CN109677378A - A kind of anti-auxiliary device and method slipped by slope with emergency braking of heavy-duty car - Google Patents
A kind of anti-auxiliary device and method slipped by slope with emergency braking of heavy-duty car Download PDFInfo
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- CN109677378A CN109677378A CN201910007883.1A CN201910007883A CN109677378A CN 109677378 A CN109677378 A CN 109677378A CN 201910007883 A CN201910007883 A CN 201910007883A CN 109677378 A CN109677378 A CN 109677378A
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- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 230000006698 induction Effects 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 6
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- 238000012360 testing method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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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
- 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
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- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of anti-auxiliary devices and method slipped by slope with emergency braking of heavy-duty car, including emergency braking detection module, slip by slope detection module, electronic control unit ECU and brake actuator, wherein emergency braking detection module is for detecting whether heavy-duty car is in emergency braking condition, detection module is slipped by slope for detecting whether heavy-duty car is in the state of slipping by slope, and will test data and be sent to electronic control unit ECU.Electronic control unit ECU receives data and controls the start and stop of brake actuator, realizes the auxiliary braking of heavy-duty car.Structure of the invention is compact, feature-rich, reliable operation, is suitble to apply in the heavy-duty car of various air-pressure brakes.
Description
Technical field
The present invention relates to automobile active safety especially auxiliary braking technical field, in particular to a kind of heavy-duty car is anti-slip
The auxiliary device and method on slope and emergency braking.
Background technique
With the development of automotive engineering, the requirement for vehicle safety performance is consideration factor important in development of automobile.
According to studies have shown that in numerous traffic accidents, knocking into the back etc., collision accidents account for 70% or more, outstanding to the loss of personnel and property
To be serious, and collision accident mostly because of emergency braking when, braking time is too long to be caused automobile that can not stop in short distance to be made
At;In addition, when automobile especially heavy goods vehicles are in ramp, due to driver's operation improper or interior no one and forget to draw
When upper parking brake, it is easy to slip by slope, cause to damage to vehicle or even personnel;The present invention is based on the propositions of the air-pressure brake of heavy goods vehicles
It is a kind of that the anti-device and method slipped by slope with auxiliary braking of heavy goods vehicles can be achieved at the same time.
Existing many for the research of automobile emergency brake auxiliary system at present, wherein Zheng's denier proposes a kind of automobile emergency
Brake assist system (publication number CN108454400A) detects gas pedal in initial position and fuel feeding position by sensor
Between the variable that moves, and the variate-value that will test is converted into detection signal and is transmitted in controller, and controller is by sentencing
Electronic brake, auxiliary braking are opened in disconnection, which can allow at the initial stage that the right crus of diaphragm of operator is lifted away from gas pedal
Vehicle independently slows down, to substantially reduce the reaction time of operator's emergency brake, but may generate to the intention of driver
Erroneous judgement is excessively braked;Peng Xiuyan proposes a kind of emergency braking control system (publication number CN108407782A) for automobile,
The system is capable of the motion state of real-time monitoring driving vehicle, when judging that vehicle is in a state of emergency, is obtained according to acquisition
Driving states signal further determines whether to need to open the vacuum braking mechanism in this system, and is needing to open vacuum braking
In the case where mechanism, the braking strategy to match with automobile current motion state is generated by signal analysis, is reduced significantly
Braking distance effectively improves the stability and safety of service brake, but device is excessively complicated, increases the load of automobile.
The anti-device slipped by slope of automobile is studied in addition, there are also many scholars, mesoporous force is refined to propose a kind of electricity
Electrical automobile is anti-slips by slope control method and system (publication number CN108275153A), according to gas pedal aperture, automobile shifting rod
Gear, hall signal judge whether electronic vehicle attitude needs to enter and prevent slipping by slope mode;Prevent slipping by slope mode when electric car enters
When, according to the motor output given forward direction for slipping by slope distance and calculating given positive torque and controlling electric car of electric car
Torque, but the device is applicable only to electric car, cannot be widely applied;Jin Zhilin proposes a kind of the automatic of manual-gear vehicle
Back-slide-proof device (publication number CN203460695U), when rollback occurs in automobile, automobile axle shaft drives driving and driven gear, by passing
Power pin passes to rotating disk, drives main shaft to generate reversed angular displacement together with reel through unilateral bearing, pulls steel wire, drives original stay
Vehicle brake apparatus, prevents automobile rollback, but the device lacks anti-slip by slope device to whether automobile is in the state of slipping by slope and releases
Opportunity judgement, it is intelligent insufficient.
