CN108248582A - For the electric control braking method and computer storage media of automobile - Google Patents
For the electric control braking method and computer storage media of automobile Download PDFInfo
- Publication number
- CN108248582A CN108248582A CN201810148109.8A CN201810148109A CN108248582A CN 108248582 A CN108248582 A CN 108248582A CN 201810148109 A CN201810148109 A CN 201810148109A CN 108248582 A CN108248582 A CN 108248582A
- Authority
- CN
- China
- Prior art keywords
- ecu
- vehicle
- system ecu
- automobile
- braking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 99
- 150000001875 compounds Chemical class 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 abstract description 8
- 230000007613 environmental effect Effects 0.000 abstract description 7
- 230000006855 networking Effects 0.000 abstract description 5
- 238000004134 energy conservation Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 12
- 239000012530 fluid Substances 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 230000007423 decrease Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present invention provides a kind of electric control braking method and computer storage media for automobile, wherein, which includes：Acquire the rotational angle or pressure of brake pedal plate in real time using sensor；Vehicle ECU controls slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system ECU braking vehicles according to the rotational angle or the pressure.The present invention can realize electric controlled brake system intelligence, networking, integrated control, and brake sensitivity is high, and active safety is strong, is conducive to vehicle light weight degree and energy conservation and environmental protection.
Description
Technical field
The present invention relates to technical field of automobile electronic control more particularly to electronic vehicle brake system, specifically
It is a kind of electric control braking method and computer storage media for automobile.
Background technology
Brake is one of basic function of automobile, and the quality of braking quality directly determines comprehensive performance and the safety of automobile
Energy.Although conventional hydraulic formula, pneumatic brake system disclosure satisfy that the primary demand of existing automobile brake to a certain extent,
It is as vehicle active safety grade and braking comfort requirement are higher and higher, there are hydraulic/pneumatics for existing brake system of car
Pipe arrangement is complicated, by vacuum booster unit, braking response speed are relatively slow, braking moment actively can not be adjusted and be difficult to and it
The deficiencies of its system integration controls is also not suitable for the demand for development of the integrated control of automobile, especially electric automobile chassis.
For this purpose, people develop electric controlled brake system, main representative has electronic hydraulic brake system (EHB) and electric mechanical
Braking system (EMB), electric controlled brake system eliminates to be directly connected between brake pedal and wheel cylinder, using electric signal as
The medium that information is transmitted, electronic control unit identify the braking intention of driver according to relevant sensor signals, control hydraulic pressure
Or the action of air pressure executing agency, the operating of automotive wheel is prevented or slowed down, has the advantages that be easily integrated control, meets automobile bottom
The demand for development of the integrated control of disk.
It is directly connected to, and realizes between brake pedal and wheel cylinder although existing electric controlled brake system eliminates
The integrated control of automobile chassis, but executing agency is still fluid pressure type or pneumatic brake system.Fluid pressure type is braked
For system, the brake fluid of brake fluid system has compressibility, and transmission speed is slow, has hysteresis characteristic so that braking spirit
Sensitivity is not high；And brake fluid temperature tolerance is poor, environment temperature or temperature in use it is excessively high, it is too low can braking ability be caused to decline,
Even there are security risks；In addition, brake fluid needs to regularly replace, environmental pollution, not energy-efficient environmental protection are caused.For vapour-pressure type system
For dynamic system, pneumatic circuit is complicated, and automobile needs to configure inflating pump, gas receiver and air pressure valve, and weight weight increases vehicle
Oil consumption, not energy-efficient environmental protection；It and can not be with existing electrical control auxiliary brake function (such as EBS (the electronics controls based on air-pressure brake
Braking system processed), ABS (anti-blocking brake system), AEB (automatic breaking system) etc.) be integrated so that vehicle factor matching is complicated
Degree greatly improves, it is difficult to realize full intellectualized, the control based on network of braking system；In addition, air pressure have compressibility and
Hysteresis characteristic, transmission speed are slow so that braking sensitivity is not high；Finally, air pressure long-time service can generate aqueous vapor, in environment temperature
It just freezes in the case of too low, causes airway blockage, reduce braking ability or brake fade or even generate security risk；And it solves
Except the exhaust sound of braking is excessive, environmental noise pollution is caused.
In recent years, with attention of the world to environmental protection protection, in order to reduce the discharge of vehicle exhaust, more and more coming of new
Automotive proplsion no longer use fuel engines, but using motor so that provided energy for braking system originally
Feeder or hydraulic pump be also cancelled.But braking system is still using gas pressure pattern or hydraulic pressure pattern, and therefore, vehicle must not
In addition electronic feeder or electric hydraulic pump is not configured, so as to increase the complexity of complete vehicle structure and weight, used
The shortcomings that original fluid pressure type or pneumatic brake system are equally existed in journey.
Therefore, there is an urgent need for research and develop a kind of vapour for thoroughly abandoning original fluid pressure type or air pressure type braking device by those skilled in the art
Vehicle electric control braking method while improving vehicle active safety and braking comfort, meets existing vehicle intellectualized, integrated
The requirement in direction.
Invention content
In view of this, the technical problem to be solved in the present invention be to provide a kind of electric control braking method by automobile and based on
Calculation machine storage medium solves existing electric controlled brake system and still relies on original fluid pressure type or air pressure type braking device, it is difficult to real
The problem of existing electric controlled brake system intelligence, networking, integrated control.
In order to solve the above-mentioned technical problem, specific embodiment of the invention provides a kind of electric control braking side for automobile
Method, including：Acquire the rotational angle or pressure of brake pedal plate in real time using sensor；Vehicle ECU is according to the rotational angle
Or the pressure controls slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system
ECU braking vehicles.
The specific embodiment of the present invention also provides a kind of computer storage media for including computer executed instructions, described
When computer executed instructions are handled by data processing equipment, the data processing equipment performs the electric control braking side for automobile
Method.
