CN117087632A - Automatic braking control system and method for electric wheel mine car - Google Patents
Automatic braking control system and method for electric wheel mine car Download PDFInfo
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- CN117087632A CN117087632A CN202311077140.4A CN202311077140A CN117087632A CN 117087632 A CN117087632 A CN 117087632A CN 202311077140 A CN202311077140 A CN 202311077140A CN 117087632 A CN117087632 A CN 117087632A
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- hydraulic brake
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005065 mining Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 description 4
- 238000006467 substitution reaction Methods 0.000 description 2
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
-
- 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
- B60T13/74—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 electrical assistance or drive
- B60T13/741—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 electrical assistance or drive acting on an ultimate actuator
Abstract
The invention discloses an automatic braking control system of an electric wheel mine car, which comprises the following components: the automatic driving system comprises an automatic driving controller, a hydraulic brake valve block, a hydraulic brake, an electric drive control system, a wheel motor and wheels. The invention also discloses an automatic braking control method of the electric wheel mine car. The invention realizes unmanned off-highway mine car braking system control by controlling the hydraulic braking and the electric slow braking of the electric wheels and providing closed loop feedback control at different levels.
Description
This patent application is application number: 201811514977.X, filing date: 12 months of 2018, 12 days, name: an automatic braking control system for electric wheel mine car and its method are disclosed.
Technical Field
The invention relates to an off-highway mine car, in particular to an automatic braking control system and method for an electric wheel mine car.
Background
Intelligent mine is the core of new generation mining industry technology competition, intelligent mine technology brings unprecedented opportunities to the development of world mining industry, traditional mine technology gradually exits from mining stage, and intelligent, informationized and automatic mine technology is about to start a brand-new and full-active technological development field. The unmanned off-highway mine car used for open-pit mining is a main component of mine automation operation, is paid more attention to the mining industry, can improve safety and health performance indexes to a certain extent, can reduce operation cost, improve productivity and the like, and becomes an important component in mine automation solutions.
Disclosure of Invention
The invention solves the technical problem of providing an automatic braking control system and method for an electric wheel mine car, wherein closed loop feedback control is arranged at different levels by controlling hydraulic braking and electric slow braking of the electric wheel mine car, so that unmanned off-highway mine car braking system control is realized.
The technical proposal is as follows:
an automatic braking control system for an electric wheel mine car, comprising:
the automatic driving controller is respectively connected with the hydraulic brake valve block and the electric drive control system through wire harnesses, receives a vehicle speed signal input by the scheduling layer, forms a hydraulic brake signal and an electric creep signal according to the vehicle speed signal, and respectively controls the output of the hydraulic brake valve block and the electric drive control system; the automatic driving controller timely adjusts the outputs of the hydraulic brake valve block and the electric drive control system according to the received GPS speed signal, the pressure signal fed back by the brake pressure sensor and the output rotating speed of the wheel motor fed back by the wheel speed sensor, so as to realize the brake feedback of the whole vehicle; the automatic driving controller adjusts the output of the hydraulic brake valve block according to the pressure signal to realize hydraulic brake feedback; the automatic driving controller receives the output rotating speed, and adjusts the output of the electric driving control system according to the output rotating speed so as to realize electric slow braking feedback;
the output end of the hydraulic brake valve block is connected with the hydraulic brake through a hydraulic pipeline and is used for converting a hydraulic brake signal of the automatic driving controller into a hydraulic pressure signal and transmitting the hydraulic pressure signal to the hydraulic brake;
a hydraulic brake for converting a hydraulic pressure signal into a mechanical braking force; the input end of the hydraulic brake is provided with a brake pressure sensor, and the brake pressure sensor measures the hydraulic pressure of the input end of the hydraulic brake in real time and feeds back a pressure signal to the automatic driving controller;
the output end of the electric drive control system is connected with the wheel motor through a cable and is used for converting an electric creep signal of the automatic driving controller into an electric creep output signal and transmitting the electric creep output signal to the wheel motor;
the wheel motor receives an electric creep output signal output by the electric drive control system and converts the electric creep output signal into an electric creep braking force; the output end of the wheel motor is provided with a wheel speed sensor, and the wheel speed sensor is used for measuring the output rotating speed of the wheel motor in real time and feeding back the output rotating speed to the automatic driving controller;
the wheels are used for converting the mechanical braking force output by the hydraulic brake and the electric slow running braking force output by the wheel motor into the friction force between the tires of the wheels and the ground, so as to realize the braking action of the vehicle; the output ends of the hydraulic brake and the wheel motor are respectively connected with the wheels through mechanical structures; the wheels are provided with GPS positioning systems, and the GPS positioning systems measure the actual running speed of the vehicle in real time and feed GPS speed signals back to the automatic driving controller.
