CN117360245A - Braking energy recovery system and recovery method based on self-adaptive cruise control system - Google Patents
Braking energy recovery system and recovery method based on self-adaptive cruise control system Download PDFInfo
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- CN117360245A CN117360245A CN202311559042.4A CN202311559042A CN117360245A CN 117360245 A CN117360245 A CN 117360245A CN 202311559042 A CN202311559042 A CN 202311559042A CN 117360245 A CN117360245 A CN 117360245A
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- 238000011084 recovery Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 22
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 19
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 19
- 230000003044 adaptive effect Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 4
- 239000003245 coal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
Abstract
The invention discloses a braking energy recovery system based on a self-adaptive cruise control system, which comprises a Vehicle Control Unit (VCU), a motor driver (MCU), a cab control combination switch, a high-voltage power distribution system (PDU), a lithium Battery Management System (BMS) system and a braking system, wherein the Vehicle Control Unit (VCU), the motor driver (MCU) and the high-voltage power distribution system (PDU) as well as the lithium Battery Management System (BMS) are mutually and electrically connected, the Vehicle Control Unit (VCU) is also connected with a plurality of sensors, the sensors are used for detecting angle signals, current speed and wheel cylinder pressure signals, and the requirements of constant-speed cruising and decelerating of a vehicle under different working conditions are met by combining corresponding control methods, the applicability and the safety of the constant-speed cruising are improved, the frequent exit risk of the constant-speed cruising caused by larger fluctuation of the vehicle speed is reduced, the application scene of the constant-speed cruising is increased, and better constant-speed cruising experience is brought to users.
Description
Technical Field
The invention relates to the technical field of new energy automobile control, in particular to a braking energy recovery system and a recovery method based on a self-adaptive cruise control system.
Background
One of the main ways for realizing the aims of energy conservation and emission reduction in the future development of the new energy automobile industry is the brake energy recovery, which is one of the important energy conservation technologies of modern new energy automobiles. In a conventional internal combustion engine vehicle, when the vehicle is decelerated and braked, the kinetic energy of the vehicle is converted into heat energy through a brake system and released to the atmosphere, and in an electric vehicle and a hybrid vehicle, the wasted kinetic energy can be converted into electric energy through a brake energy recovery technology and stored in a storage battery, and further converted into driving energy. For example, when the vehicle starts or accelerates and an increased driving force is required, the motor driving force becomes the auxiliary power of the engine, so that the electric energy is effectively used.
As is well known, in a new energy vehicle, as the electric brake duty ratio is increased, more "magnetic electricity generation" is provided, and more electric power can be recovered. On the basis of analyzing the energy consumption influence mechanism of the underground vehicle under the heavy load deceleration working condition, the applicant develops a self-adaptive cruise sliding energy recovery control system based on the underground road working condition of the coal mine. This patent lies in solving colliery underground electric vehicle low problem of continuation of journey, and this control system can realize that vehicle heavy load is long downhill path in-process high efficiency recovery energy, under the condition that does not charge, than not using this system tactics to increase one time continuation of journey mileage. The energy feedback can be obtained, and the brake stepping of a driver in the heavy-load downhill transportation process can be omitted.
The invention can meet the constant-speed cruising and decelerating requirements of the vehicle under different working conditions, improves the constant-speed cruising and decelerating performance of the vehicle, improves the applicability and the safety of the constant-speed cruising, reduces the frequent exit risk of the constant-speed cruising caused by larger fluctuation of the vehicle speed, increases the application scene of the constant-speed cruising, and further brings better constant-speed cruising experience to users.
Disclosure of Invention
The invention aims to provide a braking energy recovery system based on a self-adaptive cruise control system, which can meet the constant-speed cruise and deceleration requirements of a vehicle under different working conditions, improve the constant-speed cruise and deceleration performance of the vehicle, improve the applicability and safety of the constant-speed cruise, reduce the frequent exit risk of the constant-speed cruise caused by larger fluctuation of the vehicle speed, increase the application scene of the constant-speed cruise and further bring better constant-speed cruise experience to users.
In order to achieve the above purpose, the present invention provides the following technical solutions: braking energy recovery system based on an adaptive cruise control system, characterized in that it comprises:
whole car controller (VCU), motor driver (MCU), driver's cabin control combination switch, high voltage distribution system (PDU), lithium Battery Management System (BMS) system and braking system, whole car controller (VCU), motor driver (MCU) with high voltage distribution system (PDU) and lithium Battery Management System (BMS) are electric connection each other, whole car controller (VCU) still is connected with a plurality of sensors, a plurality of sensors are used for detecting angle signal, current speed and wheel cylinder pressure signal.