Above-mentioned specific embodiment according to the present invention is it is found that electric control braking method and computer for automobile store Jie
Matter at least has the advantages that：The present invention can realize complete braking function, abandon the original hydraulic pressure of automobile completely
Formula or pneumatic brake system can realize electric controlled brake system intelligence, networking, integrated control, simplify automobile and form,
Mitigate vehicle weight；In addition, completely after electric braking, brake will not be limited by the influence of environment temperature, and high sensitivity, actively
Safety is good, and energy consumption is few, energy conservation and environmental protection.
It is to be understood that above-mentioned general description and detailed description below are merely illustrative and illustrative, not
It can the limitation range of the invention to be advocated.
Description of the drawings
Following appended attached drawing is the part of specification of the present invention, depicts example embodiments of the present invention, institute
Attached drawing is used for illustrating the principle of the present invention together with the description of specification.
Fig. 1 is the stream of the embodiment one of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 2 is the stream of the embodiment two of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 3 is the stream of the embodiment three of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 4 is the stream of the example IV of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 5 is the stream of the embodiment five of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 6 is the stream of the embodiment six of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 7 is the stream of the embodiment seven of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 8 is the stream of the embodiment eight of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Fig. 9 is the stream of the embodiment nine of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu.
Figure 10 is the embodiment ten of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart.
Figure 11 is the embodiment 11 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart.
Figure 12 is the embodiment 12 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart.
Figure 13 is the embodiment 13 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart.
Figure 14 is the embodiment 14 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart.
Figure 15 is the embodiment 15 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart.
Figure 16 is the embodiment 16 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart.
Figure 17 is that the concrete application of a kind of electric control braking method for automobile that the specific embodiment of the invention provides is shown
It is intended to.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are more clearly understood, below will with attached drawing and in detail
Narration clearly illustrates the spirit of disclosed content, and any skilled artisan is understanding the content of present invention
After embodiment, when the technology that can be taught by the content of present invention, it is changed and modifies, without departing from the essence of the content of present invention
God and range.
The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not as a limitation of the invention.
In addition, element/component of the same or like label used in drawings and the embodiments is for representing same or like portion
Point.
About " first " used herein, " second " ... etc., not especially censure the meaning of order or cis-position,
It is non-to limit the present invention, only for distinguishing the element described with same technique term or operation.
About direction term used herein, such as：Upper and lower, left and right, front or rear etc. are only the sides of refer to the attached drawing
To.Therefore, the direction term used is intended to be illustrative and not intended to limit this creation.
It is open term, i.e., about "comprising" used herein, " comprising ", " having ", " containing " etc.
Mean including but not limited to.
About it is used herein " and/or ", including any of the things or all combination.
Include " two " and " two or more " about " multiple " herein；Include " two groups " about " multigroup " herein
And " more than two ".
About term used herein " substantially ", " about " etc., to modify it is any can be with the quantity or mistake of microvariations
Difference, but this slight variations or error can't change its essence.In general, microvariations that such term is modified or error
Range in some embodiments can be 20%, in some embodiments can be 10%, can be in some embodiments 5% or its
His numerical value.It will be understood by those skilled in the art that the aforementioned numerical value referred to can be adjusted according to actual demand, it is not limited thereto.
It is certain to describe the word of the application by lower or discuss in the other places of this specification, to provide art technology
Personnel's guiding additional in relation to the description of the present application.
Fig. 1 is the stream of the embodiment one of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in Figure 1, sensor acquires the rotational angle or pressure of brake pedal plate, vehicle ECU (electronic control unit) in real time
According to rotational angle or the slow system ECU of pressure rational management, service braking system ECU, vehicle driving motor system ECU and stay
One or more of vehicle braking system ECU, so as to be braked to automobile (vehicle).
In the specific embodiment shown in the drawings, include for the electric control braking method of automobile：
Step 101：Acquire the rotational angle or pressure of brake pedal plate in real time using sensor.The specific implementation of the present invention
In example, angular transducer can be utilized to acquire the rotational angle of brake pedal plate in real time, pressure sensor can also be utilized real-time
Acquire the pressure of brake pedal plate.Angular transducer can be double remaining angle of foot board sensors；Pressure sensor can be
Double remaining pedal force sensors.
Step 102：Vehicle ECU controls slow system ECU, service braking system according to the rotational angle or the pressure
ECU, vehicle driving motor system ECU and parking braking system ECU braking vehicles.In specific embodiments of the present invention, vehicle ECU
Slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking system are dispatched according to rotational angle or pressure
At least one of dynamic system ECU carrys out braking vehicle.Automobile can be electric vehicle, hybrid vehicle, fuel vehicle, gas vehicle
Deng.
Referring to Fig. 1, sensor acquires the rotational angle or pressure of brake pedal plate, then the angle of rotation that will be acquired in real time in real time
Degree or pressure are transmitted directly to braking system ECU, and braking system ECU sends rotational angle or pressure to vehicle ECU again, so
Afterwards, vehicle ECU controls slow system ECU, service braking system ECU, vehicle driving motor system according to rotational angle or pressure
ECU and parking braking system ECU braking vehicles；It can realize complete braking function, the original liquid of automobile can be abandoned completely
Pressure type or pneumatic brake system can realize electric controlled brake system intelligence, networking, integrated control, simplify automobile structure
Into mitigation vehicle weight, vehicle active safety grade and braking comfort are good.
Fig. 2 is the stream of the embodiment two of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, referring to Fig. 2, the step 201 in Fig. 2 is identical with the step 101 in Fig. 1, and in Motor Vehicle Braking Procedure, vehicle driving first is electric
Machine system ECU reduces the rotating speed of driving motor, and then automobile is braked by slow system ECU and service braking system ECU.
In the specific embodiment shown in the drawings, step 202 specifically includes：
Step 2021：When the rotational angle or the pressure are more than first threshold, the vehicle driving motor system
ECU reduces the rotating speed of driving motor under the control of the vehicle ECU.In specific embodiments of the present invention, brake pedal plate turns
After dynamic predetermined angular, vehicle driving motor system ECU starts that driving motor rotating speed is controlled accordingly to decline at the appointed time, continues
In entire braking process.The first threshold can be 0, as long as that is, driver tramples brake pedal plate, driving motor
Rotating speed will reduce.