Further, the automatic driving controller receives GPS speed signals, and timely adjusts the outputs of the hydraulic brake valve block and the electric drive control system according to the GPS speed signals, so that the braking feedback of the whole vehicle is realized.
An automatic braking control method for an electric wheel mine car comprises the following steps:
the automatic driving controller is respectively connected with the hydraulic brake valve block and the electric drive control system through wire harnesses, receives a vehicle speed signal input by the scheduling layer, forms a hydraulic brake signal and an electric creep signal according to the vehicle speed signal, and respectively controls the output of the hydraulic brake valve block and the electric drive control system;
the output end of the hydraulic brake valve block is connected with a hydraulic brake through a hydraulic pipeline, a hydraulic brake signal of the automatic driving controller is converted into a hydraulic pressure signal, the hydraulic pressure signal is sent to the hydraulic brake, and the hydraulic brake converts the hydraulic pressure signal into mechanical braking force;
the output end of the electric drive control system is connected with the wheel motor through a cable, converts an electric creep signal of the automatic driving controller into an electric creep output signal, and sends the electric creep output signal to the wheel motor; the wheel motor receives an electric creep output signal output by the electric drive control system and converts the electric creep output signal into an electric creep braking force;
the output ends of the hydraulic brake and the wheel motor are respectively connected with the wheels through mechanical structures, and the wheels convert mechanical braking force output by the hydraulic brake and electric creep braking force output by the wheel motor into friction force between tires of the wheels and the ground, so that braking action of the vehicle is realized.
Preferably, the input end of the hydraulic brake is provided with a brake pressure sensor, and the brake pressure sensor measures the hydraulic pressure of the input end of the hydraulic brake in real time and feeds back a pressure signal to the automatic driving controller; the output end of the wheel motor is provided with a wheel speed sensor, and the wheel speed sensor is used for measuring the output rotating speed of the wheel motor in real time and feeding back the output rotating speed to the automatic driving controller; the wheels are provided with GPS positioning systems, the GPS positioning systems measure the actual running speed of the vehicle in real time and feed GPS speed signals back to the automatic driving controller; the automatic driving controller timely adjusts the output of the hydraulic brake valve block and the electric drive control system according to the received GPS speed signal, the pressure signal fed back by the brake pressure sensor and the output rotating speed of the wheel motor fed back by the wheel speed sensor, so that the brake feedback of the whole vehicle is realized.
Preferably, the automatic driving controller adjusts the output of the hydraulic brake valve block according to the pressure signal, so as to realize hydraulic brake feedback.
Preferably, the automatic driving controller receives the output rotating speed, and adjusts the output of the electric drive control system according to the output rotating speed, so as to realize electric slow braking feedback.
Preferably, the automatic driving controller receives GPS speed signals, and timely adjusts the outputs of the hydraulic brake valve block and the electric drive control system according to the GPS speed signals, so that the braking feedback of the whole vehicle is realized.
The technical effects of the invention include:
the invention can realize the control of the automatic braking system of the unmanned electric wheel mine car, and realize the control of the unmanned off-highway mine car braking system by controlling the hydraulic braking and the electric creep braking of the electric wheel and arranging closed loop feedback control at different levels.
