether the automatic brake system of the vehicle works or not in real time and transmitting the information whether the automatic brake system works or not to the control unit, if the automatic brake system does not work, the control unit does not send any control signal, and if the automatic brake system works, the control unit normally sends a control signal. The system is linked with an automatic braking system of the vehicle, functions of all parts of the vehicle are fully utilized, repeated calculation is avoided, when the automatic braking system does not work, namely the vehicle is judged to be unlikely to collide, the corresponding system can not perform any command control action, when the automatic braking system works, the dangerous condition of the vehicle is generated, and the system normally performs command control according to a set strategy.
In the above-mentioned technical solution where the vehicle has an automatic braking system, the method for the actuator to drive the brake pedal of the vehicle to move in a direction away from the legs of the person includes: and driving the brake pedal to move forwards integrally. Move whole brake pedal forward the vehicle, contract, reserve sufficient space, the dodge people's leg of big degree, further reduce the injury.
In the technical scheme that the vehicle is provided with the automatic braking system, the distance detection module measures the distance between the vehicle and the front obstacle in real time through the radar and the camera, and the radar and the camera can directly share the existing equipment of the active safety sensor system without adding new equipment. Likewise, the control unit may be a separate ECU or GPU chip system, or may be integrated into the autobrake system controller of the vehicle. The integration level is improved, and the hardware cost is saved.
As still another improvement of the active brake pedal control system of the present invention, the method for the actuator to move the brake pedal of the vehicle in a direction away from the legs of the person includes: and driving a brake pedal of the vehicle to move around the rotating shaft in the braking direction. The drive effect of this mode is similar people and directly steps on brake pedal, makes it shrink, not only dodges the people leg, can also provide certain braking effect, further improves the security.
In order to solve the technical problem, the active brake pedal control method of the invention comprises the following steps:
the method comprises the following steps: acquiring the distance between a vehicle and a front obstacle in real time;
step two: calculating the relative speed of the vehicle relative to the front obstacle according to the distance;
step three: and judging whether the vehicle collides or not according to the current distance and the relative speed, if so, driving a brake pedal of the vehicle to move towards the direction far away from the legs of the person, and if the vehicle is likely to collide, sending alarm information.
In the active brake pedal control method, the control unit processes and analyzes the relative distance and speed between the vehicle and the obstacle, the possibility of collision is pre-judged, and corresponding alarming and brake pedal adjusting strategies are formulated, so that the collision is avoided as much as possible, and before the inevitable collision occurs, the brake pedal is contracted, and the injury to the driver to move back is reduced.
As an improvement of the active brake pedal control method of the present invention, the method of determining whether the vehicle will collide includes: setting a safety distance threshold value, a collision time threshold value and a collision time threshold value which must occur; calculating the time required by the collision of the vehicle; and (4) comparison and judgment: if the distance is not greater than the safe distance threshold value and the required time is not greater than the necessary collision time threshold value, the vehicle is necessary to collide, and if the distance is not greater than the safe distance threshold value and the required time is between the no collision time threshold value and the necessary collision time threshold value, the vehicle is likely to collide.
As another improvement of the active brake pedal control method of the present invention, before the step three, the method further includes acquiring information on whether an automatic brake system of the vehicle is working in real time, if the automatic brake system is not working, ending the method, and not executing the step three, and if the automatic brake system is working, continuing to execute the step three. The vehicle is provided with the automatic braking system, so that the working condition of the automatic braking system is monitored and linked, and the repeated calculation process of the vehicle is omitted.
In the above technical solution of acquiring the automatic braking system of the vehicle in real time, in step three, the method for driving the brake pedal of the vehicle to move away from the legs of the person includes: and driving the brake pedal to move forwards integrally.
As still another improvement of the active brake pedal control method according to the present invention, in step three, the method for driving the brake pedal of the vehicle to move away from the legs of the person includes: and driving a brake pedal of the vehicle to move around the rotating shaft of the brake pedal in a braking direction.
