CN1918398A - Hydraulic vehicle brake - Google Patents
Hydraulic vehicle brake Download PDFInfo
- Publication number
- CN1918398A CN1918398A CN 200580004361 CN200580004361A CN1918398A CN 1918398 A CN1918398 A CN 1918398A CN 200580004361 CN200580004361 CN 200580004361 CN 200580004361 A CN200580004361 A CN 200580004361A CN 1918398 A CN1918398 A CN 1918398A
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- piston
- brake
- merit device
- transmission element
- force transmission
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- 230000005540 biological transmission Effects 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000008093 supporting effect Effects 0.000 claims description 10
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000005056 compaction Methods 0.000 claims description 2
- 238000012797 qualification Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 12
- 230000002349 favourable effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
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Abstract
The invention relates to a hydraulic vehicle-brake, particularly for motor vehicles, comprising a brake housing (1) wherein a hydraulic operating pressure chamber (7) is defined by a brake piston (6). When in a tightened state, the brake piston can be locked by means of a locking device whose locking is enabled by means of a relative movement of a power transmission element (2). A working accumulator unit (10) is provided, said unit being formed by a lockable accumulator pressure area (9), an accumulator piston (11) which defines the accumulator pressure area and at least one spring element (12) which is supported on the accumulator piston. In order to carry out a parking braking process, the locking device is activated by means of an electromagnetic or electromechanical actuator which arrests the power transmission element after a hydraulic pressure is built up, so that relative movement is possible between the accumulator piston and the power transmission element.
Description
Technical field
The present invention relates to a kind of Hydraulic brake especially for automobile, this break has a brake casing, surround the hydraulic running pressure chamber in this housing the inside by brake piston, wherein brake piston can lock by locking device at impaction state, the locking of this locking device can realize by the relative movement of force transmission element, here be provided with one with the coefficient merit device that holds of brake piston, this hold the merit device comprise closablely hold merit device pressure chamber, limit hold merit device pressure chamber hold merit device piston and at least one is bearing in the spring part that holds on the merit device piston.
Background technique
By the known this Hydraulic brake of WO2004/027282 A1, and in the document, particularly be described by means of Fig. 3 a and 3b.In known Hydraulic brake, the imagination stop device can be handled by the hydraulic pressure of introducing in the operating pressure chamber, holds the merit device and can hold merit by hydraulic pressure.In the form of implementation by means of Fig. 3 a and 3b explanation, what an available valve control was set holds merit device pressure chamber, but so this pressure chamber have the spring part of a controllable hydraulic pre-tightening.The leading screw of locking device of making nut screw combination in this form of implementation is locked, to realize the stopping brake process, makes the brake piston locking thus.One step switch mechanism is set for this reason, this step switch mechanism with hold the acting in conjunction of merit device piston, and allow relative movement towards the different length of brake piston.When the valve leakage of merit device pressure chamber is held in control, can imagine that brake piston is by undesirable locking when service braking.This causes the undesirable locking of corresponding wheel, and this regards not too favourable as.
Summary of the invention
Therefore the objective of the invention is the Hydraulic brake with stop device that starts described type is improved, the possible leakage that the valve of merit device pressure chamber is held in feasible control does not cause that parking brake function is undesirable to be started, thereby improves traffic safety.
According to the present invention, this purpose realizes by such method, be that force transmission element can be held merit device piston and drives along the direction opposite with the brake piston compaction direction, and can be, make force transmission element and hold can relative movement between the merit device piston by electromagnetic actuators or electromechanical actuator locking.
In the favourable form of implementation of the present invention one, the shoulder hole of installing force transmitting element is set in holding merit device piston.
The favourable improvement structure of content of the present invention proposes, and force transmission element has axial ledge, and this flange bearing is in the jointing place of shoulder hole different-diameter.
In the present invention's one particularly advantageous form of implementation, locking device constitutes by the nut screw structure, the nut support of this nut screw structure is made one on brake piston or with brake piston, and leading screw is equipped with first rubbing surface, this first rubbing surface lock state with non-rotatably be arranged on the second rubbing surface acting in conjunction of holding on the merit device piston.
