CN114715095B - Anti-lock braking system and control method - Google Patents
Anti-lock braking system and control method Download PDFInfo
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- CN114715095B CN114715095B CN202210347108.2A CN202210347108A CN114715095B CN 114715095 B CN114715095 B CN 114715095B CN 202210347108 A CN202210347108 A CN 202210347108A CN 114715095 B CN114715095 B CN 114715095B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000004913 activation Effects 0.000 claims abstract description 38
- 230000001133 acceleration Effects 0.000 claims abstract description 36
- 230000008859 change Effects 0.000 claims abstract description 16
- 230000001629 suppression Effects 0.000 claims abstract description 8
- 230000005764 inhibitory process Effects 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 12
- 230000002401 inhibitory effect Effects 0.000 claims description 9
- 230000001960 triggered effect Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000003213 activating effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
-
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
- B60T2240/03—Tire sensors
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses an anti-lock braking control method, which comprises the following steps of S1, collecting wheel speed sensor signals of four wheels of a vehicle to obtain respective wheel speeds of the four wheels; s2, acquiring the current speed, acceleration and yaw velocity of the vehicle in all directions along XYZ axes; s3, calculating the slip quantities of the four wheels, and the acceleration and yaw rate change rates of the four wheels in all directions along XYZ axes; s4, when the anti-lock function requests to be activated, judging the reason of the activation; s5, if the activation reason is judged to be road surface interference, the activation of an anti-lock function is inhibited, and otherwise, the activation is allowed; s6, before the vehicle runs to a certain distance, the anti-lock brake function is kept in a suppression state; s7, after the vehicle runs to a certain distance, executing the judgment in the step S4 again, if the road surface interference still exists, sending a suppression instruction to the anti-lock function module, and executing S6-S7 again; otherwise, the inhibition of the anti-lock function is released.
Description
Technical Field
The invention relates to the field of vehicle brake control, in particular to an anti-lock brake system and a control method.
Background
Anti-lock braking is a safety function of a vehicle and has the function of interfering the braking force of wheels when the wheels are detected to have a large slip rate, so that the wheels are prevented from locking and losing steering and grip. When a vehicle temporarily runs through a deceleration strip, a concave and convex ground surface and other briefly bumpy roads, the tires are extruded or separated from the roads for a short time, and a false slip rate is generated, so that an anti-lock braking function is triggered mistakenly. When the anti-lock brake function is triggered by mistake, obvious working noise and brake pedal vibration can be generated, and the comfort is influenced. If the vehicle is in the driving-assistant cruise function, the cruise function is usually interrupted by the accidental triggering of the anti-lock brake, and the experience of the driving-assistant function is also influenced by frequent function quitting.
Disclosure of Invention
The invention aims to provide an anti-lock braking system and a control method, which aim to solve the problem of accidental activation of an anti-lock function when a vehicle temporarily runs through a speed bump, a ground pit bulge and other briefly bumpy roads.
In order to solve the technical problem, the invention provides a technical scheme that: an anti-lock control method, comprising the steps of,
s1, collecting signals of wheel speed sensors of four wheels of a vehicle to obtain respective wheel speeds of the four wheels;
s2, acquiring the current speed, acceleration and yaw velocity of the vehicle in all directions along XYZ axes;
s3, calculating the slip quantities of the four wheels, and the acceleration and yaw rate change rates of the four wheels in all directions along XYZ axes;
s4, judging whether the activation reason is road surface interference or not when the anti-lock function reaches the self activation condition and requests activation;
s5, if the activation reason is judged to be road surface interference, inhibiting the activation of an anti-lock function, and executing subsequent steps; otherwise, activation is allowed, and the step returns to S1;
s6, before the vehicle runs to a certain distance, the anti-lock brake function is kept in a suppression state;
s7, after the vehicle runs to a certain distance, executing the judgment in the step S4 again, if the road surface interference still exists, sending a suppression instruction to the anti-lock function module, and executing S6-S7 again; otherwise, the inhibition of the anti-lock function is released.
According to the scheme, the vehicle speed in the S2 is acquired through the vehicle speed signal acquired by the vehicle-mounted GPS module.
According to the scheme, the slip quantity of one wheel in S3 is the difference value between the vehicle speed and the wheel speed of the wheel.
According to the scheme, the acceleration and the yaw rate of the vehicle in each direction XYZ are measured through the vehicle-mounted inertial sensing unit.
