CN114043972A - Control system and control method for pedal-like brake-by-wire of commercial vehicle - Google Patents
Control system and control method for pedal-like brake-by-wire of commercial vehicle Download PDFInfo
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- CN114043972A CN114043972A CN202111442807.7A CN202111442807A CN114043972A CN 114043972 A CN114043972 A CN 114043972A CN 202111442807 A CN202111442807 A CN 202111442807A CN 114043972 A CN114043972 A CN 114043972A
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- 230000008569 process Effects 0.000 description 5
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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
- B60T13/683—Electrical control in fluid-pressure brake systems by electrically-controlled valves in pneumatic systems or parts thereof
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Abstract
The invention discloses a control system and a control method for pedal-like brake-by-wire of a commercial vehicle, which can be applied to the technical field of control of the commercial vehicle. According to the invention, the line control valve is additionally arranged, the line control valve is provided with the wiring harness socket, the two air inlets and the two air outlets, the wiring harness socket is respectively connected with the ABS controller and the intelligent auxiliary driving module, the two air inlets are both connected with the air storage cylinder, one air outlet of the two air outlets is connected with the air inlet of the ABS electromagnetic valve, and the other air outlet of the two air outlets is connected with the control port of the driving relay valve, so that when a deceleration request of an expected speed sent by the intelligent auxiliary driving module is received, the real-time wheel speed acquired by the ABS controller reading a wheel speed sensor is obtained, and after the load of the whole vehicle is determined according to the engine torque information and the real-time wheel speed, the pressure value of a brake air chamber corresponding to the expected speed is determined according to the load of the whole vehicle, thereby realizing the line control brake function of the commercial vehicle.
Description
Technical Field
The invention relates to the technical field of control of commercial vehicles, in particular to a control system and a control method for pedal-like brake-by-wire of a commercial vehicle.
Background
In the related art, intelligent driving and intelligent auxiliary driving are trends of automobile development, and the support of the brake-by-wire technology cannot be removed, and in an unmanned vehicle, because no driver can provide a brake signal, and a brake pedal can not output brake gas/oil, an electronic stability control system requiring brake-by-wire must be capable of receiving an electric signal from an intelligent driving to provide a brake deceleration demand and accurately implementing braking with corresponding deceleration. Because the command of the brake system is transmitted by an electric wire, namely, the intelligent driving commands the brake system by the electric wire and realizes the required braking, the intelligent driving is called the brake-by-wire. At present, an anti-lock brake system is installed on a commercial vehicle, but due to the structural characteristics of the commercial vehicle, the commercial vehicle which is installed with the anti-lock brake system at present does not realize the brake-by-wire function.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a control system and a control method for pedal-like brake-by-wire of a commercial vehicle, which can realize the brake-by-wire function of the commercial vehicle.
On one hand, the embodiment of the invention provides a pedal-like brake-by-wire control system of a commercial vehicle, which comprises the following components:
an ABS controller;
the wheel speed sensor is connected with the ABS controller and is arranged on a wheel;
the wire control brake valve is provided with a wire harness socket, two air inlets and two air outlets, and the wire harness socket is connected with the ABS controller; the two air inlets are both connected with the air storage cylinder; one air outlet of the two air outlets is connected with an air inlet of the ABS electromagnetic valve, and the other air outlet of the two air outlets is connected with a control port of the traveling crane relay valve;
the intelligent auxiliary driving module is connected with the wiring harness socket;
when the brake-by-wire valve receives a deceleration request of an expected speed sent by the intelligent auxiliary driving module, the ABS controller reads a real-time wheel speed acquired by the wheel speed sensor and sends the real-time wheel speed to the brake-by-wire valve; and the line control valve determines the load of the whole vehicle according to the torque information of the engine and the real-time wheel speed, and determines the pressure value of the brake chamber corresponding to the expected speed according to the load of the whole vehicle.
In some embodiments, the control system further comprises a brake master valve, and the brake-by-wire valve is further provided with two control ports; and an air inlet of the brake master valve is connected with an air outlet of the air storage cylinder, and an air outlet of the brake master valve is connected with two control ports of the brake-by-wire valve.
In some embodiments, an air pressure sensor and a control module are arranged in the brake-by-wire valve, the control module is connected with the wiring harness socket, the air pressure sensor is used for acquiring the pressure value of the brake chamber output by the brake-by-wire valve in real time, and the control module adjusts the pressure value of the brake chamber output in real time according to the air pressure value acquired by the air pressure sensor.