Step 2022：When the rotational angle or the pressure are more than second threshold, the slow system ECU and described
Service braking system ECU common braking vehicles under the control of the vehicle ECU.In specific embodiments of the present invention, described
Two threshold values are idle stroke corner (i.e. hollow travel stage), and after brake pedal plate crosses hollow travel stage, slow system ECU is advanced
Row braking, remaining brake force are provided by service braking system ECU.In hollow travel stage, brake pedal plate will not produce caliper
Raw brake force, after brake pedal plate turns over hollow travel stage (i.e. idle stroke region), caliper, which starts to generate, clamps braking
Power.
Referring to Fig. 2, driver tramples brake pedal plate, first reduces the rotating speed of driving motor, slow system ECU is again to vapour
Vehicle is braked, and finally automobile is braked by service braking system ECU, and braking comfort is good, and driver's Experience Degree is high.
In the specific embodiment of the present invention, step 2022 specifically includes：It is more than in the rotational angle or the pressure
During second threshold, whole brake force braking vehicles of the slow system ECU are utilized；It is carried using the service braking system ECU
For the remaining brake force needed for braking vehicle.
In another embodiment of the present invention, step 2022 specifically includes：In the rotational angle or the pressure
More than second threshold, and during the slow system ECU failures, directly braking vapour is provided using the service braking system ECU
Whole brake force needed for vehicle.During slow system ECU failures, retarder brake power can not be normally exported, slow system ECU can be shown
Alarm, and fault message is fed back into vehicle ECU by CAN bus, fault message is fed back to service brake by vehicle ECU again
Unite ECU, and the retarder brake power for cancelling slow system ECU participates in the operation of brake, directly performs service braking system ECU brakes
(i.e. EMB motor brakes).
In another embodiment of the present invention, after step 2022, step 202 further includes：Sensed using the gradient and be
The ECU that unites acquires the parking gradient information of the automobile；The vehicle ECU controls the parking system according to the parking gradient information
Dynamic system ECU carries out parking to the automobile.In specific embodiments of the present invention, automobile stop (driving motor be in close or
It is not turned off state) after, after driver stirs the automatically controlled button of parking, brake mode is switched to electronic brake by vehicle ECU
Pattern, and vehicle ECU is sent instructions by CAN bus to parking braking system ECU, gradient induction system ECU is by parking gradient
Information feeds back to vehicle ECU, and vehicle ECU calculates the sliding force of automobile, and vehicle ECU is again fed back to sliding force by CAN bus
Parking braking system ECU issues a command to electronic parking control unit, electronic parking by parking braking system ECU by CAN bus
Control unit allows force snesor to export positive voltage analog signal and gives EMB control units；Compound EMB motors start immediately, and by volume
Determine rotating speed to be rotated clockwise, motor brake device is made to generate parking braking to trailing wheel at the appointed time, then compound EMB electricity
Mechanical, electrical machine brake powers off, and motor brake device at the appointed time automatically brakes to electric machine main shaft, ensures reliable parking effect
Fruit.In addition, if automobile releases service brake, hangs neutral gear at this time, wheel speed sensors, which measure vehicle tyre and have, persistently to be slipped by slope, rotates
When phenomenon is more than the pulse signal of specified quantity, parking braking system ECU can be issued a command to by CAN bus at the appointed time
Electronic parking control unit allows force snesor increase to export positive voltage analog signal amount and gives EMB control units, while allow compound
EMB motors, motor brake device Power resumption, release compound EMB motor brakes at the appointed time；Compound EMB motors add immediately
Big output torque, generate bigger parking brake force, until wheel speed sensors measure tire rotation pulse signal specified quantity with
Interior, then compound EMB motors, motor brake device power off again, and motor brake device at the appointed time automatically stops to electric machine main shaft
Vehicle ensures reliable parking effect.In addition, if vehicle parking after forcing to move, friction plate, brake disc can be because of at a temperature of
Drop makes to generate gap between the two or other reasons generates gap；Have persistently at this point, if wheel speed sensors measure vehicle tyre
Slip by slope, rotation phenomenon be more than specified quantity pulse signal when, parking braking system ECU can pass through CAN bus at the appointed time
Electronic parking control unit is issued a command to, while allows compound EMB motors, motor brake device Power resumption, is solved at the appointed time
Except compound EMB motor brakes；Compound EMB motors increase output torque immediately, generate bigger parking brake force, until wheel speed senses
Device measures tire rotation pulse signal within specified quantity, carries out motor automatically by compound EMB motors again at the appointed time
Brake ensures reliable parking effect.
In specific embodiments of the present invention, the vehicle ECU controls the parking braking according to the parking gradient information
The step of system ECU carries out parking to the automobile, specifically includes：The vehicle ECU is calculated according to the parking gradient information
The sliding force of the automobile；The parking braking system ECU according to the sliding force control EMB control units to the automobile into
Row parking.
Fig. 3 is the stream of the embodiment three of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in figure 3, the step 301 in Fig. 3 is identical with the step 101 in Fig. 1, the step 302 in Fig. 3 and the step in Fig. 1
102 is identical, after automobile stops, when driver transfers to the safety belt plug of main driving seat, and vehicle ECU control parking braking systems
ECU implements parking to automobile.
In the specific embodiment shown in the drawings, further included for the electric control braking method of automobile：
Step 303：The vehicle ECU transfers to signal control parking braking system ECU to automobile reality according to safety belt plug
Apply parking.In specific embodiments of the present invention, after automobile stops, when driver transfers to the safety belt plug of main driving seat, peace
Full band system ECU issues a command to vehicle ECU by CAN bus at the appointed time, and parking braking system ECU is allowed to enter electronics and is stayed
Vehicle pattern implements parking to automobile.
Referring to Fig. 3, when driver transfers to the safety belt plug of main driving seat, parking braking system ECU is automatically to automobile
Parking is carried out, vehicle safe class is high, meets the needs of existing secure scheme.
Fig. 4 is the stream of the example IV of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in figure 4, the step 401 in Fig. 4 is identical with the step 101 in Fig. 1, the step 402 in Fig. 4 and the step in Fig. 1
102 is identical, the foot pedal if driver touches on the brake suddenly, and service braking system ECU carries out emergency brake, otherwise carries out conventional brake
Vehicle.
