CN212637464U - Braking system suitable for automatic driving - Google Patents
Braking system suitable for automatic driving Download PDFInfo
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- CN212637464U CN212637464U CN202021465545.7U CN202021465545U CN212637464U CN 212637464 U CN212637464 U CN 212637464U CN 202021465545 U CN202021465545 U CN 202021465545U CN 212637464 U CN212637464 U CN 212637464U
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Abstract
The utility model aims at providing a braking system suitable for autopilot, when the vehicle need brake, two pressure generating device realize redundant backup's brake function under two accuse electrical unit's control, satisfy autopilot's safe redundant demand. When the wheel is locked in emergency braking, the wheel end electromagnetic valve is used for carrying out anti-lock control, and the wheel end electromagnetic valve is controlled by two electric control unit dual-electric control systems, so that the wheel end electromagnetic valve can still normally work even if one electric control unit fails, and the redundant backup of the anti-lock ABS function is realized. The pressure generating device comprises a pressure cylinder and a motor transmission driving unit and the pressure generating device comprises a motor, a pump I and a pump II, wherein the two pressure generating devices can alternately or simultaneously bear oil liquid supply to provide pressure, so that the ABS (anti-lock brake system) action does not have pressure supply interruption.
Description
Technical Field
The utility model relates to a vehicle braking field especially relates to a braking system suitable for autopilot.
Background
The boosting of the traditional automobile braking system is realized by utilizing vacuum generated by the work of an engine or vacuum generated by the work of an electronic vacuum pump in a vacuum booster. As shown in fig. 2, reference numeral 4 denotes the vacuum booster. When braking, a driver steps on the brake pedal 6 to drive the brake master cylinder 3 to build pressure on the brake 1 through the electric control pressure regulating unit ABS/ESC2 so as to generate brake hydraulic pressure; in the process, the vacuum booster is required to amplify the pedal force in proportion, so that the driver can realize the braking force meeting the braking requirement of the whole vehicle under the appropriate pedal feeling force.
With the development of new energy technology and braking technology of automobiles, the demand for a brake system without vacuum assistance is increasing. The method is mainly embodied in two aspects: the development of new energy automobiles, such as electric automobiles, has the disadvantages that the whole automobile is not provided with a vacuum booster for vacuumizing a power source, namely an engine, and is required to be externally connected with an electronic vacuum pump, and the electric energy consumption and the noise are obvious; and secondly, the development of an active safety braking technology, for example, the vehicle can identify expected danger after being matched with a radar wave or a visual sensor, and the vehicle is actively built to be braked or is emergently braked to avoid collision.
Therefore, the technology of the line control hydraulic brake system is developed, and the prior art publication No. 201910331828.8 of the applicant shows a scheme of the line control hydraulic brake system, as shown in the drawing of the patent, as shown in fig. 3, which is composed of a driver input unit (a liquid storage tank 1, a detection valve 2, a brake pedal 3, a stroke sensor 4, a master cylinder 5), a pedal simulator (simulator control valves 6, a simulator 7), a booster unit (a brushless motor 16, a transmission mechanism 15, a booster cylinder 14, booster control valves 12 and 13, a pressure sensor 12), a circuit control valve (an electromagnetic valve 8, an electromagnetic valve 9), a wheel end control valve group (17, 18, 19, 20, 21, 22, 23, 24) and a controller ECU.
In the prior art, in order to generate a sufficiently fast supercharging speed during pressurization, the power and the torque of the brushless motor 16 are required to be sufficiently large and the response is fast; in addition, when the automatic driving levels are above L3 and L3, the technical scheme needs to additionally add redundant electric control braking, for example, wheel end EPB braking is adopted, or the system needs to additionally add an electric control redundant unit.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a braking system suitable for autopilot, a braking system of two accuse drive-by-wire pressure boost, can use the solenoid valve still less, and with the mode of two accuse drive-by-wire pressure boosts, both can reduce the power of single motor, the moment of torsion, constitute by two sets of automatically controlled braking systems, wherein wheel end pressure control's solenoid valve B is controlled by two ECU, the redundant four-wheel braking of backup has not only been realized, can also realize the backup redundant control of antilock ABS function, can satisfy the scene demand more than autopilot grade L3 and L3 again, the problem that appears in the background art has been solved.