As a preferable technical scheme, the sensor comprises a front radar camera mounted on the vehicle head and an inclination sensor mounted on the driving mechanism.
As a preferable technical scheme, a lithium Battery Management System (BMS) is arranged at the tail part of a new energy vehicle, the whole Vehicle Controller (VCU) and the motor driver (MCU) are arranged in a multifunctional electric cabinet, and the multifunctional electric cabinet is arranged beside the lithium Battery Management System (BMS); the driving motor is arranged at the bottom of the cab.
The braking energy recovery method based on the adaptive cruise control system comprises the following steps: starting the self-adaptive cruise, enabling the vehicle to activate a vehicle cruise mode button, enabling a self-adaptive cruise control function to be activated when a VCU detects a signal, calculating required braking torque according to related parameters detected by a sensor, and performing feedforward control by a preset braking pressure model to realize the anti-dragging braking of the motor; then, according to the detected speed signal, the whole vehicle is provided with an inclination angle sensor, when the VCU calculates that the current motor anti-dragging force is insufficient, the feedback control is carried out by combining the wheel cylinder pressure signal, the VCU selects a proper control command, the command can be sent to an electromagnetic valve of a hydraulic system, and the pressure of hydraulic oil is controlled to a brake wheel, so that the simultaneous action of hydraulic braking and motor anti-dragging is realized, and the target pressure is generated to brake the vehicle;
and when an obstacle exists in front of the vehicle or other vehicles are too close, a vehicle distance signal is sent to the VCU according to camera equipment with a radar, and the controller VCU calculates proper anti-tugging moment according to the current vehicle speed to carry out new adjustment and speed reduction.
As a preferable technical scheme, firstly, judging whether to enter energy feedback or not according to the current battery electric quantity SOC value, if the SOC value is more than or equal to 90%, the BMS can send an electric quantity full message to the VCU, the VCU can control the motor anti-drag torque to be zero at the same time, the motor anti-drag torque in the whole self-adaptive cruise mode can automatically disappear, calculation is carried out again according to the current speed VCU, and a braking signal is fed back to the hydraulic electromagnetic valve to control the hydraulic oil pressure so as to realize the hydraulic braking of the whole vehicle to keep the speed constant.
As a preferable technical scheme, a Vehicle Controller (VCU) calculates a current vehicle speed v according to a motor rotation speed ring and a transfer case speed ratio, so as to obtain a real-time speed v of the running vehicle, and calculates the output power of the motor according to the current vehicle speed of the vehicle by an automobile dynamics equation:
wherein eta t is the efficiency of the whole vehicle transmission system, cd is the wind resistance coefficient, A is the orthographic projection area, m is the total mass of the whole vehicle, g is the gravity acceleration, f is the road rolling resistance coefficient, V is the current vehicle speed, alpha is the gradient value, and f, eta t, g, alpha, m, A and Cd are all known constants;
at this time, the corresponding torque value of the motor can be obtained:
where the motor speed can be read by the controller, so n is a known quantity.
According to the relation between the motor rotation speed n and the vehicle speed v:
wherein ig is the main speed reduction ratio of the whole vehicle, i0 is the current gear speed ratio, and both are constant.
The required power is calculated according to the motor reverse dragging torque and the current vehicle speed:
W＝Tv
the obtained power value can be used for calculating the reverse charging current:
wherein U is a known rated voltage value. The reverse charging current is controlled to be smaller than or equal to the set maximum value through the VCU, the vehicle can calculate the gradient size for the VCU feedback signal under different gradient working conditions through the inclination angle sensor so as to adjust the reverse dragging torque of the motor, realize the reverse charging current size adjustment speed, maintain the constant-speed motor to realize the energy feedback of the reverse dragging process, and the BMS receives the energy feedback and enters the charging state
Compared with the prior art, the invention has the beneficial effects that:
the invention can meet the constant-speed cruising and decelerating requirements of the vehicle under different working conditions, improves the constant-speed cruising and decelerating performance of the vehicle, improves the applicability and the safety of the constant-speed cruising, reduces the frequent exit risk of the constant-speed cruising caused by larger fluctuation of the vehicle speed, increases the application scene of the constant-speed cruising, and further brings better constant-speed cruising experience to users.