In the specific embodiment shown in the drawings, further included for the electric control braking method of automobile：
Step 403：Utilize the rotational angular velocity of angular-rate sensor periodically acquisition brake pedal plate.The present invention's is specific
In embodiment, in the case where providing speed, when the rotational angular velocity of the brake pedal plate of acquisition is less than predetermined threshold value, it is judged as routine
Brake；When the rotational angular velocity of acquisition is more than or equal to predetermined threshold value, it is judged as emergency brake.Conventional brake is mainly common shape
Allow vehicle deceleration under state, and emergency brake is mainly that vehicle is allowed to stop travelling at once under special state, otherwise can generate collision etc.
Accident.For example, angular-rate sensor acquires the rotational angular velocity of a brake pedal plate at interval of preset time.
Step 404：The vehicle ECU controls the service braking system according to current vehicle speed and the rotational angular velocity
ECU enters corresponding brake mode.In specific embodiments of the present invention, the brake mode includes：Emergency brake pattern and routine
Brake mode.Step 404 specifically includes：The current vehicle speed is more than preset vehicle speed, and the rotational angular velocity is more than default
During threshold value, the vehicle ECU controls the service braking system ECU to enter the emergency brake pattern；Otherwise, the vehicle
ECU controls the service braking system ECU to enter the conventional brake mode.
Referring to Fig. 4, if current vehicle speed is more than preset vehicle speed, driver touches on the brake foot pedal suddenly, and rotational angular velocity is big
When predetermined threshold value, vehicle ECU controls service braking system ECU enters emergency brake pattern, prevents automobile from overturning, starts simultaneously
Anti-lock function, vehicle security are high.
In the specific embodiment of the present invention, further included for the electric control braking method of automobile：The service braking system
When ECU enters the emergency brake pattern, the service braking system ECU control EMB control units start anti-lock function.It is anti-
Only since braking distance is too short, cause vehicle rollover, improve vehicle security level.
Fig. 5 is the stream of the embodiment five of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in figure 5, the step 501 in Fig. 5 is identical with the step 101 in Fig. 1, during service braking system ECU failures, first
Vehicle driving motor system ECU reduces the rotating speed of driving motor, then by slow system ECU and parking braking system ECU to vapour
Vehicle is braked.
In the specific embodiment shown in the drawings, step 502 specifically includes：
Step 5021：When the service braking system ECU failures, the vehicle ECU controls the vehicle driving motor
System ECU reduces the rotating speed of driving motor to predetermined value.In specific embodiments of the present invention, no matter the current vehicle speed of automobile is more
Greatly, during service braking system ECU failures, service braking system ECU can not give EMB control units (controller for controlling EMB)
Send instructions and carry out service brake, vehicle ECU needs that instruction is issued parking braking system ECU by CAN bus and vehicle drives
Electric system ECU allows parking braking system ECU to receive the voltage signal that brake pedal plate is sent out, to realize that emergent mixed brake is done
Prepare；Meanwhile vehicle driving motor system ECU will start that driving motor rotating speed is controlled accordingly to decline at the appointed time, advise
Fix time it is interior current vehicle speed is down within certain specified value rapidly, and prompt driver, the function continue was braked entirely
Cheng Zhong.
Step 5022：When the rotational angle or the pressure are more than first threshold, under the control of the vehicle ECU
Utilize whole brake force braking vehicles of the slow system ECU.In specific embodiments of the present invention, driver tramples brake
During foot pedal, brake force is provided by slow system ECU first, remaining brake force is provided by parking braking system ECU.
Step 5023：When the rotational angle or the pressure are more than second threshold, the parking braking system is utilized
ECU provides the remaining brake force needed for braking vehicle.
Referring to Fig. 5, after service braking system ECU failures, under the control of vehicle ECU, pass through slow system ECU and parking
Braking system ECU remains able to brake automobile, and vehicle security level is high, and robustness is good.
Fig. 6 is the stream of the embodiment six of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in fig. 6, the step 601 in Fig. 6 is identical with the step 101 in Fig. 1, slow system ECU and service braking system
When ECU breaks down, directly automobile is braked using parking braking system ECU.
In the specific embodiment shown in the drawings, step 602 specifically includes：
Step 6021：When the slow system ECU and the service braking system ECU break down, the vehicle
ECU controls the vehicle driving motor system ECU to reduce the rotating speed of driving motor to predetermined value.Specific embodiments of the present invention
In, no matter the current vehicle speed of automobile is much, slow system ECU and during service braking system ECU failures, slow system ECU can be shown
Show alarm, fault message will be fed back to vehicle ECU by CAN bus, vehicle ECU is anti-by CAN bus by fault message again
Feed parking braking system ECU, cancels the operation that retarder brake power participates in brake, directly performs EMB and (includes electric mechanical braking
Pincers and the EMB motors on electric mechanical braking pincers) brake；Since service braking system ECU can not give EMB control units
(controller for controlling EMB), which sends instructions, carries out service brake, and vehicle ECU needs that instruction is issued parking system by CAN bus
Dynamic system ECU and vehicle driving motor system ECU allows parking braking system ECU to receive the voltage signal that brake pedal plate is sent out,
To realize that emergent mixed brake is prepared；Meanwhile vehicle driving motor system ECU will start to control driving motor at the appointed time
Rotating speed accordingly declines, and current vehicle speed is down within certain specified value rapidly at the appointed time, and prompt driver, the function
Continue in entire braking process.
Step 6022：When the rotational angle or the pressure are more than first threshold, under the control of the vehicle ECU
Whole brake force needed for braking vehicle are directly provided using the parking braking system ECU.In specific embodiments of the present invention,
Compound EMB control units (controller for controlling compound EMB) are issued a command to by CAN bus by parking braking system ECU, together
When vehicle power supply by the compound EMB motors of turn on automatically (refer specifically to refer on the EMB motors increase be mounted with motor brake device, so as to
With parking braking function), compound EMB motors start and are rotated clockwise by rated speed immediately, and EMB is made to produce trailing wheel
Raw braking, allows vehicle deceleration extremely to stop；In the process, revolver after each, rear right wheel wheel speed sensors can be with intrinsic frequency point
The rotating speed of each tire parking braking system ECU is not fed back to by EMB control units, CAN bus, convenient for parking braking system
ECU coordinates the EMB output brake force and severity of braking of each wheel, until vehicle deceleration is to stopping, securely and reliably.