In conclusion, by adopting the active brake pedal control system and the active brake pedal control method, the occurrence of collision can be warned, the possible frontal collision can be predicted, and the leg injury possibly caused in the frontal collision can be reduced by adjusting the position of the brake pedal to be far away from the legs of a person.
Drawings
In the drawings:
FIG. 1 is a schematic block diagram of a control system of the present invention.
FIG. 2 is a schematic structural diagram of a controllable system according to the present invention.
FIG. 3 is a schematic diagram of a first method of adjusting the brake pedal of the present invention.
FIG. 4 is a schematic diagram of a second method of adjusting the brake pedal of the present invention.
In the figure: 1. a vehicle distance detection module; 2. a relative speed calculation unit; 3. an actuator; 4. an alarm module; 5. a control unit; 6. and a monitoring module.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
As shown in fig. 1 and 2, the active brake pedal control system of the present invention includes a vehicle distance detection module 1, a relative speed calculation unit 2, an actuator 3, an alarm module 4 and a control unit 5, wherein the vehicle distance detection module 1 is used for acquiring the distance between a vehicle and a front obstacle in real time; the relative speed calculating unit 2 is used for calculating the relative speed of the vehicle relative to the front obstacle according to the distance; the actuating mechanism 3 is used for receiving a pedal control signal of the control unit 5 and driving a brake pedal of the vehicle to move in a direction away from the legs of a person; the alarm module 4 is used for receiving an alarm control signal of the control unit 5 and sending alarm information; the control unit 5 is configured to determine whether the vehicle will collide according to the current distance and the relative speed, send a pedal control signal to the actuator 3 if the vehicle will collide, and send an alarm control signal to the alarm module 4 if the vehicle may collide.
When the device is used, the vehicle distance detection module 1 measures the distance L between the vehicle and the front obstacle in real time through the radar and the cameradAnd will be spaced apart by a distance LdThe information is passed to the relative speed calculation unit 2. The relative speed calculating unit 2 calculates the relative speed V between the vehicle and the front obstacledIf V isdIf the distance is more than 0, the vehicle is faster than the front obstacle, otherwise, the front obstacle is slower than the vehicle, and the distance L is setdAnd relative velocity VdThe information is passed to the control unit 5 together. The radar and the camera can directly share the existing equipment of the active safety sensor system without adding new equipment.
When the automatic braking system exists in the vehicle, the monitoring module 6 collects whether the automatic braking system of the vehicle works in real time and transmits the working information to the control unit 5.
The control unit 5 is based on the current distance LdRelative velocity VdAnd the working information of the automatic braking system, and the process of judging whether the vehicle is collided is as follows:
firstly, if the automatic braking system does not work, the collision is directly judged not to occur, and the active brake pedal control system of the invention sends out any control signal, namely, does not do any coping action;
if the automatic braking system works, emergency situations including collision possibly occur, and the active brake pedal control system works normally. Setting a safety distance threshold value L0Time threshold T will not be collided0Will definitely occur collision time threshold value T1The set values are calibrated values when the vehicle leaves a factory;
if L isd＞L0，VdNo matter what value, the brake pedal does not need to be adjusted;
if Vd＜0，LdNo matter what value, the brake pedal does not need to be adjusted;
if L isd≤L0，Vd> 0, and Ld/Vd＞T0The brake pedal does not need to be adjusted;
if L isd≤L0，Vd> 0, and T1＜Ld/Vd≤T0The brake pedal does not need to be adjusted, but the alarm module 4 is started to send out alarm information;
if L isd≤L0，Vd> 0, and Ld/Vd＜T1Starting an actuating mechanism 3 to drive a brake pedal to adjust according to a set strategy, and starting an alarm module 4 to send out an alarm signal;
the control unit 5 sends a pedal control signal to the actuating mechanism 3, and then the alarm module 4 can be started to send alarm information, wherein the alarm information comprises a warning displayed or broadcasted through the vehicle-mounted human-computer interaction terminal; the control unit 5 sends a pedal control signal to the actuating mechanism 3, namely, the actuating mechanism 3 can be started to drive the brake pedal of the vehicle to move in the direction away from the legs of the person. The control unit 5 may be a separate ECU or GPU chip system, or may be integrated on the automatic braking system controller of the vehicle. The first mode that actuating mechanism 3 drives the brake pedal of vehicle and removes to the direction of keeping away from people's leg is shown in fig. 3, and direct drive brake pedal is whole to be removed forward to the vehicle, and before the collision will take place, the intervention of initiative braking system is worked, and the vehicle realizes the braking, and whole brake pedal of moving away this moment can not influence the security of vehicle, also provides the protection to people's leg.