In some embodiments, an air inlet electromagnetic valve, an air exhaust electromagnetic valve, a pressure-preparing electromagnetic valve and a relay valve are further arranged in the brake-by-wire valve, and an air inlet of the brake-by-wire valve is respectively connected with an air inlet end of the air inlet electromagnetic valve and an air inlet end of the relay valve; the connecting point of the air outlet end of the air inlet electromagnetic valve and the air inlet end of the air outlet electromagnetic valve is connected with the upper piston cavity of the relay valve; the control port of the brake-by-wire valve is connected with the upper piston cavity of the relay valve through the standby pressure electromagnetic valve; and the air outlet end of the exhaust electromagnetic valve is connected with one air outlet end of the relay valve, and the other air outlet end of the relay valve is connected with the air pressure sensor.
In some embodiments, the control system further comprises a quick release valve, and one air outlet of the brake-by-wire valve is connected with the air inlet of the ABS electromagnetic valve through the quick release valve.
In some embodiments, the control system further comprises a two-way check valve, and the other air outlet of the drive-by-wire brake valve is connected with the control port of the traveling vehicle relay valve through the two-way check valve.
In some embodiments, the control system further comprises an ASR valve, an air inlet of the ASR valve is connected with the air storage cylinder, and an air outlet of the ASR valve is connected with a control port of the traveling relay valve through the two-way check valve.
In another aspect, an embodiment of the present invention provides a method for controlling pedal-like brake-by-wire of a commercial vehicle, where the method is applied to a brake-by-wire valve of the control system, and the method includes the following steps:
when a deceleration request of an expected speed sent by an intelligent auxiliary driving module is received, an ABS controller reads a real-time wheel speed acquired by a wheel speed sensor;
determining the load of the whole vehicle according to the engine torque information and the real-time wheel speed;
and determining the pressure value of the brake chamber corresponding to the expected speed according to the load of the whole vehicle.
In some embodiments, the control method further comprises the steps of:
when a control instruction sent by the intelligent auxiliary driving module is not received, a control air pressure value sent by a master brake valve is obtained;
and determining the pressure value of the brake chamber according to the control air pressure value.
In some embodiments, an air pressure sensor and a control module are arranged in the brake-by-wire valve, the control module is connected with the wiring harness socket, the air pressure sensor is used for acquiring the pressure value of the brake chamber output by the brake-by-wire valve in real time, and the control module adjusts the pressure value of the brake chamber output in real time according to the air pressure value acquired by the air pressure sensor.
The control system of the pedal-like brake-by-wire of the commercial vehicle provided by the embodiment of the invention has the following beneficial effects:
this embodiment is through adding the drive-by-wire brake valve, and set up the pencil socket on the on-line control valve, two air inlets and two gas outlets, in order to be connected with ABS controller and intelligent supplementary driving module respectively through the pencil socket, two air inlets all are connected with the gas receiver, one gas outlet of two gas outlets is connected with the air inlet of ABS solenoid valve, another gas outlet of two gas outlets is connected with the control mouth of driving relay valve, thereby when receiving the speed reduction request of expectation speed that intelligent supplementary driving module sent, acquire the real-time wheel speed that ABS controller read the fast sensor of wheel and gather, and after confirming the load of whole car according to engine torque information and real-time wheel speed, confirm the pressure value of the brake chamber that expectation speed corresponds according to the load of whole car, thereby realize the drive-by-wire brake function of commercial car.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
fig. 1 is a schematic diagram of a pedal-like brake-by-wire control system of a commercial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a line controlled valve according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method of a pedal-like brake-by-wire of a commercial vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart of another control method of a pedal-like brake-by-wire of a commercial vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Before proceeding with the description of specific embodiments, the following terms of art are explained:
brake-by-wire: the automobile brake-by-wire system is one of the brake-by-wire technologies, refers to the integration of a series of intelligent brake control systems, can provide the functions of the existing brake systems such as ABS, vehicle stability control, auxiliary braking, traction control and the like, and organically combines all the systems into a complete functional body through a vehicle-mounted wired network. The original brake pedal is replaced by an analog generator, so that the brake pedal is used for receiving the brake intention of a driver, generating and transmitting a brake signal to a controller and an execution machine, and simulating and feeding back the brake pedal to the driver according to a certain algorithm. The electric signal can be sent by an intelligent driving-assisting system or generated by manual operation.