Referring to Fig. 6, after slow system ECU and service braking system ECU break down, vehicle ECU can still lead to
It crosses scheduling parking braking system ECU and vehicle driving motor system ECU brakes automobile, vehicle safe class is high, robust
Property is good.
Fig. 7 is the stream of the embodiment seven of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in fig. 7, the step 701 in Fig. 7 is identical with the step 101 in Fig. 1, the distance of automobile and front obstacle is less than
During pre-determined distance, vehicle ECU dispatches slow system ECU and service braking system ECU and automobile is braked, and prevents accident from sending out
It is raw.
In the specific embodiment shown in the drawings, step 702 specifically includes：
Step 7021：The distance that the automobile and front obstacle are measured in self-adaption cruise system ECU is less than first in advance
If apart from when, the slow system ECU participates in braking vehicle under the control of the vehicle ECU.Specific embodiments of the present invention
In, in vehicle traveling process, when the distance that self-adaption cruise system ECU measures automobile and foreword barrier is less than L meters, adaptively
Cruise system ECU sends distance to vehicle ECU, vehicle driving motor system ECU, slow system ECU, row by CAN bus
Vehicle braking system ECU, parking braking system ECU；When measuring distance less than the first pre-determined distance, slow system ECU is in vehicle
Automobile brake is participated in automatically under the control of ECU, speed is allowed to decline, and to unclamp a part of throttle foot pedal to early warning at the beginning of driver
Plate carries out reduction of speed, and spacing value (distance value) is shown on instrument board；It fails if vehicle ECU receives slow system ECU
Alarm, then issued a command to each wheel EMB by service braking system ECU and gently braked with the deceleration set.
Step 7022：The distance that the automobile and front obstacle are measured in self-adaption cruise system ECU is less than second in advance
If apart from when, the service braking system ECU participates in braking vehicle under the control of the vehicle ECU.The specific reality of the present invention
It applies in example, when measuring distance less than the second pre-determined distance, service braking system ECU will issue a command to each wheel EMB to provide
Deceleration carry out conventional brake pattern, vehicle driving motor system ECU, which has issued a command to driving motor, to be stopped for power, with plus
Strong warning grade, and spacing value (distance value) is shown on instrument board.
Step 7023：The distance that the automobile and front obstacle are measured in self-adaption cruise system ECU is pre- less than third
If apart from when, the service braking system ECU enters emergency brake modes under the control of the vehicle ECU, wherein, described the
One pre-determined distance is more than second pre-determined distance, and second pre-determined distance is more than the third pre-determined distance.The present invention's
In specific embodiment, when measuring distance less than third pre-determined distance, service braking system ECU starts to issue a command to each wheel
EMB strengthens braking deceleration and enters emergency brake modes, and moment, which increases brake force, ensures automobile apart from the close distance of barrier
It allows vehicle immobilization, while strengthens warning grade again, and spacing value is shown on instrument board.
Referring to Fig. 7, according to automobile and the distance of front obstacle, vehicle ECU dispatches slow system ECU and service brake
System ECU brakes automobile, prevents accident, and vehicle security level is high.
Fig. 8 is the stream of the embodiment eight of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in figure 8, the step 801 in Fig. 8 is identical with the step 101 in Fig. 1, the step 8021 in Fig. 8 and the step in Fig. 7
Rapid 7021 is identical, and the step 8022 in Fig. 8 is identical with the step 7022 in Fig. 7, the step 8023 in Fig. 8 and the step in Fig. 7
7023 is identical, and after automobile stops, parking braking system ECU issues a command to compound ECU and carries out parking braking automatically.
In the specific embodiment shown in the drawings, vehicle ECU controls slow according to the rotational angle or the pressure
The step of system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system ECU braking vehicles, also
Including：
Step 8024：The parking braking system ECU carries out parking to the automobile automatically.Specific embodiments of the present invention
In, after automobile stops, after setting time, parking braking system ECU can issue a command to compound EMB and carry out parking system automatically
It is dynamic.
Referring to Fig. 8, after automobile stops, parking braking system automatic parking prevents car slipping, and vehicle security level is high, user
Experience Degree is high；After if driver wants that adjusting travel route or obstacle is removed, it need to first turn off automatic emergency brake system work
The switch of pattern releases parking function, can just carry out normal driving.
Fig. 9 is the stream of the embodiment nine of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Cheng Tu, as shown in figure 9, the step 901 in Fig. 9 is identical with the step 101 in Fig. 1, the step 9021 in Fig. 9 and the step in Fig. 7
Rapid 7021 is identical, and the step 9023 in Fig. 9 is identical with the step 7022 in Fig. 7, the step 9024 in Fig. 9 and the step in Fig. 7
7023 is identical, and when the distance that self-adaption cruise system ECU measures automobile and front obstacle becomes larger, slow system ECU is whole
Stop braking vehicle under the control of vehicle ECU.
In the specific embodiment shown in the drawings, after step 9021, further include：
Step 9022：The distance that the automobile and front obstacle are measured in self-adaption cruise system ECU is more than the 4th in advance
If apart from when, the slow system ECU stops braking vehicle under the control of the vehicle ECU, wherein, the described 4th it is default away from
From more than first pre-determined distance.In specific embodiments of the present invention, when self-adaption cruise system ECU measures automobile and front
When the distance of barrier is more than four pre-determined distances, after the stipulated time, slow system ECU stops braking vehicle.
Referring to Fig. 9, during slow system ECU braking vehicles, if the distance of automobile and front obstacle becomes larger, slowly
System ECU stops braking vehicle, does not influence the normally travel of automobile, and intelligence degree is high, and user experience is good, brakes comfort
It is good.