The utility model aims at providing a braking system suitable for autopilot, liquid storage pot, automatically controlled hydraulic unit A, automatically controlled controller unit B, wheel end stopper C, automatically controlled hydraulic unit A includes pressure generator A1, pressure generator two A2, electromagnetism valves A3; the electric control controller unit B comprises a controller ECU1 and a controller ECU 2; the liquid storage tank 1 is hydraulically connected with a first pressure generating device A1, a first pressure generating device A1 is hydraulically connected with an electromagnetic valve group A3, and an electromagnetic valve group A3 is hydraulically connected with a wheel end brake C; the first pressure generating device A1 is controlled by the controller ECU1, and the second pressure generating device A2 is controlled by the controller ECU 2; both the two pressure generating devices can pressurize the wheel end brake C; the solenoid valve group A3 is controlled by the electronic control unit B through the controller ECU1 and the ECU2, any one of the two controllers is failed or damaged, and the rest controller can continue to control the solenoid valve group A3.
The further improvement lies in that: the first pressure generating device A1 and the second pressure generating device A2 are respectively controlled by a controller ECU1 and an ECU2 and serve as a double-pressure-increasing system of the braking system, and the electromagnetic valve group A3 is jointly controlled by a controller ECU1 and an ECU2 and serves as a double-control pressure regulating system of the braking system; in addition to these backup redundant controls, motor-driven brake devices EBD are provided on two front wheels or two rear wheels or four wheels, and the electronic control controller unit B further includes a controller ECU3, and the EBD is controlled by a controller ECU 3.
The further improvement lies in that: the device also comprises a switch on the whole vehicle, and the controller ECU3 is started through the switch to control the EBD device to be used as a backup for service braking.
The further improvement lies in that: the first pressure generating device A1 consists of a pressure cylinder and a motor transmission driving unit which are connected together; the second pressure generating device A2 is composed of a motor, a pump and an electromagnetic valve for controlling the pump outlet pressure, the pump and the electromagnetic valve for controlling the pump outlet pressure are respectively at least one.
The further improvement lies in that: at least one loop is arranged at the outlet of the pressure cylinder of the first pressure generating device A1, and an electromagnetic valve is arranged on the loop and is hydraulically connected with an electromagnetic valve group A3 and then is hydraulically connected with a wheel end brake C.
The further improvement lies in that: the electromagnetic valve for controlling the pump pressure is a normally closed linear valve, and when the valve is not electrified, the hydraulic pressure at the outlet of the pump cannot flow into the liquid storage tank through the electromagnetic valve.
The further improvement lies in that: the second pressure generating device A2 comprises a motor, a pump and an electromagnetic valve for controlling the pressure of the outlet of the pump, and comprises at least one pump loop, each pump loop is hydraulically connected to an electromagnetic valve group A3 through a pump output and then hydraulically connected to a wheel end brake C, and the oil inlet of each pump is communicated with a liquid storage tank.
The further improvement lies in that: the electromagnetic valve group A3 specifically comprises a pressure increasing valve and a pressure releasing valve of a hydraulic pipeline of the wheel end brake, wherein each wheel end hydraulic pipeline is respectively provided with one pressure increasing valve and one pressure releasing valve, the pressure increasing valves are arranged between the pressure generating devices and the wheel end brake C, and the pressure releasing valves are arranged between the wheel end brake C and the liquid storage tank 1.
The further improvement lies in that: the electric control controller unit B is used for controlling a motor transmission driving unit, a motor and an electromagnetic valve of the braking system, and the controller ECU1 and the controller ECU2 are redundant backups for each other.
The further improvement lies in that: the first pressure generating device A1 and the second pressure generating device A2 are replaced with each other.
The further improvement lies in that: and a pressure sensor is arranged on a hydraulic pipeline of an oil outlet of the pressure generating device A1 consisting of the pressure cylinder and the motor transmission driving unit.
The further improvement lies in that: and two pressure sensors are arranged on a hydraulic pipeline of an oil outlet of the pressure generating device A1 consisting of the pressure cylinder and the motor transmission driving unit.
The further improvement lies in that: the ECU1 and the ECU2 are included in the ECU B, and the ECU1 and the ECU2 may be integrated in one electrical box or distributed in different electrical boxes.