ESC: an Electronic Stability Control System, ESC, known as Electronic Stability Control System, is a comprehensive strategy for vehicle body Stability Control, and includes an anti-lock braking System (ABS) and an anti-slip System (ASR), which is a functional extension on the basis of these two systems, rather than existing as an independent configuration. The method aims to improve the controllability of the vehicle and prevent a system program which is out of control when the vehicle reaches the dynamic limit of the vehicle, such as the situation that the vehicle is over-steered or under-steered.
EBS: the Electronic control brake System EBS is called an Electronic Braking System, is developed on the basis of an anti-lock brake System and is mainly used for improving the brake performance of a commercial vehicle. The active safety device has the advantages of short brake response time, shorter brake distance compared with ABS (anti-lock brake system), and capability of covering all functions of the ABS.
ABS: an Anti-lock Brake System (ABS) is called an Anti-lock Brake System, and is an automobile active safety device with the advantages of preventing wheels from locking, shortening the automobile braking distance, reducing tire wear, preventing the automobile from deviating and drifting and the like.
ESC Electronic Control Unit (ECU): is the core controller of the ESC system. The ESC Electronic Control Unit (ECU) has the functions of calculating, processing and judging the information input by the sensor according to the programs and data stored in the ECU, and then outputting instructions to provide certain control information for the AEBS relay valve and the ABS electromagnetic valve. The ESC Electronic Control Unit (ECU) is composed of a microcomputer, an input circuit, an output circuit, a control circuit and the like.
ASR: the anti-skid system is driven to prevent the driving wheels of the vehicle from skidding, and the vehicle can start smoothly in a skidding state.
The present embodiment is described in detail below with reference to the accompanying drawings:
referring to fig. 1, an embodiment of the present invention provides a pedal-like brake-by-wire control system for a commercial vehicle, including an ABS controller 110, a wheel speed sensor 120, a wire control valve 130, and an intelligent driver assistance module 140. Wherein, the wheel speed sensor 120 is connected to the ABS controller 110 and disposed on the wheel 121; as shown in fig. 2, the wire control valve 130 is provided with a wire harness socket 210, two air inlets 221 and two air outlets 222, and the wire harness socket 210 is connected with the ABS controller 110 and the intelligent driver assistance module 140 respectively; both air inlets 221 are connected with the air reservoir 160; one of the two air outlets 222 is connected to the air inlet of the ABS solenoid valve 170, and the other of the two air outlets 222 is connected to the control port of the traveling relay valve 150. Specifically, the ABS controller 110 is also connected to a power supply. An air outlet of the air reservoir 160 is connected to an air inlet of the parking relay valve 192, and an air outlet of the parking relay valve 192 is connected to a port of the brake chamber 191. A wheel speed sensor 120 may be provided on each wheel 121, and the wheel speed sensor 120 is connected to the ABS controller 110 by a cable. In this embodiment, the control system further comprises a quick release valve 181, a two-way check valve 182 and an ASR valve 183, and an air outlet of the line control valve 130 is connected with an air inlet of the ABS solenoid valve 170 through the quick release valve 181; the other air outlet of the line control valve 130 is connected with the control port of the traveling relay valve 150 through a two-way check valve 182; the air inlet of the ASR valve 183 is connected with the air reservoir 160, and the air outlet of the ASR valve 183 is connected with the control port of the traveling relay valve 150 through a two-way check valve 182.
In the working process, when the brake-by-wire valve receives a deceleration request of an expected speed sent by the intelligent auxiliary driving module, the ABS controller reads the real-time wheel speed acquired by the wheel speed sensor and sends the real-time wheel speed to the brake-by-wire valve; the brake control valve determines the load of the whole vehicle according to the torque information of the engine and the real-time wheel speed, determines the pressure value of the brake chamber corresponding to the expected speed according to the load of the whole vehicle, and performs brake control on the vehicle through the brake chamber, so that the corresponding deceleration control is realized, closed-loop control is formed among the intelligent auxiliary driving module, the brake-by-wire valve and the wheel speed sensor, and the accuracy of brake control under the brake-by-wire brake is ensured.
In some embodiments, since the drive-by-wire function may be disabled during the drive-by-wire process of the vehicle, in order to improve the safety of the vehicle during the driving process, as shown in fig. 1, the control system further includes a master brake valve 193, and the two control ports 223 are further provided on the drive-by-wire valve 130; an air inlet of the master cylinder valve 193 is connected to an air outlet of the air reservoir 160, and an air outlet of the master cylinder valve 193 is connected to two control ports 223 of the line control valve 130. In the working process, when a control instruction sent by the intelligent auxiliary driving module is not received, a control air pressure value sent by the brake master valve is obtained, and the pressure value of the brake air chamber is determined according to the control air pressure value, so that the function of manual control is realized.