In this structure, force transmission element is configured for the centering supporting member of leading screw.
In a kind of favourable improvement structure of content of the present invention another spring part is set, this spring part abuts against on the handing-over position of shoulder hole different-diameter the flange of force transmission element.
In the another kind of favourable structure of the present invention, electromagnetic actuators and armature plate acting in conjunction, this armature plate is connected in the mode that can transmit power with force transmission element.
The coil of electromagnetic actuators works to measure the sensor of armature plate position.
In a kind of alternative form of implementation, electromechanical actuator performance is used for the function of sensor of measuring force transmitting element position.In this form of implementation the screw thread of force transmission element by preferred self-locking with hold merit device piston and be connected.Electromechanical actuator holds the relative movement that applies between merit device piston and the force transmission element with this electromechanical actuator location independent by the screw thread and adaptive being connected of preferred self-locking in addition.
Hydraulic pressure holds merit device pressure chamber and can close by valve that can electronic control.
The another kind of particularly advantageous embodiment of content of the present invention proposes, no matter in the working pressure chamber still in the hydraulic pressure chamber or hold in the merit device pressure chamber and all come build-up pressure by oil hydraulic pump, this oil hydraulic pump is for example as the external pressure source of electro-hydraulic brake system.
Perhaps by means of the pressure generator that can handle by the vehicle driver in the working pressure chamber with hold build-up pressure in the merit device pressure chamber.
Description of drawings
Be described with reference to the accompanying drawings the present invention below by two embodiments, in the accompanying drawings:
Fig. 1 is the shaft section view of first kind of structure of Hydraulic brake of the present invention at releasing orientation;
Fig. 2 is the shaft section view of second kind of structure of Hydraulic brake of the present invention.
Embodiment
First kind of structure at the Hydraulic brake of the present invention shown in Fig. 1 has brake casing 1, this housing surrounds outward edge and two same unshowned brakings of unshowned brake disc and determines, brake casing 1 side within it forms master cylinder 5, this master cylinder holds can axially movable brake piston 6, can pass through hydraulic port 8 input brake liquid in the working pressure chamber 7 that between master cylinder 5 and brake piston 6, forms, make and set up retardation pressure, this retardation pressure makes brake piston 6 move axially towards the brake disc direction, brake slipper towards brake piston 6 is pressed on the brake disc, at this moment move round about as reactive brake housing 1, and another brake slipper is pressed on the brake disc.
In addition as Fig. 1 finding, on a side of the brake piston dorsad 6 of brake casing 1, be equipped with and hold merit device 10, this hold merit device 10 mainly comprise hydraulic pressure hold merit device pressure chamber 9, limit hold merit device pressure chamber 9 hold merit device piston 11 and spring part 12, spring part is made the belleville spring group and is bearing in and holds on the merit device piston in the example shown.Be stored in the energy held in the merit device 10 in the stopping brake process on brake piston 6, this will be elaborated hereinafter.Reach thus, act on the influence that the impacting force of braking on determining is subjected to the length change in brake casing 1 zone that caused by heat hardly.
Be used for realizing that the needed locking device of parking brake function is made of lead screw gear or nut screw structure 14 in structure shown in Figure 1.Described nut screw structure 14 comprises nut 15 and leading screw 16, and this nut and leading screw interconnect by the screw thread of not self-locking.Wherein nut 15 is rigidly connected with brake piston 6, and leading screw 16 has especially conical first attrition surface 17 on the end of brake piston 6 dorsad at it, this first rubbing surface can with non-rotatably be installed in second rubbing surface 18 that holds in the merit device piston 11 and engage or be disengaged.One force transmission element 2 is set for this reason, and this force transmission element is configured for the centering supporting member 21 of leading screw 16 by holding cylindrical shoulder hole 13 supportings in the merit device piston 11 and passing this hole.With respect to the effect of just ending centering supporting member 21 after holding 11 relative movement of merit device piston, two rubbing surfaces 17,18 just are bonded with each other at force transmission element 2, and this will describe in detail hereinafter.Being bearing in spring 19 on the brake casing 1 in addition connects in the centre under the situation of a thrust-bearing 20 and makes leading screw 16 to second rubbing surface 18 or centering supporting member 21 direction pretensions.