The automatic braking control function of the unmanned electric wheel mine car is realized by triple closed loop feedback control of hydraulic braking feedback, electric slow braking feedback and whole car braking feedback and responding to a vehicle speed command input by a planning layer.
The invention controls the hydraulic braking and the electric slow braking of the electric wheel, and is provided with closed loop feedback control at different levels, so that the invention can be used for realizing the control of an unmanned off-highway mine car braking system and has the characteristics of high response speed, high control precision and high safety.
Drawings
FIG. 1 is a flow chart of the operation of the automatic brake control system for an electric wheel mining vehicle of the present invention.
Detailed Description
The following description fully illustrates the specific embodiments of the invention to enable those skilled in the art to practice and reproduce it.
The invention relates to a solution for solving the control of an automatic braking system of an unmanned electric wheel mine car. The unmanned off-highway mine car used for open-pit mining is a main component of mine automation operation, is paid more attention to the mining industry, can improve safety and health performance indexes to a certain extent, can reduce operation cost, improve productivity and the like, and becomes an important component in mine automation solutions.
As shown in FIG. 1, a control flow chart of the automatic braking control system of the electric wheel car in the invention is shown.
An automatic braking control system for an electric wheel mine car, comprising: the automatic driving system comprises an automatic driving controller, a hydraulic brake valve block, a hydraulic brake, an electric drive control system, a wheel motor and wheels.
The automatic driving controller is respectively connected with the hydraulic brake valve block and the electric drive control system through wire harnesses, receives a vehicle speed signal input by the scheduling layer, forms a hydraulic brake signal and an electric creep signal according to the vehicle speed signal, and respectively controls the output of the hydraulic brake valve block and the electric drive control system; and receiving a pressure signal fed back by the brake pressure sensor, and adjusting the output of the hydraulic brake valve block according to the pressure signal to realize hydraulic brake feedback; receiving the output rotating speed of the wheel motor fed back by the wheel speed sensor, and adjusting the output of the electric drive control system according to the output rotating speed to realize electric slow braking feedback;
the output end of the hydraulic brake valve block is connected with the hydraulic brake through a hydraulic pipeline and is used for converting a hydraulic brake signal of the automatic driving controller into a hydraulic pressure signal and transmitting the hydraulic pressure signal to the hydraulic brake;
a hydraulic brake for converting a hydraulic pressure signal into a mechanical braking force; the input end of the hydraulic brake is provided with a brake pressure sensor, and the brake pressure sensor measures the hydraulic pressure of the input end of the hydraulic brake in real time and feeds back a pressure signal to the automatic driving controller;
the output end of the electric drive control system is connected with the wheel motor through a cable and is used for converting an electric creep signal of the automatic driving controller into an electric creep output signal and transmitting the electric creep output signal to the wheel motor;
the wheel motor receives an electric creep output signal output by the electric drive control system and converts the electric creep output signal into an electric creep braking force; the output end of the wheel motor is provided with a wheel speed sensor, and the wheel speed sensor is used for measuring the output rotating speed of the wheel motor in real time and feeding back the output rotating speed to the automatic driving controller;
the wheels are used for converting the mechanical braking force output by the hydraulic brake and the electric slow running braking force output by the wheel motor into the friction force between the tires of the wheels and the ground, so as to realize the braking action of the vehicle; the output ends of the hydraulic brake and the wheel motor are respectively connected with the wheels through mechanical structures;
the GPS positioning system is arranged on wheels, measures the actual running speed of the vehicle in real time, and feeds back GPS speed signals to the automatic driving controller. And the automatic driving controller timely adjusts the output of the hydraulic brake valve block and the output of the electric drive control system according to the received GPS vehicle speed signal, so that the braking feedback of the whole vehicle is realized.