The further improvement lies in that: the ECU1, the ECU2 and the ECU3 are contained in the electronic control unit B, and the ECU1, the ECU2 and the ECU3 can be integrated in one electrical box or distributed in different electrical boxes.
The further improvement lies in that: the pressure generating device A1 is composed of the pressure cylinder and the motor transmission driving unit, a one-way valve is arranged on a hydraulic pipeline of an oil outlet of the pressure generating device A1, and the conducting direction of the one-way valve is from the liquid storage tank to the pressure cylinder of the pressure generating device.
The further improvement lies in that: all the electromagnetic valves are provided with filter screens.
The further improvement lies in that: all the check valves are provided with filter screens.
The further improvement lies in that: when the wheel end brake C is provided with two or four motor-driven brake devices EBD, and the ECU1 and the ECU2 of the electronic control unit B fail simultaneously, the ECU3 controls the EBD to be used as an emergency service brake system.
The further improvement lies in that: and the regenerative braking generated by energy recovery is utilized to carry out service braking.
The further improvement lies in that: and a yaw angle sensor and an acceleration sensor of the whole vehicle are integrated in the electric control controller unit B.
The utility model has the advantages that: the utility model relates to a braking system of two accuse drive-by-wire pressure boost can use still less solenoid valves to adopt the mode of two accuse drive-by-wire pressure boosts, both can reduce power, the moment of torsion of single motor, can satisfy the scene demand more than autopilot grade L3 and L3 again.
The utility model discloses can realize following each item function of vehicle
1. Dual controlled redundant backup brake function
When the vehicle needs to be braked, the two pressure generating devices realize the braking function of redundancy backup under the control of the double-control ECU, and the safety redundancy requirement of automatic driving is met.
2. Functionality of dual-controlled anti-lock system
When wheels are locked in emergency braking, the anti-lock control is undertaken by the wheel end electromagnetic valve B, the wheel end electromagnetic valve B is controlled by the ECU1 and the ECU2 double electronic control systems, even if one ECU fails, the wheel end electromagnetic valve B can still work normally, and the redundant backup of the anti-lock ABS function is realized.
3. The pressure generating device consists of a pressure cylinder and a motor transmission driving unit and the pressure generating device consists of a motor and a pump, the two pressure generating devices can alternately or simultaneously bear oil supply to provide pressure, and the oil pressure source is still remained in the liquid supplementing process of the anti-lock ABS function.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic diagram of the present invention with two pressure sensors and with an ECU 3.
Fig. 3 is a diagram of a conventional brake system in the background art.
Fig. 4 is a drawing of prior art patent No. 201910331828.8.
In fig. 1 and 2: the hydraulic control system comprises a liquid storage tank 1, a first electromagnetic valve 2, a second electromagnetic valve 3, a pressure sensor 4, a first pressure sensor 4a, a second pressure sensor 4B, a pressure boosting cylinder 5, a driving unit 6, a one-way valve 7, a motor 8, a second pump 9, a first pump 10, a third electromagnetic valve 9, a fourth electromagnetic valve 10a, a pressure boosting valve 11, a pressure relief valve 12, a pressure boosting valve 13, a pressure boosting valve 14, a pressure boosting valve 15, a pressure boosting valve 16, a pressure relief valve 17, a pressure relief valve 18, a wheel end brake 19, a wheel end brake 20, a wheel end brake 21, a wheel end brake 22, an electric control hydraulic unit A, an electric control unit B, a wheel end brake C, a pressure generating device A1, a pressure generating device A2 and an electromagnetic valve group A3.
Detailed Description
In order to deepen the understanding of the present invention, the present invention will be described in detail with reference to the following embodiments, which are only used for explaining the present invention and do not limit the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides a braking system suitable for automatic driving, which includes a fluid reservoir 1, an electronic control hydraulic unit a, an electronic control controller unit B, and a wheel end brake C, where the electronic control hydraulic unit a includes a first pressure generating device a1, a second pressure generating device a2, and a solenoid valve group A3; the electric control controller unit B comprises a controller ECU1 and a controller ECU 2; the liquid storage tank 1 is hydraulically connected with a first pressure generating device A1, a first pressure generating device A1 is hydraulically connected with a solenoid valve group A3, and the solenoid valve is hydraulically connected with a wheel end brake C; the first pressure generating device A1 is controlled by the controller ECU1, and the second pressure generating device A2 is controlled by the controller ECU 2; both the two pressure generating devices can pressurize the wheel end brake C; the solenoid valve group A3 is controlled by the electronic control unit B through the controller ECU1 and the ECU2, any one of the two controllers is failed or damaged, and the rest controller can continue to control the solenoid valve group A3.