Expression is in first kind of structure of hydraulic brake of the present invention of the releasing orientation of stopping brake in Fig. 1.For the locking parking break, at first by the pressure generator that do not specify not only in working pressure chamber 7 but also holding in the merit device pressure chamber 9 and setting up hydraulic pressure.Must especially be designed to for this reason normally close valve (SG valve) 24 can electronic control valve switch to its enable possition.Brake piston 6 and holds active force right-hand moving in figure that merit device piston 11 overcomes the spring part 12 of pretension because reaction left in figure of the pressure of setting up moves working pressure chamber 7 in, compress at this process medi-spring spare 12.At this moment because be bearing on the shoulder hole 13 less and larger-diameter handing-over positions, so hold merit device piston 11 drive transmitting elements 2 at the flange 4 that forms on the force transmission element 2.Hold merit device piston 11 and therefore also have force transmission element 2 in Fig. 1, to move right, until with till armature plate 23 that force transmission element 2 is connected in the mode that can transmit power is fitted on the electromagnetic actuators 3 by the pressure of the foundation during holding merit device pressure chamber 9 just mentioned.Leading screw 16 is owing to the effect of the power of spring 19 continues to abut against on the centering supporting member 21 in this process.Two rubbing surfaces 17,18 can not be engaged.
Then electromagnetic actuators 3 energisings make armature plate 23 be locked in its above-mentioned position of collision by electromagnetic actuators 3 thus.In working pressure chamber 7 with when holding merit device pressure chamber 9 internal pressures and reducing, holding merit device piston 11 brake piston 6 right-hand motion in figure between moving period left then.Braking by force transmission element 2 makes at force transmission element 2 and hold between the merit device piston 11 can relative movement, eliminates the function of the centering supporting member that is used for leading screw 16 thus, and two rubbing surfaces 17,18 are bonded with each other.The spring part of having mentioned that is subjected to pretension 12 will hold merit device piston 11, the blocked leading screw 16 of face, nut 15 and therefore also have brake piston 6 to press among the figure left in other words towards unshowned brake disc because rubbing surface 17,18 is bonded with each other, thus vehicle brake is locked in its impaction state, then electromagnetic actuators 3 is no longer switched on, and armature plate 23 or force transmission element 2 are no longer braked.Valve 24 switches to aneroid stream, therefore closes.That is to say that Hydraulic brake does not need energy, and do not need hydraulic pressure to remain locked in impaction state, this regards favourable as.
In order to throw off locking, in working pressure chamber 7, set up hydraulic pressure equally, and after SG valve 24 is correspondingly controlled, also holding in the merit device pressure chamber 9 and setting up hydraulic pressure.Hydraulic pressure makes brake piston 6 left in Fig. 1 move equally, and makes and hold merit device piston 11 and move right.But when holding 11 off-loads of merit device piston, be enough to make stopping brake to throw off locking.It is less and than the spring part 22 on the handing-over position between the major diameter force transmission element 2 is pressed to leading screw 16 directions that another makes force transmission element 2 abut against shoulder hole 13, and correspondingly rush open the rubbing surface 17,18 that is bonded with each other under the situation of off-load holding merit device piston 11.Adhesion transmitting element 2 reconstitutes the centering supporting member 21 of leading screw 16.
As seen from Figure 1, another spring part 22 of just having been mentioned is used for when the service braking of exerting pressure in working pressure chamber 7 only force transmission element 2 not being moved, because it overcomes the active force pretension of the hydraulic pressure in the working pressure chamber 7 by another spring part 22.Hold merit device piston 11 and when service braking, equally move, because hold merit device piston 11 towards the functional diameter (FD) in working pressure chamber 7 functional diameter (FD) less than brake piston 6.Make the spring part 12 that has the pretightening force of being determined by design in addition and overcome pressure effect in the working pressure chamber 7, it stops equally holds the mobile of merit device piston 11 during service braking.