Summary of the invention
The technical problem to be solved by the present invention is to slip by slope system and Emergency Brake Assist System for existing heavy goods vehicles are anti-
The deficiencies such as structure is complicated, energy consumption is high, intelligence degree is low propose a kind of anti-auxiliary slipped by slope with emergency braking of heavy-duty car
Device and method, compact-sized, reliable operation is at low cost, and increases less element and anti-slip by slope and auxiliary braking pair can be realized
Weight function.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of anti-auxiliary device slipped by slope with emergency braking of heavy-duty car, including emergency braking detection module, slip by slope detection module,
Electronic control unit ECU and brake actuator;
The emergency braking detection module includes brake pedal displacement sensor and wheel speed sensors;The brake pedal displacement passes
Sensor passes it to the electronic control unit ECU for incuding the stroke that automobile brake pedal is operated;The wheel speed
Sensor is arranged on automotive wheel, for incuding the revolving speed of automotive wheel, and passes it to the electronic control unit
ECU;
The detection module that slips by slope includes shift sensor, accelerator open degree sensor and Hall sensor;The shift sensor
For incuding the gear of automobile gearbox, and pass it to the electronic control unit ECU;The accelerator open degree sensor is used
In the stroke that induction automotive throttle is operated, and pass it to the electronic control unit ECU;The Hall sensor setting
On the wheel of automobile, for incuding the rotation direction of automotive wheel, and the electronic control unit ECU is passed it to;
Push rod in the heavy-duty car Pneumatic braking system is equipped with screw thread;
Brake actuator planetary roller mechanism, driving gear, driven gear, electromagnetic clutch and motor;
The planetary roller mechanism includes ring gear, sun gear, planet carrier and several planetary gears, wherein the ring gear, several
Planetary gear, sun gear are arranged from outside to inside, and cooperation planet carrier forms planetary gear train;
The sun gear is outer gear ring, and inner wall is equipped with the screw thread to match with screw thread on the push rod, the sun gear
Inner wall and the push rod are threadedly coupled;
The driven gear is outer gear ring, and inner wall and the outer ring with ring gear are rigidly connected;
The input shaft of the output shaft of the motor and the electromagnetic clutch is connected, the output shaft of the electromagnetic clutch and described
The shaft of driving gear is connected;
The driving gear is engaged with driven gear;
The electronic control unit ECU is opened with brake pedal displacement sensor, wheel speed sensors, shift sensor, throttle respectively
It spends sensor, Hall sensor, driving direction angular transducer, electromagnetic clutch, motor to be connected, for being examined according to emergency braking
Survey module, the detection data control electromagnetic clutch for slipping by slope detection module, motor work.
The present invention also provides a kind of anti-slip by slope of heavy-duty car to slip by slope method, packet with the anti-of the auxiliary device of emergency braking
Containing following steps:
Step is A.1), shift sensor incudes the gear of automobile gearbox, and passes it to electronic control unit ECU;Hall
The rotation direction of sensor sensing automotive wheel, and pass it to electronic control unit ECU;Accelerator open degree sensor incudes vapour
The stroke that vehicle throttle is operated, and pass it to electronic control unit ECU;
Step is A.2), if the gear of automobile be not at reverse gear and the vehicle wheel rotation direction of automobile for reversion:
Step is A.2.1), electronic control unit ECU issues control signal control electromagnetic clutch engagement, and controls motor work,
The power that motor generates successively after driving gear, driven gear, the transmitting of planetary roller mechanism, pushes push rod to be translatable,
So that heavy-duty car is braked;
Step is A.2.2), the stroke and preset first displacement threshold value that gas pedal is operated by electronic control unit ECU carry out
Compare:
Step is A.2.2.1), if the stroke that gas pedal is operated is greater than preset first displacement threshold value, electronic control unit
ECU issues control signal control electromagnetic clutch separation, and controls motor and stop working, and push rod is in heavy-duty car compressed air brake system
It sets back under system return spring effect, brake release.