As shown in fig. 2, the first pressure generating device a1 and the second pressure generating device a2 are respectively controlled by a controller ECU1 and an ECU2 to serve as a double-pressurization system of the braking system, and the solenoid valve group A3 is jointly controlled by a controller ECU1 and an ECU2 to serve as a double-control pressure regulating system of the braking system; in addition to these backup redundant controls, motor-driven brake devices EBD are provided on two front wheels or two rear wheels or four wheels, and the electronic control controller unit B further includes a controller ECU3, and the EBD is controlled by a controller ECU 3. The device also comprises a switch on the whole vehicle, and the controller ECU3 is started through the switch to control the EBD device to be used as a backup for service braking.
The first pressure generating device A1 consists of a pressure cylinder 5 and a motor transmission driving unit 6 which are connected together; the second pressure generating device A2 comprises a motor 8, a pump and two electromagnetic valves for controlling the pressure of the pump outlet, wherein the two pumps are respectively a first pump 10 and a second pump 9, and the two electromagnetic valves are respectively a third electromagnetic valve 9a and a fourth electromagnetic valve 9 b. The third solenoid valve 9a and the fourth solenoid valve 9b are normally closed linear valves, and when the valves are not energized, the hydraulic pressure at the outlet of the pump does not flow into the reservoir tank 1 through the solenoid valves.
The outlet of the pressure cylinder 5 of the first pressure generating device A1 is provided with two loops, the two loops are respectively provided with a first electromagnetic valve 2 and a second electromagnetic valve 3, and the two electromagnetic valves are hydraulically connected with an electromagnetic valve group A3 and then hydraulically connected to a wheel end brake C.
The second pressure generating device A2 has two pump circuits, each of which is hydraulically connected to the solenoid valve group A3 by a pump output and then to the wheel end brake C.
The electromagnetic valve group A3 specifically comprises a pressure increasing valve and a pressure releasing valve of a hydraulic pipeline of the wheel end brake, wherein each wheel end hydraulic pipeline is respectively provided with one pressure increasing valve and one pressure releasing valve, the pressure increasing valves are arranged between the pressure generating devices and the wheel end brake C, and the pressure releasing valves are arranged between the wheel end brake C and the liquid storage tank 1.
The electric control controller unit B is used for controlling the motor transmission driving unit 6, the motor 8 and the electromagnetic valve of the braking system, and the controller ECU1 and the controller ECU2 are redundant backups for each other. The pressure relief valves of the solenoid valve group a3 are linearly controlled solenoid valves, and can linearly regulate the hydraulic pressure at the wheel ends under the control of the controller ECU1 and the controller ECU 2.
The first pressure generating device A1 and the second pressure generating device A2 are replaced with each other.
The pressure generating device A1 is composed of the pressure cylinder 5 and the motor transmission driving unit 6, and a pressure sensor 4 is arranged on an oil outlet hydraulic pipeline of the pressure generating device A1.
As shown in fig. 2, the pressure generating device a1 composed of the pressure cylinder 5 and the motor transmission driving unit 6 has two pressure sensors a 4a and two pressure sensors 4b arranged on the oil outlet hydraulic line.
The ECU1 and the ECU2 are integrated within an electrical box, and the ECU1 and the ECU2 are included in the ECU B. The electronic control unit B comprises an ECU1, an ECU2 and an ECU3, and the ECU1, the ECU2 and the ECU3 are integrated in an electrical box.
The pressure generating device A1 is composed of the pressure cylinder 5 and the motor transmission driving unit 6, a one-way valve 7 is arranged on an oil outlet hydraulic pipeline, and the conduction direction of the one-way valve 7 is from the liquid storage tank 1 to the pressure generating device pressure cylinder 5.
All the electromagnetic valves are provided with filter screens. All the check valves are provided with filter screens.
When the wheel end brake C is provided with two or four motor-driven brake devices EBD, and the ECU1 and the ECU2 of the electronic control unit B fail simultaneously, the ECU3 controls the EBD to be used as an emergency service brake system.