The invention discloses an automatic braking control method of an electric wheel mine car based on an automatic braking control system of the electric wheel mine car, which comprises the following steps:
the automatic driving controller is respectively connected with the hydraulic brake valve block and the electric drive control system through wire harnesses, receives a vehicle speed signal input by the scheduling layer, forms a hydraulic brake signal and an electric creep signal according to the vehicle speed signal, and respectively controls the output of the hydraulic brake valve block and the electric drive control system; the automatic driving controller receives a pressure signal fed back by the brake pressure sensor, and adjusts the output of the hydraulic brake valve block according to the pressure signal so as to realize hydraulic brake feedback; the automatic driving controller receives the output rotating speed of the wheel motor fed back by the wheel speed sensor, and adjusts the output of the electric driving control system according to the output rotating speed so as to realize electric slow braking feedback;
the output end of the hydraulic brake valve block is connected with the hydraulic brake through a hydraulic pipeline, converts a hydraulic brake signal of the automatic driving controller into a hydraulic pressure signal, and sends the hydraulic pressure signal to the hydraulic brake;
the hydraulic brake converts the hydraulic pressure signal into mechanical braking force; the input end of the hydraulic brake is provided with a brake pressure sensor, and the brake pressure sensor measures the hydraulic pressure of the input end of the hydraulic brake in real time and feeds back a pressure signal to the automatic driving controller;
the output end of the electric drive control system is connected with the wheel motor through a cable, converts an electric creep signal of the automatic driving controller into an electric creep output signal, and sends the electric creep output signal to the wheel motor;
the wheel motor receives an electric creep output signal output by the electric drive control system and converts the electric creep output signal into an electric creep braking force; the output end of the wheel motor is provided with a wheel speed sensor, and the wheel speed sensor measures the output rotating speed of the wheel motor in real time and feeds the output rotating speed back to the automatic driving controller;
the wheels convert the mechanical braking force output by the hydraulic brake and the electric slow running braking force output by the wheel motor into the friction force between the tires of the wheels and the ground, so as to realize the braking action of the vehicle; the output ends of the hydraulic brake and the wheel motor are respectively connected with the wheels through mechanical structures;
the GPS positioning system arranged on the wheels measures the actual running speed of the vehicle in real time and feeds back GPS speed signals to the automatic driving controller.
It should be understood that the foregoing is only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present invention, and the variations or substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. An automatic braking control system for an electric wheel mining vehicle, comprising:
the automatic driving controller is respectively connected with the hydraulic brake valve block and the electric drive control system through wire harnesses, receives a vehicle speed signal input by the scheduling layer, forms a hydraulic brake signal and an electric creep signal according to the vehicle speed signal, and respectively controls the output of the hydraulic brake valve block and the electric drive control system; the automatic driving controller timely adjusts the outputs of the hydraulic brake valve block and the electric drive control system according to the received GPS speed signal, the pressure signal fed back by the brake pressure sensor and the output rotating speed of the wheel motor fed back by the wheel speed sensor, so as to realize the brake feedback of the whole vehicle; the automatic driving controller adjusts the output of the hydraulic brake valve block according to the pressure signal to realize hydraulic brake feedback; the automatic driving controller receives the output rotating speed, and adjusts the output of the electric driving control system according to the output rotating speed so as to realize electric slow braking feedback;
the output end of the hydraulic brake valve block is connected with the hydraulic brake through a hydraulic pipeline and is used for converting a hydraulic brake signal of the automatic driving controller into a hydraulic pressure signal and transmitting the hydraulic pressure signal to the hydraulic brake;
a hydraulic brake for converting a hydraulic pressure signal into a mechanical braking force; the input end of the hydraulic brake is provided with a brake pressure sensor, and the brake pressure sensor measures the hydraulic pressure of the input end of the hydraulic brake in real time and feeds back a pressure signal to the automatic driving controller;
the output end of the electric drive control system is connected with the wheel motor through a cable and is used for converting an electric creep signal of the automatic driving controller into an electric creep output signal and transmitting the electric creep output signal to the wheel motor;
the wheel motor receives an electric creep output signal output by the electric drive control system and converts the electric creep output signal into an electric creep braking force; the output end of the wheel motor is provided with a wheel speed sensor, and the wheel speed sensor is used for measuring the output rotating speed of the wheel motor in real time and feeding back the output rotating speed to the automatic driving controller;
the wheels are used for converting the mechanical braking force output by the hydraulic brake and the electric slow running braking force output by the wheel motor into the friction force between the tires of the wheels and the ground, so as to realize the braking action of the vehicle; the output ends of the hydraulic brake and the wheel motor are respectively connected with the wheels through mechanical structures; the wheels are provided with GPS positioning systems, and the GPS positioning systems measure the actual running speed of the vehicle in real time and feed GPS speed signals back to the automatic driving controller.