Figure 10 is the embodiment ten of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart, as shown in Figure 10, the step 1001 in Figure 10 are identical with the step 101 in Fig. 1, step 10021 and Fig. 7 in Figure 10
In step 7021 it is identical, the step 10022 in Figure 10 is identical with the step 7022 in Fig. 7, the step 10024 in Figure 10 with figure
Step 7023 in 7 is identical, and when the distance of automobile and front obstacle is more than five pre-determined distances, service braking system ECU stops
Only braking vehicle.
In the specific embodiment shown in the drawings, after step 10022, further include：
Step 10023：The distance that the automobile and front obstacle are measured in self-adaption cruise system ECU is more than the 5th in advance
If apart from when, the service braking system ECU stops braking vehicle under the control of the vehicle ECU, wherein, the described 5th is pre-
If distance is more than second pre-determined distance, and less than first pre-determined distance.In specific embodiments of the present invention, when certainly
When adaptation cruise system ECU measures the distance of automobile and front obstacle more than five pre-determined distances, after the stipulated time, row
Vehicle braking system ECU stops braking vehicle.
Referring to Fig. 9, during service braking system ECU braking vehicles, if the distance of automobile and front obstacle becomes larger,
Service braking system ECU stops braking vehicle, does not influence the normally travel of automobile, and intelligence degree is high, and user experience is good, system
Dynamic comfort is good.
Figure 11 is the embodiment 11 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart, as shown in figure 11, the step 1101 in Figure 11 is identical with the step 101 in Fig. 1, when slow system ECU, driving system
During the equal failure of dynamic system ECU and parking braking system ECU, ECU pairs of mechanical parking hand brake control vehicle driving motor system is utilized
Automobile carries out emergency brake.
In the specific embodiment shown in the drawings, step 1102 specifically includes：
Step 11021：As the slow system ECU, the service braking system ECU and the parking braking system ECU
During equal failure, the vehicle driving motor system ECU is controlled at the appointed time by the automobile using mechanical parking hand brake
Speed is down to preset value.In specific embodiments of the present invention, in vehicle traveling process, slow system ECU, service braking system
During the equal failures of ECU and parking braking system ECU, and when compound EMB does not fail, the report in the form of sound and word (or icon)
Alert, driver can be signaled with machine drawing tool parking hand brake to vehicle driving motor system ECU, vehicle driving motor system ECU
The speed of automobile is down to preset value at the appointed time, and prompts driver, which continues in entire braking process.
Meanwhile two compound EMB motors carry out emergency brake to input the rated current of pre-set ratio to vehicle, realize safe stopping
Vehicle.
Step 11022：Compound EMB motors carry out emergency brake and parking to the automobile.Specific embodiments of the present invention
In, after vehicle parking, parking braking system ECU failure (failure) when, automobile is compound with sound and written form alarm
When EMB does not fail, driver can make two compound EMB motors specified to input pre-set ratio with machine drawing tool parking hand brake
Electric current brakes to vehicle, and after predetermined hold-time, two compound EMB motors, motor brake devices automatically power off, and motor is stopped
Vehicle device at the appointed time automatically brakes to electric machine main shaft, ensures reliable parking effect.
Referring to Figure 11, as slow system ECU, service braking system ECU and the equal failures of parking braking system ECU, utilize
Mechanical parking hand brake notice vehicle driving motor system ECU carries out emergency brake and electronic parking, vehicle security level to automobile
Height, user experience are good.
Figure 12 is the embodiment 12 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart, as shown in figure 12, the step 1201 in Figure 12 is identical with the step 101 in Fig. 1, the step 1202 in Figure 12 with figure
Step 102 in 1 is identical, and current vehicle speed is excessive, and when braking deceleration is excessive, is controlled according to the tachometer value of each wheel of automobile
EMB control units on each wheel, phenomena such as preventing from having skidded, tilt and turning on one's side during braking.
In the specific embodiment shown in the drawings, further included for the electric control braking method of automobile：
Step 1203：Current vehicle speed be more than preset vehicle speed, and braking deceleration be more than setting value when, passed using wheel speed
Sensor detects the tachometer value of each wheel of automobile.In specific embodiments of the present invention, current vehicle speed reach preset vehicle speed and
Braking deceleration just starts work after reaching setting value, is otherwise standby mode.
Step 1204：The service braking system ECU controls the EMB control units on each wheel according to the tachometer value.
In specific embodiments of the present invention, during vehicle travelling brake, each wheel speed sensors lead to the tachometer value of each tire of detection
Cross CAN bus and be real-time transmitted to service braking system ECU and vehicle ECU, service braking system ECU under the control of vehicle ECU,
The EMB control units on each wheel are controlled, adjust the tachometer value of each tire.
Referring to Figure 12, in the process of moving, during braking, the surface condition accompanying by every tire is different, with ground for automobile
Frictional force it is also different, when braking, which is easy for generating, skids, tilts and phenomena such as rollover, in order to effectively avoid this phenomenon,
In the moment of automobile brake, sensed by the tachometer value to every wheel, each wheel is adjusted according to the tachometer value of each wheel
Brake force, so as to ensure vehicle it is steady, safety.
Figure 13 is the embodiment 13 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart, as shown in figure 13, the step 1301 in Figure 13 is identical with the step 1201 in Figure 12, the step 1302 in Figure 13 with
Step 1202 in Figure 12 is identical, and the step 1303 in Figure 13 is identical with the step 1203 in Figure 12, service braking system ECU roots
The slip rate value of each wheel is calculated according to tachometer value, the work electricity of EMB control units on corresponding wheel is adjusted further according to slip rate value
Stream and clamp clamping force.
In the specific embodiment shown in the drawings, step 1304 specifically includes：
Step 13041：The service braking system ECU calculates the slip rate value of each wheel according to the tachometer value.
Step 13042：The service braking system ECU is adjusted according to the slip rate value of each wheel on corresponding wheel
The operating current of EMB control units and clamp clamping force.In specific embodiments of the present invention, it will be referred to by service braking system ECU
It enables and issues EMB control units on every wheel, the EMB motors on the wheel for making slip rate value overproof correspond to adjustment, and reduction is defeated
Enter operating current and clamp clamping force.
Referring to Figure 13, the operating current of EMB motors and clamp on corresponding wheel are adjusted according to the slip rate value of each wheel and are pressed from both sides
Clamp force, so as to ensure the steady movement of vehicle, vehicle security level is high, has a safety feature.