The present invention also provides a kind of heavy-duty cars to prevent slipping by slope the emergency braking method with the auxiliary device of emergency braking,
It comprises the steps of:
Step is B.1), the stroke that brake pedal displacement sensor induction automobile brake pedal is operated, and pass it to electronics
Control unit ECU;Wheel speed sensors incude the revolving speed of automotive wheel, and pass it to electronic control unit ECU;
Step is B.2), stroke that automobile brake pedal is operated by electronic control unit ECU and preset second displacement threshold value into
Row compares:
Step is B.2.1), the stroke that automobile brake pedal is operated is greater than preset second displacement threshold value:
Step is B.2.1.1), electronic control unit ECU controls electromagnetic clutch engagement, and controls motor work, what motor generated
Power successively after driving gear, driven gear, the transmitting of planetary roller mechanism, pushes push rod to be translatable, so that weight
Type automobile is braked;
Step is B.2.1.2), the revolving speed of automotive wheel and preset rotary speed threshold value are compared by electronic control unit ECU:
Step is B.2.1.2.1), the revolving speed of automotive wheel is less than preset rotary speed threshold value, and electronic control unit ECU issues control letter
The separation of number control electromagnetic clutch, and control motor and stop working, push rod is made in heavy-duty car Pneumatic braking system return spring
It sets back under, brake release.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. compact-sized, be easy to arrange: the present apparatus increases less element based on heavy goods vehicles air-pressure brake can be realized mesh
Function is marked, device is simple, is easy to arrange;
2. at low cost, function is complete: the present invention can be realized heavy goods vehicles using set of execution mechanism and prevent slipping by slope, and can realize urgent
Auxiliary braking when braking, it is at low cost, it is feature-rich;
3. high reliablity: whether the present invention needs to prevent to slip by slope to heavy goods vehicles using multiple sensors and auxiliary braking carries out essence
True judgement, intelligence degree is high, reliable operation;
4. being widely used, installable conventional fuel oil car of the invention and each new-energy automobile are also mountable in pilotless automobile
Realize autonomous braking function.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention;
Fig. 2 is the flow diagram for preventing slipping by slope method in the present invention;
Fig. 3 is the flow diagram of emergency braking in the present invention.
In figure, 1- brake chamber, 2- return spring, 3- push rod, 4- ring gear, 5- driven gear, 6- planetary gear, 7- adjustment
Arm, 8- connecting fork, 9- cam, 10- sun gear, 11- driving gear, 12- electromagnetic clutch, 13- motor.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, the invention discloses a kind of anti-auxiliary device slipped by slope with emergency braking of heavy-duty car, traditional weight
Type automobile is generally used Pneumatic braking system, is translatable by piston driving push rod in brake chamber, so by connecting fork,
The rotation of armband moving cam is adjusted, under the action of cam, the brake-shoe of heavy-duty car holds out against brake disc, obtains brake force.It unclamps
After braking, the return spring in cylinder drives recovery rod in situ.
The present invention includes emergency braking detection module, slips by slope detection module, electronic control unit ECU and braking execution machine
Structure;
The emergency braking detection module includes brake pedal displacement sensor and wheel speed sensors;The brake pedal displacement passes
Sensor passes it to the electronic control unit ECU for incuding the stroke that automobile brake pedal is operated;The wheel speed
Sensor is arranged on automotive wheel, for incuding the revolving speed of automotive wheel, and passes it to the electronic control unit
ECU;
The detection module that slips by slope includes shift sensor, accelerator open degree sensor and Hall sensor;The shift sensor
For incuding the gear of automobile gearbox, and pass it to the electronic control unit ECU;The accelerator open degree sensor is used
In the stroke that induction automotive throttle is operated, and pass it to the electronic control unit ECU;The Hall sensor setting
On the wheel of automobile, for incuding the rotation direction of automotive wheel, and the electronic control unit ECU is passed it to;
Push rod in the heavy-duty car Pneumatic braking system is equipped with screw thread;
Brake actuator planetary roller mechanism, driving gear, driven gear, electromagnetic clutch and motor;
The planetary roller mechanism includes ring gear, sun gear, planet carrier and several planetary gears, wherein the ring gear, several
Planetary gear, sun gear are arranged from outside to inside, and cooperation planet carrier forms planetary gear train;
The sun gear is outer gear ring, and inner wall is equipped with the screw thread to match with screw thread on the push rod, the sun gear
Inner wall and the push rod are threadedly coupled;
The driven gear is outer gear ring, and inner wall and the outer ring with ring gear are rigidly connected;
The input shaft of the output shaft of the motor and the electromagnetic clutch is connected, the output shaft of the electromagnetic clutch and described
The shaft of driving gear is connected;
The driving gear is engaged with driven gear;
The electronic control unit ECU is opened with brake pedal displacement sensor, wheel speed sensors, shift sensor, throttle respectively
It spends sensor, Hall sensor, driving direction angular transducer, electromagnetic clutch, motor to be connected, for being examined according to emergency braking
Survey module, the detection data control electromagnetic clutch for slipping by slope detection module, motor work.