In some embodiments, as shown in fig. 2, an air pressure sensor 230 and a control module 240 are disposed in the line control valve, the control module 240 is connected to the harness socket 210, the air pressure sensor 230 is configured to collect a pressure value of a brake chamber output by the line control valve in real time, and the control module 240 adjusts the pressure value of the brake chamber output in real time according to the air pressure value collected by the air pressure sensor, so as to implement closed-loop control inside the line control valve, so that the output pressure reaches a pressure required by the intelligent assistant driving system.
In some embodiments, as shown in fig. 2, an air inlet solenoid valve 251, an air outlet solenoid valve 252, a pressure-backup solenoid valve 253 and a relay valve 254 are further arranged in the line control brake valve, and an air inlet 221 of the line control brake valve is respectively connected with an air inlet end of the air inlet solenoid valve 251 and an air inlet end of the relay valve 254; the connection point of the air outlet end of the air inlet electromagnetic valve 251 and the air inlet end of the air outlet electromagnetic valve 252 is connected with the upper piston cavity of the relay valve 254; the control port 223 of the brake-by-wire valve is connected with the piston upper chamber of the relay valve 254 through the pressure-preparing electromagnetic valve 253; an air outlet end of the exhaust solenoid valve 252 is connected with one air outlet end of the relay valve 254, and the other air outlet end of the relay valve 254 is connected with the air pressure sensor 230.
Specifically, in the online control mode, the control module controls the standby pressure electromagnetic valve to be electrified, so that the upper piston cavity of the relay valve is separated from the control port, compressed air is prevented from flowing out of the control port, the air inlet electromagnetic valve and the air outlet electromagnetic valve are controlled to perform combined action at the same time, an air source entering from an air inlet is sent into the upper piston cavity of the relay valve according to the required air pressure, the piston of the relay valve is driven to move downwards, and the valve of the relay valve is opened, so that active pressurization action is realized; in a manual operation mode, all the electromagnetic valves are not electrified, when an operator steps on a brake pedal, output air of a brake main valve can enter a control port of the brake-by-wire valve, then enters an upper piston cavity of the relay valve through the standby pressure electromagnetic valve, drives a piston of the relay valve to move downwards, opens the valve of the relay valve, and realizes manual control pressurization.
In some embodiments, as shown in fig. 2, the line control valve is further provided with an exhaust port 224, the exhaust port 224 being used to vent excess gas from within the line control valve.
Referring to fig. 3, an embodiment of the present invention provides a method for controlling pedal-like brake-by-wire of a commercial vehicle, and the method of the embodiment may be applied to a brake-by-wire valve of the control system shown in fig. 1. In the implementation process, the embodiment includes the following steps:
s31, when a deceleration request of an expected speed sent by the intelligent auxiliary driving module is received, the ABS controller reads the real-time wheel speed acquired by the wheel speed sensor;
s32, determining the load of the whole vehicle according to the engine torque information and the real-time wheel speed;
and S33, determining the pressure value of the brake chamber corresponding to the expected speed according to the load of the whole vehicle.
As shown in fig. 4, the method of this embodiment further includes the following steps:
s41, when the control instruction sent by the intelligent auxiliary driving module is not received, obtaining a control air pressure value sent by a master brake valve;
and S42, determining the pressure value of the brake chamber according to the control air pressure value.
The contents of the system embodiment of the present invention are all applicable to the method embodiment, the functions specifically realized by the method embodiment are the same as those of the system embodiment, and the beneficial effects achieved by the method embodiment are also the same as those achieved by the system.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A control system of a pedal-like brake-by-wire of a commercial vehicle, characterized by comprising:
an ABS controller;
the wheel speed sensor is connected with the ABS controller and is arranged on a wheel;
the wire control brake valve is provided with a wire harness socket, two air inlets and two air outlets, and the wire harness socket is connected with the ABS controller; the two air inlets are both connected with the air storage cylinder; one air outlet of the two air outlets is connected with an air inlet of the ABS electromagnetic valve, and the other air outlet of the two air outlets is connected with a control port of the traveling crane relay valve;
the intelligent auxiliary driving module is connected with the wiring harness socket;
when the brake-by-wire valve receives a deceleration request of an expected speed sent by the intelligent auxiliary driving module, the ABS controller reads a real-time wheel speed acquired by the wheel speed sensor and sends the real-time wheel speed to the brake-by-wire valve; and the line control valve determines the load of the whole vehicle according to the torque information of the engine and the real-time wheel speed, and determines the pressure value of the brake chamber corresponding to the expected speed according to the load of the whole vehicle.