According to the scheme, in S3, the acceleration and the yaw rate of the vehicle in each direction along the XYZ axes are respectively used as the acceleration and the yaw rate of the four wheels in each direction along the XYZ axes; the change rate of the yaw angular velocity is the ratio of the difference value of the yaw angular velocity acquired in two adjacent times to the acquisition time interval.
According to the scheme, the judging process in the S4 is specifically that,
s41, when the axial acceleration of the X shaft is negative and is larger than a preset threshold value, judging that the vehicle is in a deceleration and non-high-intensity braking state;
s42, when absolute values of the Y-axis acceleration and the yaw rate change rate are smaller than preset threshold values, judging that the vehicle is in a non-emergency steering state;
s43, when the absolute value of the change rate of the X-axis acceleration is smaller than a preset threshold value, judging that the vehicle is not in a state of switching to drive on the road surfaces with different adhesion coefficients;
s44, when the absolute value of the Z-axis acceleration or the acceleration change rate is larger than a preset threshold value, judging that the vehicle jolts to exceed a certain degree in a short time;
s45, at least one wheel exists, and the slip quantity of not all wheels is smaller than a preset threshold value;
and S46, when the conditions from S41 to S45 are all met, judging that the reason for activating the anti-lock function is road interference.
According to the scheme, the driving distance of the vehicle in the S6 includes but is not limited to the distance obtained from the GPS module or obtained by carrying out integral calculation by utilizing the vehicle speed.
A system for anti-lock braking for implementing the above anti-lock control method, the system comprising,
the anti-lock function module is used for determining whether to activate the anti-lock function according to the self activation condition and the received activation inhibiting instruction or activation allowing instruction;
the GPS module is used for acquiring the speed and the running distance of the vehicle;
the system comprises a wheel speed sensor, a speed sensor and a control module, wherein the wheel speed sensor is used for acquiring wheel speed sensor signals of four wheels of a vehicle;
the inertia measurement unit is used for acquiring the acceleration and the yaw velocity of the vehicle along each axial direction of XYZ;
and the operation processing module is used for receiving the measurement signals of the GPS module, the wheel speed sensor and the inertia measurement unit, judging whether the anti-lock function is triggered due to road interference according to the measurement signals, and sending an activation inhibiting instruction or an activation allowing instruction to the anti-lock function module according to a judgment result.
A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the above anti-lock control method.
An automobile having an anti-lock braking system as hereinbefore described.
The invention has the beneficial effects that: the speed, the wheel speed, the acceleration along each XYZ axis and the yaw angular velocity of the vehicle are obtained through the GPS module, the wheel speed sensor and the inertia measuring unit, when the anti-lock function module of the vehicle requests to be activated, the operation processing module judges whether the anti-lock function module is activated due to road interference or not according to the parameters, and the anti-lock function is allowed to be activated or inhibited according to the judgment result, so that the reduction of driving experience caused by frequent activation of the anti-lock function due to road interference when the vehicle is driven is avoided.
Drawings
FIG. 1 is a flowchart of an antilock braking control method according to an embodiment of the present invention;
FIG. 2 is a schematic view of an antilock braking system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an XYZ coordinate system of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without inventive step, are within the scope of protection of the disclosure.
Referring to fig. 1, a method for anti-lock control, the method comprising the steps of,
s1, collecting signals of wheel speed sensors of four wheels of a vehicle to obtain respective wheel speeds of the four wheels;
s2, acquiring the current speed, the acceleration in each direction along an XYZ axis and the yaw rate of the vehicle; wherein the X, Y and Z axes are respectively the longitudinal direction, the transverse direction and the vertical direction of the vehicle, see FIG. 3, wherein the positive X direction is the driving direction of the vehicle head;
s3, calculating the slip quantities of the four wheels, the acceleration in each direction along the XYZ axes and the change rate of the yaw angle speed;
s4, judging whether the activation reason is road interference or not when the anti-lock function reaches the self-activation condition and requests activation;
s5, if the activation reason is judged to be road surface interference, inhibiting the activation of an anti-lock function, and executing the subsequent steps; otherwise, activation is allowed, and the step returns to S1;
s6, before the vehicle runs to a certain distance, the anti-lock braking function is kept in a suppression state;
s7, after the vehicle runs to a certain distance, executing the judgment in the step S4 again, if the road surface interference still exists, sending a suppression command to the anti-lock function module, and executing S6-S7 again; otherwise, the inhibition of the anti-lock function is released.