Drawings
FIG. 1 is a schematic diagram of a brake energy recovery system based on an adaptive cruise control system of the present invention mounted on a new energy vehicle;
fig. 2 is a schematic diagram of an appliance of the present invention.
In the figure: 1. a front radar camera; 2. a combination switch; 3. an inclination sensor; 4. an accelerator brake pedal; 5. an electromagnetic valve; 6. a driving motor; 7. a power battery; 8. an electric control box.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the present invention provides a technical solution: a braking energy recovery system based on an adaptive cruise control system, comprising: whole car controller (VCU), motor driver (MCU), driver's cabin control combination switch, high-voltage distribution system (PDU), lithium Battery Management System (BMS) system and braking system, whole car controller (VCU), motor driver (MCU) with high-voltage distribution system (PDU) and lithium Battery Management System (BMS) are electric connection each other, whole car controller (VCU) still is connected with a plurality of sensors, and a plurality of sensors are used for detecting angle signal, current speed and wheel cylinder pressure signal.
The sensor comprises a front radar camera arranged on a vehicle head and an inclination sensor arranged on a driving mechanism, a lithium Battery Management System (BMS) is arranged at the tail part of a new energy vehicle, a Vehicle Control Unit (VCU) and a motor driver (MCU) are arranged in a multifunctional electric cabinet, and the multifunctional electric cabinet is arranged beside the lithium Battery Management System (BMS); the driving motor is arranged at the bottom of the cab.
Referring to fig. 1, the whole vehicle includes a front radar camera 1; a combination switch 2; an inclination sensor 3; an accelerator brake pedal 4; a solenoid valve 5; a drive motor 6; the power battery 7 and the electric cabinet 8, the electric control implementation method comprises the following steps: the method is characterized in that a self-adaptive cruise braking energy recovery control strategy model is built by taking a whole vehicle target braking force, a battery state of charge (SOC), a vehicle speed and a driving motor state parameter as input variables and a target hydraulic braking force and a target motor braking force as output variables, and a motor provides negative torque to achieve deceleration, namely electric braking. The method comprises the steps that a whole vehicle controller is connected with a motor driver (MCU), a cab control combination switch, a high-voltage power distribution system (PDU) and a lithium Battery Management System (BMS), state information is received, a sliding state is judged through a built-in program, a lithium battery provides a power source for the whole vehicle, the vehicle obtains a target vehicle speed through the whole vehicle controller under a cruising state, signals are fed back to the whole Vehicle Controller (VCU), calculated data are transmitted to a torque value required by the motor driver in a heat preservation mode, torque output of the motor is controlled through the driver, whether the motor is reversely towed or driven is judged, the speed is maintained at a target set speed, the motor rotates to generate electricity under the reversely towed state, the generated electricity is converted into direct current through an inverter, and the feedback electricity is charged for the lithium battery through an integrated high-voltage power distribution module, so that energy recovery of the lithium battery is achieved. Namely, outputting the torque required for recycling according to the current vehicle speed, and controlling the recycling capacity of the lithium battery.
The control system implementation method comprises the following steps: the vehicle can realize energy feedback in the self-adaptive cruising process no matter in a flat road driving condition or a downhill road driving condition, charge a battery, obtain a starting request of the self-adaptive cruising through a cab combination switch on a road where the vehicle enters a slope, activate a vehicle cruising mode button according to the starting request, send a message to a Vehicle Control Unit (VCU) at the moment, activate a self-adaptive cruising control function when the VCU detects a signal, calculate required braking torque according to a current speed VCU according to an angle signal fed back by an inclination sensor, perform feedforward control by a designed braking pressure model, realize inverse dragging braking of a motor firstly, adjust according to the detected speed signal, perform feedback control by the vehicle configuration inclination sensor by combining a wheel cylinder pressure signal under the condition that the VCU calculates the inverse dragging force of the current motor is insufficient, select a proper control command, send the command to an electromagnetic valve of a hydraulic system, control the pressure of hydraulic oil to a braking wheel, thereby realizing inverse simultaneous action of the hydraulic braking and the motor, generating target pressure to brake the vehicle, enabling the vehicle to reach target deceleration, and ensuring consistency, stability and smoothness of the deceleration. The whole process realizes the function of reversely dragging the motor to feed back energy and charging the battery.