And the regenerative braking generated by energy recovery is utilized to carry out service braking.
And a yaw angle sensor and an acceleration sensor of the whole vehicle are integrated in the electric control controller unit B.
A double-control line-control boosting braking system can use fewer electromagnetic valves and adopt a double-control line-control boosting mode, so that the power and the torque of a single motor can be reduced, and the scene requirements of automatic driving grades L3 and L3 can be met.
Can realize the following functions of the vehicle
1. Dual controlled redundant backup brake function
When the vehicle needs to be braked, the two pressure generating devices realize the braking function of redundancy backup under the control of the double-control ECU, and the safety redundancy requirement of automatic driving is met.
2. Functionality of dual-controlled anti-lock system
When wheels are locked in emergency braking, the anti-lock control is undertaken by the wheel end electromagnetic valve B, the wheel end electromagnetic valve B is controlled by the ECU1 and the ECU2 double electronic control systems, even if one ECU fails, the wheel end electromagnetic valve B can still work normally, and the redundant backup of the anti-lock ABS function is realized.
3. The pressure generating device comprises a pressure cylinder 5 and a motor transmission driving unit 6, and the pressure generating device comprises a motor 8, a pump 9, a pump 10, an electromagnetic valve 9a and an electromagnetic valve 10a, wherein the two pressure generating devices can alternately or simultaneously bear oil supply to provide pressure, and an oil pressure source is still arranged in the fluid infusion process of the ABS function.
Claims (20)
1. The utility model provides a braking system suitable for autopilot, liquid storage pot (1), automatically controlled hydraulic unit (A), automatically controlled controller unit (B), wheel end stopper (C), its characterized in that: the electric control hydraulic unit (A) comprises a first pressure generating device (A1), a second pressure generating device (A2) and an electromagnetic valve group (A3); the electric control controller unit (B) comprises a controller ECU1 and a controller ECU 2; the liquid storage tank (1) is hydraulically connected with a first pressure generating device (A1), a first pressure generating device (A1) is hydraulically connected with an electromagnetic valve group (A3), and an electromagnetic valve group (A3) is hydraulically connected with a wheel end brake (C); the first pressure generating device (A1) is controlled by the controller ECU1, and the second pressure generating device (A2) is controlled by the controller ECU 2; both pressure generating devices can pressurize the wheel end brake (C); the solenoid valve group (A3) is controlled by the electronic control unit (B) through the controllers ECU1 and the ECU2, any one of the two controllers fails or is damaged, and the other controller can continue to control the solenoid valve group (A3).
2. A braking system adapted for autonomous driving according to claim 1, characterized in that: the first pressure generating device (A1) and the second pressure generating device (A2) are respectively controlled by a controller ECU1 and an ECU2 and are used as double-pressurization systems of the braking system, and the electromagnetic valve bank (A3) is jointly controlled by the controller ECU1 and the ECU2 and is used as a double-control pressure regulating system of the braking system; in addition to these backup redundant controls, motor-driven brake devices EBD are provided on two front wheels or two rear wheels or four wheels, and the electronic control controller unit (B) further includes a controller ECU3, the EBD being controlled by a controller ECU 3.
3. A braking system adapted for autonomous driving according to claim 2, characterized in that:
the device also comprises a switch on the whole vehicle, and the controller ECU3 is started through the switch to control the EBD device to be used as a backup for service braking.
4. A braking system adapted for autonomous driving according to claim 1, characterized in that: the first pressure generating device (A1) consists of a pressure cylinder (5) and a motor transmission driving unit (6) which are connected together; the second pressure generating device (A2) is composed of a motor (8), a pump and an electromagnetic valve for controlling the pump outlet pressure, and the number of the pump and the electromagnetic valve for controlling the pump outlet pressure is at least one respectively.
5. A braking system adapted for autonomous driving according to claim 4, characterized in that: at least one loop is arranged at the outlet of the pressure cylinder (5) of the first pressure generating device (A1), and an electromagnetic valve is arranged on the loop and is hydraulically connected with an electromagnetic valve group (A3) and then hydraulically connected with a wheel end brake (C).