The coil 25 of electromagnetic actuators 3 satisfies the function of the position that is used for measuring armature plate 23, and can discern vehicle brake with it can still cannot lock.Particularly the bump of 23 pairs of electromagnetic actuators 3 of armature plate is a signal for the pressure generator that does not specify in addition, the pressure foundation that this signal is realized the stopping brake process in order to finish being used in pressure chamber 7,9.In order to measure the armature plate position reliably, determine inductance variation by the coil 25 of the kinetic electromagnetic actuators 3 of armature plate.This is undertaken by the method that applies pulsed voltage on coil 25.Measure the variation of the electric current that flows through coil 25 simultaneously.This electric current changes the position that can infer armature plate 23, thus the position of extrapolability transmitting element 2.If the position of armature plate 23 changes, change just flow through the electric current of coil 25 so.The inductance of coil 25 changes the size in the gap between the iron yoke 26 that depends primarily on armature plate 23 and electromagnetic actuators 3.
Can certainly imagine, adopt sensor element to measure the position of armature plate position or deterministic force transmitting element 2.This sensor element can be made Hall transducer or magneto-resistive transducing element, and they are sensing non-contactly.
Mainly be with difference in second embodiment of the vehicle brake of the present invention shown in Fig. 2, adopt electromechanical actuator 33, rather than electromagnetic actuators 3 come latching force transmitting element 2 by means of the described embodiment of Fig. 1.
As seen from Figure 2, electromechanical actuator 33 drives the live axle 34 that is connected with the unshowned rotor of electromechanical actuator 33.Live axle 34 is connected with force transmission element 2 again and the driving force transmitting element.Yet a kind of adaptive connection is made in the connection between live axle 34 and the force transmission element 2, and making can relative movement between the described member.
The screw thread 35 of force transmission element 2 by self-locking with hold merit device piston 11 and be connected, and be formed on the function that is used for the centering supporting member 21 of leading screw 16 among above-mentioned first embodiment.If force transmission element 2 is by electromechanical actuator 33 right-hand rotation in figure, just so at first rubbing surface 17 that forms on the leading screw 16 with holding non-rotatable second rubbing surface 18 that forms on the merit device piston and be bonded with each other.
In the embodiment shown in Figure 2, when in the working pressure chamber 7 and hold in the merit device pressure chamber 9 and can lock equally behind the build-up pressure.After this brake piston 6 is moved to the left in the drawings towards unshowned brake disc direction on the one hand, moves right in the drawings and hold merit device piston 11.Is connected with the form of the self-locking thread 35 just introduced owing to hold merit device piston 11 and force transmission element 2, is driven so force transmission element 2 holds merit device piston 11, and right-hand mobile in figure.Live axle 34 and force transmission element 2 are realized relative movement in the joint 32 of two members having narrated in this process.Leading screw 16 continues to abut against on the force transmission element 2 by the active force of the spring 19 that illustrated in this external this process, and rubbing surface 17,18 is not bonded with each other.Two rubbing surfaces 17,18 only just can be bonded with each other force transmission element 2 at controller electric actuator correspondingly and by rotatablely moving of live axle 34 after right-hand the moving in figure.Then leading screw 16 locked and in pressure chamber 7,9 used pressure removed.The cluster spring 12 that has now illustrated acts on the brake piston 6 by rubbing surface 17,18 and the nut screw structure 14 of holding merit device piston 11, being bonded with each other, thereby brake piston is locked in impaction state.
In order to throw off locking, in two pressure chambers 7,9, rebulid hydraulic pressure, till holding 11 off-loads of merit device piston, and electromechanical actuator 33 is enough strong, so that by force transmission element 2 rubbing surface 17,18 that is bonded with each other is rushed open.
In the form of implementation shown in this external Fig. 2, electromechanical actuator 33 is also brought into play and is used for the function of sensor of position of measuring force transmitting element 2.With this information determine vehicle brake be the locking or unclamp.Measuring machine electric actuator 33 needed electric currents can be inferred the position of live axle 34 from this electric current for this reason, thereby also infer the position of force transmission element 2.Select also to adopt so-called step number sensor as another kind, the revolution of this step number sensor measurement electromechanical actuator 33 may be obtained the position of force transducer 2 equally by this information.