When the vehicle is in front of the vehicle or the distance between other vehicles is too close, the vehicle distance signal is sent to the VCU according to camera equipment with a radar, and the controller VCU can calculate proper anti-drag torque according to the current vehicle speed to make new adjustment and properly decelerate.
The function control system realizes: firstly, judging whether to enter energy feedback or not according to the current battery electric quantity SOC value, if the SOC value is more than or equal to 90%, the BMS can send an electric quantity full message to the VCU, the VCU can control the motor anti-dragging moment to be zero at the same time, the motor anti-dragging moment in the whole self-adaptive cruise mode can automatically disappear, calculation is carried out again according to the current speed VCU, and a braking signal is fed back to the hydraulic electromagnetic valve to control the hydraulic oil pressure so as to realize that the hydraulic braking of the whole vehicle keeps the speed constant. The invention is mainly applied to the underground coal mine explosion-proof vehicle, and can greatly improve the working efficiency.
The implementation algorithm process of the control system comprises the following steps: the whole Vehicle Controller (VCU) can calculate the current vehicle speed v according to the motor rotating speed ring and the transfer case speed ratio, namely the real-time speed v of the whole vehicle can be obtained, and the motor output power can be calculated at the moment according to the current vehicle speed of the vehicle by an automobile dynamics equation:
wherein eta t is the efficiency of the whole vehicle transmission system, cd is the wind resistance coefficient, A is the orthographic projection area, m is the total mass of the whole vehicle, g is the gravity acceleration, f is the road rolling resistance coefficient, V is the current vehicle speed, alpha is the gradient value, and f, eta t, g, alpha, m, A and Cd are all known constants;
at this time, the corresponding torque value of the motor can be obtained:
where the motor speed can be read by the controller, so n is a known quantity.
According to the relation between the motor rotation speed n and the vehicle speed v:
wherein ig is the main speed reduction ratio of the whole vehicle, i0 is the current gear speed ratio, and both are constant.
The required power is calculated according to the motor reverse dragging torque and the current vehicle speed:
W＝Tv
the obtained power value can be used for calculating the reverse charging current:
wherein U is a known rated voltage value. The reverse charging current is controlled to be smaller than or equal to the set maximum value through the VCU, the gradient of the vehicle can be calculated for the VCU feedback signal through the inclination angle sensor under different gradient working conditions, so that the reverse dragging torque of the motor is adjusted, the reverse charging current size adjustment speed is realized, the constant-speed motor is maintained, the energy feedback of the reverse dragging process is realized, and the BMS receives the energy feedback and enters a charging state.
The following principles are followed in control: the multi-purpose sliding energy recovery can be realized by using the sliding energy recovery, when the deceleration of the sliding energy recovery can not meet the deceleration requirement, the braking energy recovery is adopted, after all, the sliding energy recovery is 100% recovery without other external force intervention, and meanwhile, the energy loss is caused by hydraulic braking intervention under some working conditions.
The motor of the electric design system of the scheme is in reverse dragging torque, and constant-speed sliding state energy recovery under various downhill working conditions can be met. The motor can be used as a main torque supply source completely, and hydraulic braking is not needed as braking torque to be used as compensation. Thereby increasing the duty cycle of the electric brake and thus the energy recovery.
In sum, the new energy vehicle adopting the braking energy recovery system and the recovery method based on the self-adaptive cruise control system can meet the constant-speed cruise and deceleration requirements of the vehicle under different working conditions, improve the constant-speed cruise and deceleration performance of the vehicle, improve the applicability and safety of the constant-speed cruise, reduce the frequent exit risk of the constant-speed cruise caused by large fluctuation of the vehicle speed, increase the application scene of the constant-speed cruise, and further bring better constant-speed cruise experience to users.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. Braking energy recovery system based on an adaptive cruise control system, characterized in that it comprises:
whole car controller (VCU), motor driver (MCU), driver's cabin control combination switch, high voltage distribution system (PDU), lithium Battery Management System (BMS) system and braking system, whole car controller (VCU), motor driver (MCU) with high voltage distribution system (PDU) and lithium Battery Management System (BMS) are electric connection each other, whole car controller (VCU) still is connected with a plurality of sensors, a plurality of sensors are used for detecting angle signal, current speed and wheel cylinder pressure signal.
2. The adaptive cruise control system-based braking energy recovery system according to claim 1, wherein the sensor includes a front radar camera mounted to the vehicle head and a tilt sensor mounted to the drive mechanism.
