JP6560827B2 - 電動ブレーキ装置 - Google Patents
電動ブレーキ装置 Download PDFInfo
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- JP6560827B2 JP6560827B2 JP2018524963A JP2018524963A JP6560827B2 JP 6560827 B2 JP6560827 B2 JP 6560827B2 JP 2018524963 A JP2018524963 A JP 2018524963A JP 2018524963 A JP2018524963 A JP 2018524963A JP 6560827 B2 JP6560827 B2 JP 6560827B2
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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
-
- 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
-
- 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
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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
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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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
- B60T13/74—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
-
- 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
- B60T13/745—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 a hydraulic system, e.g. a master cylinder
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
- B60T8/4081—Systems with stroke simulating devices for driver input
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/06—Hill holder; Start aid systems on inclined road
-
- 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
-
- 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
- B60T2270/20—ASR control systems
-
- 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
- B60T2270/30—ESP control system
-
- 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
- B60T2270/82—Brake-by-Wire, EHB
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Braking Systems And Boosters (AREA)
- Regulating Braking Force (AREA)
Description
前記制御装置は、前記第1の制動指令値の入力時に、当該第1の制動指令値に基づいて前記電動アクチュエータを制御して前記ピストンを移動させ、制動液圧を発生させると共に、当該制動液圧の発生中に、前記装置間通信網から入力される前記マスタシリンダで発生した制動液圧値と、前記第1の制動指令値に基づいて制御された前記ピストンの移動量との関係を示す特性データを、前記ブレーキペダルの操作量に基づいて補正して記憶し、前記第2の制動指令値の入力時に、前記補正した特性データに基づいて前記電動アクチュエータを制御する。
(1)車両の制動時に接地荷重等に応じて各車輪2L,2R,3L,3Rに適切に制動力を配分する制動力配分制御。
(2)制動時に各車輪2L,2R,3L,3Rの制動力を自動的に調整して各車輪2L,2R,3L,3Rのロック(スリップ)を防止するアンチロックブレーキ制御。
(3)走行中の各車輪2L,2R,3L,3Rの横滑りを検知してブレーキペダル6の操作量に拘わらず各車輪2L,2R,3L,3Rに付与する制動力を適宜自動的に制御しつつ、アンダーステアおよびオーバーステアを抑制して車両の挙動を安定させる車両安定化制御。
(4)坂道において制動状態を保持して発進を補助する坂道発進補助制御。
(5)発進時等において各車輪2L,2R,3L,3Rの空転を防止するトラクション制御。
(6)先行車両に対して一定の車間を保持する車両追従制御。
(7)走行車線を保持する車線逸脱回避制御。
(8)車両前方または後方の障害物との衡突を回避する障害物回避制御。
5L,5R 後輪側ホイールシリンダ(ホイールシリンダ)
6 ブレーキペダル
7 ブレーキ操作センサ(操作量検出装置)
12 車両データバス(装置間通信網)
15 液圧センサ
21 マスタシリンダ
30 電動倍力装置(電動ブレーキ装置)
32 入力部材
36 電動アクチュエータ
37 電動モータ(電動アクチュエータ)
39 角度センサ(移動量検出装置)
43 回転直動変換機構(電動アクチュエータ)
45 パワーピストン(ピストン)
51 電動倍力装置用ECU(制御装置)
55 ブレーキ特性部
59 特性補正処理部
Claims (6)
- 車両のマスタシリンダで制動液圧を発生させるべく作動する電動アクチュエータと、
前記車両のブレーキペダルの操作量を検出する操作量検出装置と、
前記電動アクチュエータの作動により移動するピストンと、
前記ピストンの移動量を検出する移動量検出装置と、
前記ブレーキペダルの操作に基づく第1の制動指令値、または、前記車両の装置間通信網から入力される第2の制動指令値に基づき前記電動アクチュエータを制御して前記ピストンを移動させる制御装置と、
を有する電動ブレーキ装置であって、
前記制御装置は、
前記第1の制動指令値の入力時に、当該第1の制動指令値に基づいて前記電動アクチュエータを制御して前記ピストンを移動させ、制動液圧を発生させると共に、
当該制動液圧の発生中に、前記装置間通信網から入力される前記マスタシリンダで発生した制動液圧値と、前記第1の制動指令値に基づいて制御された前記ピストンの移動量との関係を示す特性データを、前記ブレーキペダルの操作量に基づいて補正して記憶し、
前記第2の制動指令値の入力時に、前記補正した特性データに基づいて前記電動アクチュエータを制御する、電動ブレーキ装置。 - 請求項1に記載の電動ブレーキ装置において、
前記制御装置は、前記ブレーキペダルの操作量が増加しているときに、前記特性データの補正を行う、電動ブレーキ装置。 - 請求項1または2に記載の電動ブレーキ装置において、
前記制御装置は、前記制動液圧値と前記ピストンの移動量とが増加しているときに、前記特性データの補正を行う、電動ブレーキ装置。 - 請求項1乃至3のいずれかに記載の電動ブレーキ装置において、
前記マスタシリンダは、前記車両に制動力を付与するホイールシリンダへ前記制動液圧を供給するものであって、
前記制御装置は、前記マスタシリンダと前記ホイールシリンダとの間に設けられる液圧供給装置が機能して前記ホイールシリンダの液圧が増減しているときに、前記特性データの補正を禁止する、電動ブレーキ装置。 - 請求項1乃至4のいずれかに記載の電動ブレーキ装置において、