In addition, for a vehicle without an automatic braking system, the active brake pedal control system works independently, and the process of judging whether the vehicle collides is the same as the judgment process under the condition of the second step of judging whether the automatic braking system works. The actuating mechanism 3 drives the brake pedal of the vehicle to move in the direction far away from the legs of the person in the second mode, as shown in fig. 4, the brake pedal of the vehicle is driven to move in the braking direction around the rotating shaft, the brake pedal simulates the treading and contraction of the feet of the person, namely, the space is avoided, a certain active braking force can be provided, and the safety is further improved.
Before collision happens, the brake pedal is driven to contract to a specified distance in the direction away from the legs of a person, after the brake pedal is adjusted, whether the brake system is damaged or not is evaluated, and if the condition that the brake system can be used continuously is met, the brake pedal is reset through the executing mechanism 3 and can be used continuously.
The active brake pedal control method utilizing the system comprises the following steps:
the method comprises the following steps: acquiring the distance between a vehicle and a front obstacle in real time;
step two: calculating the relative speed of the vehicle relative to the front obstacle according to the distance;
step three: according to the current distance and the relative speed, whether the vehicle collides or not is judged, if the vehicle collides, a brake pedal of the vehicle is driven to move towards the direction far away from the legs of a person, and if the vehicle collides possibly, alarm information is sent.
Optionally, the specific step of determining whether the vehicle will collide is: setting a safety distance threshold value and a necessary collision time threshold value; calculating the time required by the current vehicle to collide; and comparing the time with the necessary collision time threshold value, if the time is not more than the necessary collision time threshold value, the vehicle is necessary to collide, and if the time is more than the necessary collision time threshold value and the distance is not more than the safety distance threshold value, the vehicle is likely to collide.
Optionally, when the vehicle itself has an automatic braking system, before the step three, acquiring whether the automatic braking system of the vehicle is working or not in real time, if the automatic braking system is not working, ending the method, and not executing the step three, and if the automatic braking system is working, continuing to execute the step three.
Optionally, in step three, the specific manner of driving the brake pedal of the vehicle to move away from the legs of the person is as follows: the brake pedal is driven to move forwards integrally.
Optionally, in step three, the specific manner of driving the brake pedal of the vehicle to move away from the legs of the person is as follows: the brake pedal for driving the vehicle is moved about its rotational axis in a braking direction.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or that equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An active brake pedal control system is characterized by comprising a vehicle distance detection module (1), a relative speed calculation unit (2), an execution mechanism (3), an alarm module (4) and a control unit (5),
the vehicle distance detection module (1) is used for acquiring the distance between a vehicle and a front obstacle in real time;
the relative speed calculating unit (2) is used for calculating the relative speed of the vehicle relative to the front obstacle according to the distance;
the actuating mechanism (3) is used for receiving a pedal control signal of the control unit (5) and driving a brake pedal of the vehicle to move in a direction away from the legs of a person;
the alarm module (4) is used for receiving an alarm control signal of the control unit (5) and sending alarm information;
the control unit (5) is used for judging whether the vehicle collides or not according to the current distance and the relative speed, if so, a pedal control signal is sent to the executing mechanism (3), and if the vehicle is likely to collide, an alarm control signal is sent to the alarm module (4).