2. The pedal-like brake-by-wire control system of a commercial vehicle according to claim 1, characterized in that the control system further comprises a brake master valve, and two control ports are further arranged on the brake-by-wire valve; and an air inlet of the brake master valve is connected with an air outlet of the air storage cylinder, and an air outlet of the brake master valve is connected with two control ports of the brake-by-wire valve.
3. The pedal-like brake-by-wire control system of a commercial vehicle according to claim 2, wherein an air pressure sensor and a control module are arranged in the brake-by-wire valve, the control module is connected with the wire harness socket, the air pressure sensor is used for collecting a pressure value of a brake chamber output by the brake-by-wire valve in real time, and the control module adjusts the pressure value of the brake chamber output in real time according to the air pressure value collected by the air pressure sensor.
4. The pedal-like brake-by-wire control system of a commercial vehicle according to claim 3, wherein an air inlet electromagnetic valve, an air outlet electromagnetic valve, a standby pressure electromagnetic valve and a relay valve are further arranged in the brake-by-wire valve, and an air inlet of the brake-by-wire valve is respectively connected with an air inlet end of the air inlet electromagnetic valve and an air inlet end of the relay valve; the connecting point of the air outlet end of the air inlet electromagnetic valve and the air inlet end of the air outlet electromagnetic valve is connected with the upper piston cavity of the relay valve; the control port of the brake-by-wire valve is connected with the upper piston cavity of the relay valve through the standby pressure electromagnetic valve; and the air outlet end of the exhaust electromagnetic valve is connected with one air outlet end of the relay valve, and the other air outlet end of the relay valve is connected with the air pressure sensor.
5. A pedal-like brake-by-wire control system for a commercial vehicle according to claim 1, further comprising a quick release valve, wherein an air outlet of the brake-by-wire valve is connected to an air inlet of the ABS solenoid valve through the quick release valve.
6. A pedal-like brake-by-wire control system for a commercial vehicle according to claim 1, further comprising a two-way check valve, wherein the other air outlet of the brake-by-wire valve is connected with the control port of the traveling vehicle relay valve through the two-way check valve.
7. A pedal-like brake-by-wire control system for a commercial vehicle according to claim 5, further comprising an ASR valve, wherein an air inlet of the ASR valve is connected to the air reservoir, and an air outlet of the ASR valve is connected to the control port of the vehicle relay valve through the two-way check valve.
8. A control method of pedal-like brake-by-wire of a commercial vehicle, characterized in that the method is applied to a brake-by-wire valve of a control system according to any one of claims 1 to 6, the method comprising the steps of:
when a deceleration request of an expected speed sent by an intelligent auxiliary driving module is received, an ABS controller reads a real-time wheel speed acquired by a wheel speed sensor;
determining the load of the whole vehicle according to the engine torque information and the real-time wheel speed;
and determining the pressure value of the brake chamber corresponding to the expected speed according to the load of the whole vehicle.
9. A control method of pedal-like brake-by-wire of a commercial vehicle according to claim 8, characterized in that the control method further comprises the steps of:
when a control instruction sent by the intelligent auxiliary driving module is not received, a control air pressure value sent by a master brake valve is obtained;
and determining the pressure value of the brake chamber according to the control air pressure value.
10. The control method of the pedal-like brake-by-wire of the commercial vehicle according to claim 8, wherein an air pressure sensor and a control module are arranged in the brake-by-wire valve, the control module is connected with the wire harness socket, the air pressure sensor is used for collecting a pressure value of a brake chamber output by the brake-by-wire valve in real time, and the control module adjusts the pressure value of the brake chamber output in real time according to the air pressure value collected by the air pressure sensor.
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| CN109895755A (en) * | 2019-02-28 | 2019-06-18 | 广州瑞立科密汽车电子股份有限公司 | A kind of integrated type electrical braking system |
| CN110936940A (en) * | 2019-11-13 | 2020-03-31 | 广州瑞立科密汽车电子股份有限公司 | Commercial vehicle ESC system based on AEBS relay valve |
| CN110936943A (en) * | 2019-11-13 | 2020-03-31 | 广州瑞立科密汽车电子股份有限公司 | Electronic control brake system of commercial vehicle |
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Application publication date: 20220215 |