前記制御装置は、前記特性データの補正を、前記装置間通信網による伝送時間を考慮して算出する、電動ブレーキ装置。 - 請求項1乃至5のいずれかに記載の電動ブレーキ装置において、
前記ブレーキペダルに接続される入力部材と、
該入力部材と前記ピストンとに当接し、前記マスタシリンダで発生する制動液圧の反力を前記入力部材と前記ピストンとに分配するリアクションディスクと、をさらに備え、
前記制御装置は、前記特性データの補正を、前記リアクションディスクの変形量を考慮して算出する、電動ブレーキ装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016128090 | 2016-06-28 | ||
JP2016128090 | 2016-06-28 | ||
PCT/JP2017/019678 WO2018003365A1 (ja) | 2016-06-28 | 2017-05-26 | 電動ブレーキ装置 |
Publications (2)
Publication Number | Publication Date |
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JPWO2018003365A1 JPWO2018003365A1 (ja) | 2019-02-21 |
JP6560827B2 true JP6560827B2 (ja) | 2019-08-14 |
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JP2018524963A Active JP6560827B2 (ja) | 2016-06-28 | 2017-05-26 | 電動ブレーキ装置 |
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US (1) | US10850718B2 (ja) |
JP (1) | JP6560827B2 (ja) |
CN (1) | CN109311458B (ja) |
DE (1) | DE112017003229T5 (ja) |
WO (1) | WO2018003365A1 (ja) |
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KR102582454B1 (ko) * | 2017-02-16 | 2023-09-25 | 에이치엘만도 주식회사 | 전자식 브레이크 시스템 및 그 제어 방법 |
JP6939273B2 (ja) * | 2017-08-31 | 2021-09-22 | 株式会社アドヴィックス | ブレーキ制御装置 |
DE102017011139A1 (de) * | 2017-12-01 | 2019-06-06 | Lucas Automotive Gmbh | Bremssteuerung und Bremssteuerungsverfahren zum Ermitteln eines Brems-Korrekturwerts für Notbremsvorgänge |
CN108860115B (zh) * | 2018-06-14 | 2020-02-18 | 清华大学 | 车辆主动制动的控制方法、装置及车辆主动制动系统 |
US10988097B2 (en) * | 2019-04-03 | 2021-04-27 | GM Global Technology Operations LLC | Retractable pedal assembly for a vehicle |
DE102019206612B3 (de) * | 2019-05-08 | 2020-07-16 | Volkswagen Aktiengesellschaft | Verfahren zur Steuerung eines elektromechanischen Bremssystems sowie elektromechanisches Bremssystem |
KR20200140515A (ko) * | 2019-06-07 | 2020-12-16 | 현대모비스 주식회사 | 전동기 위치센서의 오프셋 검출 장치 및 방법 |
KR102183953B1 (ko) * | 2019-08-27 | 2020-11-27 | 현대모비스 주식회사 | 전동부스터를 이용한 제동장치 및 그 제어방법 |
CN110979287B (zh) * | 2019-12-31 | 2022-02-22 | 广州文远知行科技有限公司 | 一种制动表的更新方法、装置、计算机设备和存储介质 |
CN113022525B (zh) * | 2020-12-23 | 2022-07-19 | 万向钱潮股份有限公司 | 一种电动制动助力双向压力特性补偿方法 |
CN113928296A (zh) * | 2021-10-27 | 2022-01-14 | 平阳星嘉智能科技有限公司 | 一种电子液压线控制动系统液压精度标定方法及装置 |
FR3132278A1 (fr) * | 2022-02-02 | 2023-08-04 | Safran Aircraft Engines | Système de freinage électrique d’un turbopropulseur |
DE102022205419A1 (de) * | 2022-05-30 | 2023-11-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Bremskraftverstärkereinrichtung für ein Fahrzeug und Verfahren zum Herstellen einer Bremskraftverstärkereinrichtung für ein Fahrzeug |
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JP5672430B2 (ja) * | 2010-03-31 | 2015-02-18 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
DE102010038918A1 (de) * | 2010-05-20 | 2011-11-24 | Robert Bosch Gmbh | Bremskraftverstärker sowie Verfahren zu dessen Betrieb |
JP5685791B2 (ja) * | 2010-09-29 | 2015-03-18 | 日立オートモティブシステムズ株式会社 | 倍力装置 |
JP5704311B2 (ja) * | 2010-10-29 | 2015-04-22 | 日立オートモティブシステムズ株式会社 | 電動倍力装置及びその自動ブレーキの制御方法 |
CN103260981B (zh) * | 2011-02-28 | 2015-07-29 | 日立汽车系统株式会社 | 制动控制装置 |
JP5776489B2 (ja) * | 2011-10-17 | 2015-09-09 | 日産自動車株式会社 | 車両用制動力制御装置 |
DE102013218330A1 (de) * | 2013-09-12 | 2015-03-12 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Bremskraftverstärkers, Steuergerät zur Durchführung des Verfahrens und ein den Bremskraftverstärker und das Steuergerät umfassendes Bremssystem |
JP2016128090A (ja) | 2016-04-12 | 2016-07-14 | 株式会社平和 | 遊技機 |
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