Figure 14 is the embodiment 14 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart, as shown in figure 14, the step 1401 in Figure 14 is identical with the step 1201 in Figure 12, the step 1402 in Figure 14 with
Step 1202 in Figure 12 is identical, and the step 1403 in Figure 14 is identical with the step 1203 in Figure 12, and when braking, automobile can be to
Under nod, the center of gravity of vehicle Forward, the weight that the trailing wheel of automobile is undertaken will be reduced, and trailing wheel can lose earth-grasping force, phase when serious
It is being braked when in only front-wheel, poor stop can be caused, according to the rotating speed difference of front and back wheel, adjusting corresponding EMB motors
Operating current, it is possible to prevente effectively from the above situation.
In the specific embodiment shown in the drawings, step 1404 specifically includes：
Step 14041：The vehicle ECU calculates the rotating speed difference of front vehicle wheel and rear wheel according to the tachometer value.This hair
In bright specific embodiment, the sum of the tachometer value of preceding revolver and the tachometer value of front right wheel are the tachometer value of front vehicle wheel, rear revolver
The sum of tachometer value of tachometer value and rear right wheel is the difference of the tachometer value of rear wheel, the tachometer value of front vehicle wheel and the tachometer value of rear wheel
For rotating speed difference.
Step 14042：The service braking system ECU is under vehicle ECU controls, according to the rotating speed difference with before
The operating current of the tachometer value adjustment front vehicle wheel EMB motors corresponding with rear wheel of wheel.
Referring to Figure 14, according to the rotating speed difference of front and back wheel and the tachometer value of front vehicle wheel, the work of corresponding EMB motors is adjusted
Electric current, it is possible to prevente effectively from trailing wheel loses earth-grasping force, brake, lead to poor stop the problem of, safety is only front-wheel
Number is high, and brake sensitivity is good, and user experience is high.
In specific embodiments of the present invention, step 14042 specifically includes：Front vehicle wheel is more than or equal to according to the rotating speed difference
The tachometer value when, the service braking system ECU increases the operating current of the corresponding EMB motors of front vehicle wheel, and after reducing
The operating current of the corresponding EMB motors of wheel.
Wherein, the rotating speed difference VDSpecific formula for calculation be：
VD=C (VF-VR)=C (VFL+VFR)-C(VRL+VRR)
Wherein, C is default parameter, for example, C can be constant, variable, formula etc.；VFTachometer value for front vehicle wheel；VR
Tachometer value for rear wheel；VFLTachometer value for preceding left wheel；VFRTachometer value for front right wheel；VRLFor turning for rear left wheel
Speed value；VRRTachometer value for rear right wheel.
Figure 15 is the embodiment 15 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart, as shown in figure 15, the step 1501 in Figure 15 is identical with the step 101 in Fig. 1, the step 1502 in Figure 15 with figure
Step 102 in 1 is identical, in long-term brake process, due to load, the difference of traction, the mill of different wheel friction plate
Damage degree is different, for shortening braking distance, needs the brake force of each wheel of abrasion condition reasonable distribution according to friction plate, so as to
Reach best road-adhesion coefficient utilization rate.
In the specific embodiment shown in the drawings, further included for the electric control braking method of automobile：
Step 1503：The number of strokes of the EMB motors of each wheel of automobile is detected using brake pad thickness wear sensor
Value.In specific embodiments of the present invention, the mill of each wheel friction plate can be learnt according to the travel values of the EMB motors of each wheel
Damage situation, travel values are bigger, and abrasion is more severe.
Step 1504：The service braking system ECU adjusts the work of the EMB motors of each wheel according to the travel values
Electric current.In specific embodiments of the present invention, when adjusting the operating current of EMB motors of each wheel, need to ensure that operating current is small
In the specified input current of EMB motors.
Referring to Figure 15, according to the abrasion condition of each wheel friction plate, to each wheel reasonable distribution brake force, reach best
Road-adhesion coefficient utilization rate shortens braking distance, and intelligence degree is high, and vehicle security level is high, and user experience is good.
In specific embodiments of the present invention, step 1504 specifically includes：If the maximum value of the travel values and minimum
The difference of value is more than specified value, and the service braking system ECU reduces the work of the maximum corresponding EMB motors of the travel values
Electric current and clamp clamping force, and improve the operating current and clamp clamping force of the minimum corresponding EMB motors of the travel values.
For example, after long-term brake, when the brake pad thickness wear sensor detection travel values of each EMB be respectively L front lefts, L front rights,
These travel values are sent to service braking system ECU by L rear lefts, L rear rights, if the maximum value in these travel values with
When the difference of minimum value is more than or equal to specified value, service braking system ECU can issue a command to each EMB control units, and each EMB motors exist
Existing input service is reduced less than under the specified input current working condition of pre-set ratio, to allow the EMB motors of travel values maximum
The pre-set ratio of electric current and the pre-set ratio of clamp clamping force will allow the EMB motors of travel values minimum to improve existing input service
The pre-set ratio of electric current and the pre-set ratio of clamp clamping force.
Figure 16 is the embodiment 16 of a kind of electric control braking method for automobile that the specific embodiment of the invention provides
Flow chart, as shown in figure 16, the step 1601 in Figure 16 is identical with the step 101 in Fig. 1, the step 1602 in Figure 16 with figure
Step 102 in 1 is identical, according to motor characteristic, during stall (i.e. electric machine main shaft by external force, when rotating forward motionless), and motor
The setting electric current value that electric current will quickly increase and reach rotation-clogging protection if do not protected accordingly, can cause to burn motor.
In the specific embodiment shown in the drawings, further included for the electric control braking method of automobile：
Step 1603：The locked rotor current of the EMB motors of each wheel is acquired in real time.In specific embodiments of the present invention, work as vapour
Vehicle is not travelled and is not stopped working, if driver's long-time brake pedal, when EMB motor rotation blockages electric current is more than setting value, driving
Braking system ECU should immediately enter rotation-clogging protection state.
Step 1604：The service braking system ECU enters rotation-clogging protection state according to the locked rotor current.