3. The braking energy recovery system based on the adaptive cruise control system according to claim 1, wherein the lithium Battery Management System (BMS) is disposed at the tail of a new energy vehicle, the whole Vehicle Controller (VCU) and the motor driver (MCU) are installed in a multifunctional electric cabinet, and the multifunctional electric cabinet is disposed beside the lithium Battery Management System (BMS); the driving motor is arranged at the bottom of the cab.
4. The braking energy recovery method based on the adaptive cruise control system is characterized by comprising the following steps of: starting the self-adaptive cruise, enabling the vehicle to activate a vehicle cruise mode button, enabling a self-adaptive cruise control function to be activated when a VCU detects a signal, calculating required braking torque according to related parameters detected by a sensor, and performing feedforward control by a preset braking pressure model to realize the anti-dragging braking of the motor; then, according to the detected speed signal, the whole vehicle is provided with an inclination angle sensor, when the VCU calculates that the current motor anti-dragging force is insufficient, the feedback control is carried out by combining the wheel cylinder pressure signal, the VCU selects a proper control command, the command can be sent to an electromagnetic valve of a hydraulic system, and the pressure of hydraulic oil is controlled to a brake wheel, so that the simultaneous action of hydraulic braking and motor anti-dragging is realized, and the target pressure is generated to brake the vehicle;
and when an obstacle exists in front of the vehicle or other vehicles are too close, a vehicle distance signal is sent to the VCU according to camera equipment with a radar, and the controller VCU calculates proper anti-tugging moment according to the current vehicle speed to carry out new adjustment and speed reduction.
5. The braking energy recovery method based on the adaptive cruise control system according to claim 4, wherein the method is characterized in that firstly, whether energy feedback is entered is judged according to the current battery power SOC value, if the current battery power SOC value is more than or equal to 90%, the BMS sends a power full message to the VCU, the VCU simultaneously controls the motor anti-drag torque to be zero, the motor anti-drag torque in the whole adaptive cruise mode automatically disappears, the calculation is carried out again according to the current speed VCU, and a braking signal is fed back to the hydraulic solenoid valve to control the hydraulic oil pressure so as to realize that the hydraulic braking of the whole vehicle keeps the speed constant.
6. The method for recovering braking energy based on an adaptive cruise control system according to claim 4, wherein the Vehicle Controller (VCU) calculates a current vehicle speed v according to a motor speed ring and a transfer case speed ratio, so as to obtain a real-time speed v of the running vehicle, and calculates the output power of the motor according to the current vehicle speed by an automobile dynamics equation:
wherein eta t is the efficiency of the whole vehicle transmission system, cd is the wind resistance coefficient, A is the orthographic projection area, m is the total mass of the whole vehicle, g is the gravity acceleration, f is the road rolling resistance coefficient, V is the current vehicle speed, alpha is the gradient value, and f, eta t, g, alpha, m, A and Cd are all known constants;
at this time, the corresponding torque value of the motor can be obtained:
where the motor speed can be read by the controller, so n is a known quantity.
According to the relation between the motor rotation speed n and the vehicle speed v:
wherein ig is the main speed reduction ratio of the whole vehicle, i0 is the current gear speed ratio, and both are constant.
The required power is calculated according to the motor reverse dragging torque and the current vehicle speed:
W＝Tv
the obtained power value can be used for calculating the reverse charging current:
wherein U is a known rated voltage value. The reverse charging current is controlled to be smaller than or equal to the set maximum value through the VCU, the gradient of the vehicle can be calculated for the VCU feedback signal through the inclination angle sensor under different gradient working conditions, so that the reverse dragging torque of the motor is adjusted, the reverse charging current size adjustment speed is realized, the constant-speed motor is maintained, the energy feedback of the reverse dragging process is realized, and the BMS receives the energy feedback and enters a charging state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311559042.4A CN117360245A (en) | 2023-11-21 | 2023-11-21 | Braking energy recovery system and recovery method based on self-adaptive cruise control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311559042.4A CN117360245A (en) | 2023-11-21 | 2023-11-21 | Braking energy recovery system and recovery method based on self-adaptive cruise control system |
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| CN202311559042.4A Pending CN117360245A (en) | 2023-11-21 | 2023-11-21 | Braking energy recovery system and recovery method based on self-adaptive cruise control system |
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| CN (1) | CN117360245A (en) |
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- 2023-11-21 CN CN202311559042.4A patent/CN117360245A/en active Pending
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