In the unshowned form of implementation of another kind, omitted the independent merit device pressure chamber 9 that holds.In this structure, brake piston and hold merit device piston and handle by the pressure of introducing in the common pressure chamber.During service braking, prevent to hold the piston motion of merit device by spring part 12 by means of Fig. 1 and 2 explanation.In order to realize the stopping brake process, force transmission element is correspondingly handled by electromechanical actuator, make hold on the merit device piston and with the leading screw of the coefficient nut screw structure of brake piston on two rubbing surfaces forming can be bonded with each other.For the parking brake that gets loose, electromechanical actuator steering force transmitting element makes the rubbing surface of just having mentioned be disengaged thus.
Particularly advantageously in the structure of the present invention be by Fig. 1 and 2, under SG valve 24 idle situations, can not lock, because must realizable force transmitting element 2 and hold relative movement between the merit device piston 11 in order to lock, this only could realize when electromagnetic actuators 3 or electromechanical actuator 33 lockings or steering force transmitting element 2.
For not only in working pressure chamber 7 but also holding build-up pressure in the merit device pressure chamber 22,9, adopt different, components of stres that especially can external control.For example can adopt oil hydraulic pump, it is as the external pressure source of electro-hydraulic brake system.Also can consider to have and can and be connected the actuation unit of the main braking cylinder of brake booster back from the brake booster of external control, perhaps selecting also can adopt as another kind can be by the pressure generator of driver's operation.
Claims (14)
1. especially for the Hydraulic brake of automobile, this break has brake casing (1), limit hydraulic working pressure chamber (7) in this housing the inside by brake piston (6), wherein brake piston (6) can lock by locking device at impaction state, this locking realizes by the relative movement of force transmission element (2), wherein be provided with and the coefficient merit device (10) that holds of brake piston (6), this holds the merit device and comprises the closable merit device pressure chamber (9) that holds, qualification hold merit device pressure chamber (9) hold merit device piston (11) and at least one is bearing in the spring part (12) that holds on the merit device piston (11), it is characterized in that: force transmission element (2) can be held merit device piston (11) and be driven to the direction opposite with the compaction direction of brake piston (6), and can be locked by electromagnetic actuators (3) or electromechanical actuator (33), can relative movement between the merit device piston (11) thereby make force transmission element (2) and hold.
2. Hydraulic brake according to claim 1 is characterized in that: be provided with shoulder hole (13) in holding merit device piston (11), this shoulder hole acceptance transmitting element (2).
3. Hydraulic brake according to claim 2 is characterized in that: force transmission element (2) has axial ledge (4), and this flange bearing is on the handing-over position of shoulder hole (14) different-diameter.
4. according to each described Hydraulic brake in the claim 1 to 3, it is characterized in that: locking device is made of nut screw structure (14), the nut of this nut screw structure (15) is bearing in brake piston (6) and upward or with brake piston (6) makes one, and leading screw (16) is equipped with first rubbing surface (17), this first rubbing surface lock state with non-rotatably be arranged on second rubbing surface (18) acting in conjunction of holding on the merit device piston (11).
5. Hydraulic brake according to claim 4 is characterized in that: force transmission element (2) is configured for the centering supporting member (21) of leading screw (16).
6. Hydraulic brake according to claim 3 is characterized in that: be provided with another spring part (22), this spring part abuts against on the handing-over position of shoulder hole (13) different-diameter the flange (4) of force transmission element (2).
7. each described Hydraulic brake in requiring according to aforesaid right, it is characterized in that: electromagnetic actuators (3) and armature plate (23) acting in conjunction, this armature plate is connected in the mode that can transmit power with force transmission element (2).
8. Hydraulic brake according to claim 7 is characterized in that: the performance of the coil (25) of electromagnetic actuators (3) is used for measuring the function of the sensor of armature plate (23) position.
9. according to each described Hydraulic brake in the claim 1 to 5, it is characterized in that: electromechanical actuator (33) performance is used for the function of sensor of measuring force transmitting element (2) position.