6. A braking system adapted for autonomous driving according to claim 4, characterized in that: the electromagnetic valve for controlling the pump pressure is a normally closed linear valve, and when the valve is not electrified, the hydraulic pressure at the outlet of the pump cannot flow into the liquid storage tank (1) through the electromagnetic valve.
7. A braking system adapted for autonomous driving according to claim 4, characterized in that: the second pressure generating device (A2) is composed of a motor (8), a pump and an electromagnetic valve for controlling the pressure of the outlet of the pump, and comprises at least one pump loop, each pump loop is hydraulically connected to an electromagnetic valve group (A3) through a pump output, then is hydraulically connected to a wheel end brake (C), and the oil inlet of each pump is communicated with the liquid storage tank (1).
8. A braking system adapted for autonomous driving according to claim 1, characterized in that: the electromagnetic valve group (A3) specifically comprises a booster valve and a relief valve of a hydraulic pipeline of the wheel-end brake, wherein each wheel-end hydraulic pipeline is provided with the booster valve and the relief valve respectively, the booster valve is arranged between the pressure generating device and the wheel-end brake (C), and the relief valve is arranged between the wheel-end brake (C) and the liquid storage tank (1).
9. A braking system adapted for autonomous driving according to claim 4, characterized in that: the electric control controller unit (B) is used for controlling a motor transmission driving unit (6) and a motor (8) of the braking system and an electromagnetic valve, and the controller ECU1 and the controller ECU2 are mutually redundant.
10. A braking system adapted for autonomous driving according to claim 4, characterized in that: the first pressure generating device (A1) and the second pressure generating device (A2) are replaced with each other.
11. A braking system adapted for autonomous driving according to claim 4, characterized in that: the pressure generating device I (A1) is composed of the pressure cylinder (5) and the motor transmission driving unit (6), and a pressure sensor (4) is arranged on an oil outlet hydraulic pipeline of the pressure generating device I.
12. A braking system adapted for autonomous driving according to claim 11, characterized in that: the pressure generating device I (A1) is composed of the pressure cylinder (5) and the motor transmission driving unit (6), and two pressure sensors are arranged on an oil outlet hydraulic pipeline of the pressure generating device I.
13. A braking system adapted for autonomous driving according to claim 1, characterized in that: the ECU1 and the ECU2 are included in the electronic control unit (B), and the ECU1 and the ECU2 may be integrated in one electrical box or distributed in different electrical boxes.
14. A braking system adapted for autonomous driving according to claim 2, characterized in that: the electronic control unit (B) comprises the ECUs 1, 2 and 3, and the ECUs 1, 2 and 3 can be integrated in one electrical box or distributed in different electrical boxes.
15. A braking system adapted for autonomous driving according to claim 4, characterized in that: the pressure generating device I (A1) is composed of the pressure cylinder (5) and the motor transmission driving unit (6), a one-way valve (7) is arranged on an oil outlet hydraulic pipeline of the pressure generating device I, and the conducting direction of the one-way valve is from the liquid storage tank (1) to the pressure cylinder (5) of the pressure generating device I.
16. A braking system adapted for autonomous driving according to claim 5, characterized in that: all the electromagnetic valves are provided with filter screens.
17. A braking system adapted for autonomous driving according to claim 15, characterized in that: all the check valves are provided with filter screens.
18. A braking system adapted for autonomous driving according to claim 2, characterized in that: when the wheel end brake (C) is provided with two or four motor-driven brake devices EBD, and the ECU1 and the ECU2 of the electronic control controller unit (B) fail simultaneously, the ECU3 controls the EBD to be used as an emergency service brake system.
19. A braking system adapted for autonomous driving according to claim 1, characterized in that: and the regenerative braking generated by energy recovery is utilized to carry out service braking.
20. A braking system adapted for autonomous driving according to claim 1, characterized in that: and a yaw angle sensor and an acceleration sensor of the whole vehicle are integrated in the electric control controller unit (B).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202020609534 | 2020-04-22 | ||
| CN2020206095345 | 2020-04-22 |
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| CN212637464U true CN212637464U (en) | 2021-03-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525317A (en) * | 2020-04-22 | 2021-10-22 | 芜湖伯特利电子控制系统有限公司 | Braking system suitable for automatic driving and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525317A (en) * | 2020-04-22 | 2021-10-22 | 芜湖伯特利电子控制系统有限公司 | Braking system suitable for automatic driving and control method |
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