2. An automatic braking control system for an electric wheel mine car according to claim 1, wherein the automatic driving controller receives a GPS vehicle speed signal, and adjusts the outputs of the hydraulic braking valve block and the electric drive control system in time according to the GPS vehicle speed signal, so as to realize the braking feedback of the whole car.
3. An automatic electric wheel car braking control method of an automatic electric wheel car braking control system according to claim 1, comprising:
the automatic driving controller is respectively connected with the hydraulic brake valve block and the electric drive control system through wire harnesses, receives a vehicle speed signal input by the scheduling layer, forms a hydraulic brake signal and an electric creep signal according to the vehicle speed signal, and respectively controls the output of the hydraulic brake valve block and the electric drive control system;
the output end of the hydraulic brake valve block is connected with a hydraulic brake through a hydraulic pipeline, a hydraulic brake signal of the automatic driving controller is converted into a hydraulic pressure signal, the hydraulic pressure signal is sent to the hydraulic brake, and the hydraulic brake converts the hydraulic pressure signal into mechanical braking force;
the output end of the electric drive control system is connected with the wheel motor through a cable, converts an electric creep signal of the automatic driving controller into an electric creep output signal, and sends the electric creep output signal to the wheel motor; the wheel motor receives an electric creep output signal output by the electric drive control system and converts the electric creep output signal into an electric creep braking force;
the output ends of the hydraulic brake and the wheel motor are respectively connected with the wheels through mechanical structures, and the wheels convert mechanical braking force output by the hydraulic brake and electric creep braking force output by the wheel motor into friction force between tires of the wheels and the ground, so that braking action of the vehicle is realized.
4. An automatic braking control method for an electric wheel car according to claim 3, wherein the input end of the hydraulic brake is provided with a brake pressure sensor, and the brake pressure sensor measures the hydraulic pressure of the input end of the hydraulic brake in real time and feeds back a pressure signal to the automatic driving controller; the output end of the wheel motor is provided with a wheel speed sensor, and the wheel speed sensor is used for measuring the output rotating speed of the wheel motor in real time and feeding back the output rotating speed to the automatic driving controller; the wheels are provided with GPS positioning systems, the GPS positioning systems measure the actual running speed of the vehicle in real time and feed GPS speed signals back to the automatic driving controller; the automatic driving controller timely adjusts the output of the hydraulic brake valve block and the electric drive control system according to the received GPS speed signal, the pressure signal fed back by the brake pressure sensor and the output rotating speed of the wheel motor fed back by the wheel speed sensor, so that the brake feedback of the whole vehicle is realized.
5. An automatic braking control method for an electric wheel car according to claim 3 wherein the automatic driving controller adjusts the output of the hydraulic brake valve block based on the pressure signal to achieve hydraulic brake feedback.
6. An automatic braking control method for an electric wheel car according to claim 3 wherein the automatic driving controller receives the output rotational speed and adjusts the output of the electric drive control system based on the output rotational speed to effect electric creep braking feedback.