10. Hydraulic brake according to claim 9 is characterized in that: the screw thread (35) of force transmission element (2) by preferred self-locking with hold merit device piston (11) and be connected.
11. according to claim 9 or 10 described Hydraulic brakes, it is characterized in that: electromechanical actuator (33) is holding the relative movement that applies between merit device piston (11) and the force transmission element (2) with this electromechanical actuator location independent by the screw thread (35) and the adaptive connection (32) of preferred self-locking.
12. each described Hydraulic brake in requiring according to aforesaid right is characterized in that: hydraulic pressure holds merit device pressure chamber (9) and can close by valve (24) that can electronic control.
13. according to each described Hydraulic brake in the aforesaid right requirement, it is characterized in that: not only in working pressure chamber (7) but also holding build-up pressure in the merit device pressure chamber (9), this oil hydraulic pump is preferably used as the external pressure source of electro-hydraulic brake system by oil hydraulic pump.
14., it is characterized in that according to each described Hydraulic brake in the claim 1 to 12: by means of the pressure generator that can handle by the vehicle driver not only in working pressure chamber (7) but also holding build-up pressure in the merit device pressure chamber (11).
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102004006436 | 2004-02-09 | ||
| DE102004006436.9 | 2004-02-09 | ||
| DE102004049656.0 | 2004-10-11 | ||
| DE102004062810.6 | 2004-12-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1918398A true CN1918398A (en) | 2007-02-21 |
Family
ID=37738691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200580004361 Pending CN1918398A (en) | 2004-02-09 | 2005-02-09 | Hydraulic vehicle brake |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1918398A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333037A (en) * | 2007-10-27 | 2016-02-17 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Combined vehicle brake with electromechanically actuable parking brake |
| CN107477111A (en) * | 2016-06-08 | 2017-12-15 | 迪尔公司 | Hold the spring in during assembly in pan brake component reaction plate and operate the retaining pin with foot of stator disc |
| CN108006112A (en) * | 2018-01-02 | 2018-05-08 | 中车株洲电力机车有限公司 | A kind of braking system |
| CN108105286A (en) * | 2016-11-24 | 2018-06-01 | 比亚迪股份有限公司 | Disk brake and vehicle |
| CN110834610A (en) * | 2018-08-17 | 2020-02-25 | 罗伯特·博世有限公司 | Braking device for a vehicle, associated method for driver assistance and associated control and regulation mechanism |
| CN112135759A (en) * | 2018-05-09 | 2020-12-25 | 爱皮加特股份公司 | Brake system, in particular for autonomous driving |
-
2005
- 2005-02-09 CN CN 200580004361 patent/CN1918398A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333037A (en) * | 2007-10-27 | 2016-02-17 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Combined vehicle brake with electromechanically actuable parking brake |
| CN107477111A (en) * | 2016-06-08 | 2017-12-15 | 迪尔公司 | Hold the spring in during assembly in pan brake component reaction plate and operate the retaining pin with foot of stator disc |
| CN107477111B (en) * | 2016-06-08 | 2020-10-09 | 迪尔公司 | Retaining pin with foot to hold spring in disc brake assembly reaction plate and operate stator disc during assembly |
| CN108105286A (en) * | 2016-11-24 | 2018-06-01 | 比亚迪股份有限公司 | Disk brake and vehicle |
| CN108006112A (en) * | 2018-01-02 | 2018-05-08 | 中车株洲电力机车有限公司 | A kind of braking system |
| CN108006112B (en) * | 2018-01-02 | 2020-02-11 | 中车株洲电力机车有限公司 | Braking system |
| CN112135759A (en) * | 2018-05-09 | 2020-12-25 | 爱皮加特股份公司 | Brake system, in particular for autonomous driving |
| CN112135759B (en) * | 2018-05-09 | 2023-01-20 | 爱皮加特股份公司 | Brake system, in particular for autonomous driving |
| CN110834610A (en) * | 2018-08-17 | 2020-02-25 | 罗伯特·博世有限公司 | Braking device for a vehicle, associated method for driver assistance and associated control and regulation mechanism |
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