2. The active brake pedal control system of claim 1 wherein the method of determining whether the vehicle will collide comprises: setting a safety distance threshold value, a collision time threshold value and a collision time threshold value which must occur; calculating the time required by the collision of the vehicle; if the distance is not greater than the safe distance threshold value and the required time is not greater than the necessary collision time threshold value, the vehicle is necessary to collide; if the distance is not greater than the safe distance threshold value and the required time is between the no-collision time threshold value and the necessary-collision time threshold value, the vehicle may collide.
3. An active brake pedal control system according to claim 1, further comprising a monitoring module (6), wherein the vehicle is provided with an automatic braking system, the monitoring module (6) is configured to collect information on whether the automatic braking system of the vehicle is working or not in real time, and transmit the information on whether the automatic braking system is working or not to the control unit (5), if the automatic braking system is not working, the control unit (5) does not send any control signal, and if the automatic braking system is working, the control unit (5) normally sends a control signal.
4. An active brake pedal control system according to claim 1 or 3, wherein the method of the actuator (3) moving the brake pedal of the vehicle away from the person's legs comprises: and driving the brake pedal to move forwards integrally.
5. An active brake pedal control system according to claim 1 or 3, wherein the method of the actuator (3) moving the brake pedal of the vehicle away from the person's legs comprises: and driving a brake pedal of the vehicle to move around the rotating shaft in the braking direction.
6. An active brake pedal control method using the system of claim 1, comprising the steps of:
the method comprises the following steps: acquiring the distance between a vehicle and a front obstacle in real time;
step two: calculating the relative speed of the vehicle relative to the front obstacle according to the distance;
step three: and judging whether the vehicle collides or not according to the current distance and the relative speed, if so, driving a brake pedal of the vehicle to move towards the direction far away from the legs of the person, and if the vehicle is likely to collide, sending alarm information.
7. The active brake pedal control method of claim 1, wherein the method of determining whether the vehicle will collide comprises: setting a safety distance threshold value, a collision time threshold value and a collision time threshold value which must occur; calculating the time required by the collision of the vehicle; and (4) comparison and judgment: if the distance is not greater than the safe distance threshold value and the required time is not greater than the necessary collision time threshold value, the vehicle is necessary to collide, and if the distance is not greater than the safe distance threshold value and the required time is between the no collision time threshold value and the necessary collision time threshold value, the vehicle is likely to collide.
8. The active brake pedal control method according to claim 1, further comprising acquiring information on whether an automatic brake system of the vehicle is in operation in real time before step three, ending the method if the automatic brake system is not in operation, and continuing to execute step three if the automatic brake system is in operation.
9. An active brake pedal control method according to claim 6 or 8, wherein in step three, the method of driving the brake pedal of the vehicle to move away from the legs of the person comprises: and driving the brake pedal to move forwards integrally.
10. An active brake pedal control method according to claim 6 or 8, wherein in step three, the method of driving the brake pedal of the vehicle to move away from the legs of the person comprises: and driving a brake pedal of the vehicle to move around the rotating shaft of the brake pedal in a braking direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110801687.9A CN113500982A (en) | 2021-07-15 | 2021-07-15 | Active brake pedal control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110801687.9A CN113500982A (en) | 2021-07-15 | 2021-07-15 | Active brake pedal control system and method |
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| CN113500982A true CN113500982A (en) | 2021-10-15 |
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| CN202110801687.9A Pending CN113500982A (en) | 2021-07-15 | 2021-07-15 | Active brake pedal control system and method |
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| CN115064004A (en) * | 2022-05-30 | 2022-09-16 | 东风汽车集团股份有限公司 | Vehicle collision active early warning system and method |
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Application publication date: 20211015 |