Further, in the S2, the vehicle speed is acquired through a vehicle speed signal acquired by a vehicle-mounted GPS module.
Further, the slip amount of a certain wheel in S3 is a difference between the vehicle speed and the wheel speed of the wheel.
Further, the acceleration and yaw rate of the vehicle in each XYZ direction are measured by an inertial sensor unit mounted on the vehicle.
Further, in S3, the acceleration and yaw rate of the vehicle in each direction along XYZ axes are regarded as the acceleration and yaw rate of the four wheels in each direction along XYZ axes; the change rate of the yaw angular velocity is the ratio of the difference value of the yaw angular velocity acquired in two adjacent times to the acquisition time interval.
Further, in the judgment process in S4, specifically,
s41, when the axial acceleration of the X is negative and is greater than a preset threshold value, judging that the vehicle is in a deceleration and non-high-intensity braking state;
s42, when absolute values of the Y-axis acceleration and the yaw rate change rate are smaller than preset threshold values, judging that the vehicle is in a non-emergency steering state;
s43, when the absolute value of the change rate of the X-axis acceleration is smaller than a preset threshold value, judging that the vehicle is not in a state of switching to drive on the road surfaces with different adhesion coefficients;
s44, when the absolute value of the Z-axis acceleration or the acceleration change rate is larger than a preset threshold value, judging that the vehicle jolts to exceed a certain degree in a short time;
s45, at least one wheel exists, and the slip quantity of not all wheels is smaller than a preset threshold value;
and S46, when the conditions from S41 to S45 are all met, judging that the reason for activating the anti-lock function is road surface interference.
Further, the driving distance of the vehicle in S6 includes, but is not limited to, the distance obtained from the GPS module or the distance obtained by integrating the vehicle speed.
Referring to fig. 2, an anti-lock brake system for implementing the above anti-lock control method, the system comprising,
the anti-lock function module is used for determining whether to activate the anti-lock function according to the self activation condition and the received activation inhibiting instruction or activation allowing instruction;
the GPS module is used for acquiring the speed and the running distance of the vehicle;
the system comprises a wheel speed sensor, a speed sensor and a control module, wherein the wheel speed sensor is used for acquiring wheel speed sensor signals of four wheels of a vehicle;
the inertia measurement unit is used for acquiring the acceleration and the yaw velocity of the vehicle along each axial direction of XYZ;
and the operation processing module is used for receiving the measurement signals of the GPS module, the wheel speed sensor and the inertia measurement unit, judging whether the anti-lock function is triggered by road interference according to the measurement signals, and sending an activation inhibiting instruction or an activation allowing instruction to the anti-lock function module according to the judgment result.
A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, carries out the steps of the above-described anti-lock control method.
An automobile having an anti-lock braking system as hereinbefore described.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. An anti-lock control method characterized by comprising: the method comprises the following steps of,
s1, collecting signals of wheel speed sensors of four wheels of a vehicle to obtain respective wheel speeds of the four wheels;
s2, acquiring the current speed, acceleration and yaw velocity of the vehicle in all directions along XYZ axes;
s3, calculating the slip quantities of the four wheels, and the acceleration and yaw rate change rates of the four wheels in all directions along XYZ axes;
s4, judging whether the activation reason is road surface interference or not when the anti-lock function reaches the self activation condition and requests activation;
s5, if the activation reason is judged to be road surface interference, inhibiting the activation of an anti-lock function, and executing the subsequent steps; otherwise, activation is allowed, and the step returns to S1;
s6, before the vehicle runs to a certain distance, the anti-lock braking function is kept in a suppression state;
s7, after the vehicle runs to a certain distance, executing the judgment in the step S4 again, if the road surface interference still exists, sending a suppression instruction to the anti-lock function module, and executing S6-S7 again; otherwise, the inhibition of the anti-lock function is released.
2. The anti-lock control method according to claim 1, characterized in that: and S2, acquiring the vehicle speed through a vehicle speed signal acquired by the vehicle-mounted GPS module.
3. The anti-lock control method according to claim 1, characterized in that: and S3, the slip quantity of a certain wheel is the difference value between the vehicle speed and the wheel speed of the wheel.
4. The antilock control method according to claim 1, wherein: in S2, the acceleration and yaw rate of the vehicle in each XYZ direction are measured by an inertial sensor unit mounted on the vehicle.