As shown in Fig. 2, the present invention also provides a kind of heavy-duty car it is anti-slip by slope it is anti-with the auxiliary device of emergency braking
Slip by slope method comprising the steps of:
Step is A.1), shift sensor incudes the gear of automobile gearbox, and passes it to electronic control unit ECU;Hall
The rotation direction of sensor sensing automotive wheel, and pass it to electronic control unit ECU;Accelerator open degree sensor incudes vapour
The stroke that vehicle throttle is operated, and pass it to electronic control unit ECU;
Step is A.2), if the gear of automobile be not at reverse gear and the vehicle wheel rotation direction of automobile for reversion:
Step is A.2.1), electronic control unit ECU issues control signal control electromagnetic clutch engagement, and controls motor work,
The power that motor generates successively after driving gear, driven gear, the transmitting of planetary roller mechanism, pushes push rod to be translatable,
So that heavy-duty car is braked;
Step is A.2.2), the stroke and preset first displacement threshold value that gas pedal is operated by electronic control unit ECU carry out
Compare:
Step is A.2.2.1), if the stroke that gas pedal is operated is greater than preset first displacement threshold value, electronic control unit
ECU issues control signal control electromagnetic clutch separation, and controls motor and stop working, and push rod is in heavy-duty car compressed air brake system
It sets back under system return spring effect, brake release.
As shown in figure 3, the present invention also provides a kind of heavy-duty car it is anti-slip by slope it is tight with the auxiliary device of emergency braking
Anxious braking method comprising the steps of:
Step is B.1), the stroke that brake pedal displacement sensor induction automobile brake pedal is operated, and pass it to electronics
Control unit ECU;Wheel speed sensors incude the revolving speed of automotive wheel, and pass it to electronic control unit ECU;
Step is B.2), stroke that automobile brake pedal is operated by electronic control unit ECU and preset second displacement threshold value into
Row compares:
Step is B.2.1), the stroke that automobile brake pedal is operated is greater than preset second displacement threshold value:
Step is B.2.1.1), electronic control unit ECU controls electromagnetic clutch engagement, and controls motor work, what motor generated
Power successively after driving gear, driven gear, the transmitting of planetary roller mechanism, pushes push rod to be translatable, so that weight
Type automobile is braked;
Step is B.2.1.2), the revolving speed of automotive wheel and preset rotary speed threshold value are compared by electronic control unit ECU:
Step is B.2.1.2.1), the revolving speed of automotive wheel is less than preset rotary speed threshold value, and electronic control unit ECU issues control letter
The separation of number control electromagnetic clutch, and control motor and stop working, push rod is made in heavy-duty car Pneumatic braking system return spring
It sets back under, brake release.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (3)
1. a kind of anti-auxiliary device slipped by slope with emergency braking of heavy-duty car, which is characterized in that including emergency braking detection module,
Slip by slope detection module, electronic control unit ECU and brake actuator;
The emergency braking detection module includes brake pedal displacement sensor and wheel speed sensors;The brake pedal displacement passes
Sensor passes it to the electronic control unit ECU for incuding the stroke that automobile brake pedal is operated;The wheel speed
Sensor is arranged on automotive wheel, for incuding the revolving speed of automotive wheel, and passes it to the electronic control unit
ECU;
The detection module that slips by slope includes shift sensor, accelerator open degree sensor and Hall sensor;The shift sensor
For incuding the gear of automobile gearbox, and pass it to the electronic control unit ECU;The accelerator open degree sensor is used
In the stroke that induction automotive throttle is operated, and pass it to the electronic control unit ECU;The Hall sensor setting
On the wheel of automobile, for incuding the rotation direction of automotive wheel, and the electronic control unit ECU is passed it to;
Push rod in the heavy-duty car Pneumatic braking system is equipped with screw thread;
Brake actuator planetary roller mechanism, driving gear, driven gear, electromagnetic clutch and motor;
The planetary roller mechanism includes ring gear, sun gear, planet carrier and several planetary gears, wherein the ring gear, several
Planetary gear, sun gear are arranged from outside to inside, and cooperation planet carrier forms planetary gear train;
The sun gear is outer gear ring, and inner wall is equipped with the screw thread to match with screw thread on the push rod, the sun gear
Inner wall and the push rod are threadedly coupled;
The driven gear is outer gear ring, and inner wall and the outer ring with ring gear are rigidly connected;
The input shaft of the output shaft of the motor and the electromagnetic clutch is connected, the output shaft of the electromagnetic clutch and described
The shaft of driving gear is connected;
The driving gear is engaged with driven gear;
The electronic control unit ECU is opened with brake pedal displacement sensor, wheel speed sensors, shift sensor, throttle respectively
Spend sensor, Hall sensor, electromagnetic clutch, motor be connected, for according to emergency braking detection module, slip by slope detection module
Detection data control electromagnetic clutch, motor work.