7. An automatic braking control method for an electric wheel mine car according to claim 3, wherein the automatic driving controller receives a GPS vehicle speed signal, and adjusts the outputs of the hydraulic brake valve block and the electric drive control system in time according to the GPS vehicle speed signal, so as to realize the braking feedback of the whole car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311077140.4A CN117087632A (en) | 2018-12-12 | 2018-12-12 | Automatic braking control system and method for electric wheel mine car |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811514977.XA CN109552297A (en) | 2018-12-12 | 2018-12-12 | Electric Motor Wheel mine car automatic brake control system and method |
| CN202311077140.4A CN117087632A (en) | 2018-12-12 | 2018-12-12 | Automatic braking control system and method for electric wheel mine car |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811514977.XA Division CN109552297A (en) | 2018-12-12 | 2018-12-12 | Electric Motor Wheel mine car automatic brake control system and method |
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| CN117087632A true CN117087632A (en) | 2023-11-21 |
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| CN201811514977.XA Pending CN109552297A (en) | 2018-12-12 | 2018-12-12 | Electric Motor Wheel mine car automatic brake control system and method |
| CN202311077140.4A Pending CN117087632A (en) | 2018-12-12 | 2018-12-12 | Automatic braking control system and method for electric wheel mine car |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811514977.XA Pending CN109552297A (en) | 2018-12-12 | 2018-12-12 | Electric Motor Wheel mine car automatic brake control system and method |
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| CN111856062A (en) * | 2020-06-30 | 2020-10-30 | 安徽海博智能科技有限责任公司 | Wheel speed sensor system, unmanned mine car and control method |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3735903B2 (en) * | 1995-09-19 | 2006-01-18 | アイシン精機株式会社 | Anti-skid control device for electric vehicle |
| US20040108769A1 (en) * | 2002-12-05 | 2004-06-10 | Marathe Sameer S. | Automatic secondary brake application |
| CN100532168C (en) * | 2007-01-25 | 2009-08-26 | 赵英斌 | Automobile slow traveling and assistant drive system |
| JP5381954B2 (en) * | 2010-10-20 | 2014-01-08 | 三菱自動車工業株式会社 | Vehicle driving force control device |
| CN102490706B (en) * | 2011-12-15 | 2014-12-24 | 奇瑞汽车股份有限公司 | Electromechanical brake control system and automobile |
| CN202743222U (en) * | 2012-06-01 | 2013-02-20 | 内蒙古北方重型汽车股份有限公司 | Anti-skid control system of electric wheel mining truck |
| CN203246457U (en) * | 2013-03-28 | 2013-10-23 | 北京航空航天大学 | Vehicle composite braking system based on hydraulic braking and electronic mechanical braking |
| CN103253256A (en) * | 2013-04-27 | 2013-08-21 | 同济大学 | Electromobile electro-hydraulic composite braking system and braking controlling method thereof |
| DE102013021872A1 (en) * | 2013-12-21 | 2014-04-03 | Audi Ag | Motor car e.g. hybrid or electric car, has electric motor through which torque for braking car is generated to standstill in event of detected malfunction in brake system by automatically shifting brake circuit to regenerative mode |
| US10384546B2 (en) * | 2014-01-13 | 2019-08-20 | Ge Global Sourcing Llc | System and method for controlling a vehicle |
| DE102014220393B4 (en) * | 2014-09-16 | 2021-02-04 | Bayerische Motoren Werke Aktiengesellschaft | Hydraulic unit for a braking system with DC voltage converter and system with hydraulic unit and control device |
| CN204978619U (en) * | 2015-10-10 | 2016-01-20 | 东北大学 | Car electricity, compound drive -by -wire braking system of liquid |
| CN205890860U (en) * | 2016-07-11 | 2017-01-18 | 南京航空航天大学 | Electric automobile electricity liquid composite brake system |
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2018
- 2018-12-12 CN CN201811514977.XA patent/CN109552297A/en active Pending
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