5. The antilock control method according to claim 1, wherein: in S3, the acceleration and the yaw rate of the vehicle along each direction of XYZ axes are respectively used as the acceleration and the yaw rate of the four wheels along each direction of XYZ axes; the change rate of the yaw angular velocity is the ratio of the difference value of the yaw angular velocity acquired in two adjacent times to the acquisition time interval.
6. The antilock control method according to claim 1, wherein: the judgment process in the step S4 is specifically that,
s41, when the axial acceleration of the X is negative and is greater than a preset threshold value, judging that the vehicle is in a deceleration and non-high-intensity braking state;
s42, when absolute values of the Y-axis acceleration and the yaw rate change rate are smaller than preset threshold values, judging that the vehicle is in a non-emergency steering state;
s43, when the absolute value of the change rate of the X-axis acceleration is smaller than a preset threshold value, judging that the vehicle is not in a state of switching to drive on the road surfaces with different adhesion coefficients;
s44, when the absolute value of the Z axial acceleration or the acceleration change rate is larger than a preset threshold value, judging that the vehicle jolts to exceed a certain degree in a short time;
s45, at least one wheel exists, and the slippage of not all wheels is smaller than a preset threshold value;
and S46, when the conditions from S41 to S45 are all met, judging that the reason for activating the anti-lock function is road interference.
7. The anti-lock control method according to claim 1, characterized in that: in S6, the driving distance of the vehicle includes, but is not limited to, the distance obtained from the GPS module or obtained by performing integral calculation using the vehicle speed.
8. An antilock braking system for implementing the antilock control method according to any one of claims 1 to 7, characterized in that: the system comprises a plurality of devices which are connected with each other,
the anti-lock function module is used for determining whether to activate the anti-lock function according to the self activation condition and the received activation inhibiting instruction or activation allowing instruction;
the GPS module is used for acquiring the speed and the running distance of the vehicle;
the wheel speed sensor is used for acquiring wheel speed sensor signals of four wheels of the vehicle;
the inertia measurement unit is used for acquiring the acceleration and the yaw velocity of the vehicle along each axial direction of XYZ;
and the operation processing module is used for receiving the measurement signals of the GPS module, the wheel speed sensor and the inertia measurement unit, judging whether the anti-lock function is triggered by road interference according to the measurement signals, and sending an activation inhibiting instruction or an activation allowing instruction to the anti-lock function module according to the judgment result.
9. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program when executed by a processor performs the steps of the anti-lock control method according to any one of claims 1 to 7.
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| CN105416296B (en) * | 2015-12-07 | 2017-12-05 | 招商局重庆交通科研设计院有限公司 | A kind of driving behavior analysis method based on three axis accelerometer meters |
| JP6711301B2 (en) * | 2017-03-02 | 2020-06-17 | 株式会社アドヴィックス | Brake control device |
| US20190064027A1 (en) * | 2017-08-30 | 2019-02-28 | Ford Global Technologies, Llc | Determining vehicle wheel imbalance |
| CN107719186B (en) * | 2017-09-28 | 2020-04-14 | 北京新能源汽车股份有限公司 | Vehicle threshold-crossing compensation control method, device and system and motor controller |
| CN110733354B (en) * | 2018-07-18 | 2021-07-06 | 长城汽车股份有限公司 | Electric automobile torque control method and device and vehicle |
| CN108944867B (en) * | 2018-07-24 | 2020-08-04 | 北京新能源汽车股份有限公司 | Anti-lock brake system control method and device and electric automobile |
| CN112776608A (en) * | 2019-11-08 | 2021-05-11 | 罗伯特·博世有限公司 | Coasting energy recovery control system and coasting energy recovery control method |
| CN111459076A (en) * | 2020-04-22 | 2020-07-28 | 芜湖伯特利电子控制系统有限公司 | Vehicle optimization control method based on vehicle-mounted camera identification information |
| CN111959469B (en) * | 2020-08-21 | 2022-08-09 | 上海拿森汽车电子有限公司 | Wheel anti-lock control method and device and vehicle |
| CN113619553B (en) * | 2021-07-12 | 2022-06-03 | 东风汽车集团股份有限公司 | System and method for eliminating disk clearance on bumpy road surface |
| CN113276813B (en) * | 2021-07-20 | 2021-09-17 | 天津所托瑞安汽车科技有限公司 | Method and device for correcting wheel slip ratio, electronic device, and medium |
| CN113879269A (en) * | 2021-11-10 | 2022-01-04 | 安徽江淮汽车集团股份有限公司 | ABS control strategy for bumpy road surface |
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