2. slipping by slope method, spy with the anti-of the auxiliary device of emergency braking based on anti-slip by slope of heavy-duty car described in claim 1
Sign is comprising the steps of:
Step is A.1), shift sensor incudes the gear of automobile gearbox, and passes it to electronic control unit ECU;Hall
The rotation direction of sensor sensing automotive wheel, and pass it to electronic control unit ECU;Accelerator open degree sensor incudes vapour
The stroke that vehicle throttle is operated, and pass it to electronic control unit ECU;
Step is A.2), if the gear of automobile be not at reverse gear and the vehicle wheel rotation direction of automobile for reversion:
Step is A.2.1), electronic control unit ECU issues control signal control electromagnetic clutch engagement, and controls motor work,
The power that motor generates successively after driving gear, driven gear, the transmitting of planetary roller mechanism, pushes push rod to be translatable,
So that heavy-duty car is braked;
Step is A.2.2), the stroke and preset first displacement threshold value that gas pedal is operated by electronic control unit ECU carry out
Compare:
Step is A.2.2.1), if the stroke that gas pedal is operated is greater than preset first displacement threshold value, electronic control unit
ECU issues control signal control electromagnetic clutch separation, and controls motor and stop working, and push rod is in heavy-duty car compressed air brake system
It sets back under system return spring effect, brake release.
3. based on the anti-emergency braking method slipped by slope with the auxiliary device of emergency braking of heavy-duty car described in claim 1,
It is characterized in that comprising the steps of:
Step is B.1), the stroke that brake pedal displacement sensor induction automobile brake pedal is operated, and pass it to electronics
Control unit ECU;Wheel speed sensors incude the revolving speed of automotive wheel, and pass it to electronic control unit ECU;
Step is B.2), stroke that automobile brake pedal is operated by electronic control unit ECU and preset second displacement threshold value into
Row compares:
Step is B.2.1), the stroke that automobile brake pedal is operated is greater than preset second displacement threshold value:
Step is B.2.1.1), electronic control unit ECU controls electromagnetic clutch engagement, and controls motor work, what motor generated
Power successively after driving gear, driven gear, the transmitting of planetary roller mechanism, pushes push rod to be translatable, so that weight
Type automobile is braked;
Step is B.2.1.2), the revolving speed of automotive wheel and preset rotary speed threshold value are compared by electronic control unit ECU:
Step is B.2.1.2.1), the revolving speed of automotive wheel is less than preset rotary speed threshold value, and electronic control unit ECU issues control letter
The separation of number control electromagnetic clutch, and control motor and stop working, push rod is made in heavy-duty car Pneumatic braking system return spring
It sets back under, brake release.
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CN201910007883.1A CN109677378A (en) | 2019-01-04 | 2019-01-04 | A kind of anti-auxiliary device and method slipped by slope with emergency braking of heavy-duty car |
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CN110529568A (en) * | 2019-08-26 | 2019-12-03 | 重庆隆旺机电有限责任公司 | Planetary gear type with removing function is anti-to slip by slope mechanism |
CN111703306A (en) * | 2020-05-12 | 2020-09-25 | 智新控制系统有限公司 | Emergency brake control method for electric vehicle and storage medium |
CN113844259A (en) * | 2021-09-28 | 2021-12-28 | 武汉未来幻影科技有限公司 | Manual gear vehicle braking auxiliary control system, method and device |
CN114312695A (en) * | 2021-12-30 | 2022-04-12 | 浙江经济职业技术学院 | Parking anti-slide slope device |
CN114312695B (en) * | 2021-12-30 | 2024-11-15 | 浙江经济职业技术学院 | Parking anti-slip device |
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CN110529568A (en) * | 2019-08-26 | 2019-12-03 | 重庆隆旺机电有限责任公司 | Planetary gear type with removing function is anti-to slip by slope mechanism |
CN111703306A (en) * | 2020-05-12 | 2020-09-25 | 智新控制系统有限公司 | Emergency brake control method for electric vehicle and storage medium |
CN113844259A (en) * | 2021-09-28 | 2021-12-28 | 武汉未来幻影科技有限公司 | Manual gear vehicle braking auxiliary control system, method and device |
CN114312695A (en) * | 2021-12-30 | 2022-04-12 | 浙江经济职业技术学院 | Parking anti-slide slope device |
CN114312695B (en) * | 2021-12-30 | 2024-11-15 | 浙江经济职业技术学院 | Parking anti-slip device |
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