Referring to Figure 16, when automobile does not travel and does not stop working, current of electric will quickly increase and reach setting for rotation-clogging protection
Constant current value, service braking system ECU carry out rotation-clogging protection, prevent burn-down of electrical machinery, and reliability is high, and automotive service life is long.
The specific embodiment of the invention provides a kind of computer storage media for including computer executed instructions, the computer
When execute instruction is handled by data processing equipment, the data processing equipment performs the electric control braking method for automobile.Its
In, electric control braking method includes the following steps：
Step 101：Acquire the rotational angle or pressure of brake pedal plate in real time using sensor.
Step 102：Vehicle ECU controls slow system ECU, service braking system according to the rotational angle or the pressure
ECU, vehicle driving motor system ECU and parking braking system ECU braking vehicles.
Figure 17 is that the concrete application of a kind of electric control braking method for automobile that the specific embodiment of the invention provides is shown
It is intended to, as shown in figure 17, sensor is set at brake pedal plate, sensor and parking braking system ECU, service braking system
ECU connections, vehicle ECU, vehicle driving motor system ECU, slow system ECU, gradient induction system ECU, restraint system
It is connected with each other between ECU, parking braking system ECU, service braking system ECU and other subsystem ECU, parking braking system
ECU, service braking system ECU, trailing wheel driving parking braking electric brake control unit between be connected with each other, each trailing wheel row
The electric brake control unit of vehicle parking braking connects the electric brake of a trailing wheel driving parking braking, trailing wheel driving parking system
It is connected with each other between dynamic electric brake control unit, electronic parking control unit, mechanical parking control unit, two driving systems
It is connect again with service braking system ECU after being connected with each other between dynamic electric brake control unit, each front-wheel service brake
Electric brake is connect respectively with the electric brake control unit of service brake；Each trailing wheel driving, the electric brake of parking braking
With wheel speed sensors and clamping force sensor；The electric brake of each front-wheel service brake has wheel speed sensors and clamping force
Sensor, wheel speed sensors can be Hall type wheel speed sensors, integrated, intelligence degree is high, improve sensitivity,
Brake sensitivity is high, shortens braking distance, is very beneficial for reducing automobile caused by having little time braking or poor stop
Safety accident, vehicle security level is high, and braking comfort is good.
The specific embodiment of the invention provides a kind of electric control braking method and computer storage media for automobile, Neng Goushi
Now complete braking function has abandoned the original fluid pressure type of automobile or pneumatic brake system, can realize electric control braking completely
System intelligent, networking, integrated control simplify automobile and form, mitigates vehicle weight；In addition, completely after electric braking, brake
The influence of environment temperature, and high sensitivity will not be limited by, active safety is good, and energy consumption is few, energy conservation and environmental protection.
The above-mentioned embodiment of the present invention can be implemented in various hardware, Software Coding or both combination.For example, this hair
Bright embodiment, which is alternatively in data signal processor (Digital Signal Processor, DSP), performs the above method
Program code.The present invention can also refer to computer processor, digital signal processor, microprocessor or field-programmable gate array
Arrange the multiple functions that (Field Programmable Gate Array, FPGA) is performed.Can above-mentioned processing be configured according to the present invention
Device performs particular task, and the machine-readable software code of ad hoc approach or the firmware generation that the present invention discloses are defined by performing
Code is completed.Software code or firmware code can be developed into different program languages and different forms or form.Or
Different target platform composing software codes.However, in generation, is configured according to the software code of execution task of the present invention and other types
Different code pattern, type and the language of code do not depart from spirit and scope of the invention.
The foregoing is merely the schematical specific embodiment of the present invention, before the design of the present invention and principle is not departed from
It puts, the equivalent variations and modification that any those skilled in the art is made should all belong to the scope of protection of the invention.
Claims (29)
- A kind of 1. electric control braking method for automobile, which is characterized in that this method includes：Acquire the rotational angle or pressure of brake pedal plate in real time using sensor；AndVehicle ECU controls slow system ECU, service braking system ECU, vehicle to drive according to the rotational angle or the pressure Electric system ECU and parking braking system ECU braking vehicles.
- 2. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that vehicle ECU is according to the rotation Angle or the pressure control slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system It the step of system ECU braking vehicles, specifically includes：When the rotational angle or the pressure are more than first threshold, the vehicle driving motor system ECU is in the vehicle The rotating speed of driving motor is reduced under the control of ECU；AndWhen the rotational angle or the pressure are more than second threshold, the slow system ECU and the service braking system ECU common braking vehicles under the control of the vehicle ECU.
- 3. it to be used for the electric control braking method of automobile as claimed in claim 2, which is characterized in that in the rotational angle or described When pressure is more than second threshold, the slow system ECU and the service braking system ECU are under the control of the vehicle ECU The step of common braking vehicle, specifically includes：When the rotational angle or the pressure are more than second threshold, whole brake force systems of the slow system ECU are utilized Electrical automobile；AndThe remaining brake force needed for braking vehicle is provided using the service braking system ECU.
- 4. it to be used for the electric control braking method of automobile as claimed in claim 2, which is characterized in that in the rotational angle or described When pressure is more than second threshold, the slow system ECU and the service braking system ECU are under the control of the vehicle ECU The step of common braking vehicle, specifically includes：It is more than second threshold, and during the slow system ECU failures, directly utilize institute in the rotational angle or the pressure Whole brake force needed for service braking system ECU offer braking vehicles are provided.
- 5. it to be used for the electric control braking method of automobile as claimed in claim 2, which is characterized in that in the rotational angle or described When pressure is more than second threshold, the slow system ECU and the service braking system ECU are under the control of the vehicle ECU After the step of common braking vehicle, further include：The parking gradient information of the automobile is acquired using gradient induction system ECU；AndThe vehicle ECU controls the parking braking system ECU to carry out parking to the automobile according to the parking gradient information.
- 6. it to be used for the electric control braking method of automobile as claimed in claim 5, which is characterized in that the vehicle ECU is according to The step of parking gradient information controls the parking braking system ECU to carry out parking to the automobile, specifically includes：The vehicle ECU calculates the sliding force of the automobile according to the parking gradient information；AndThe parking braking system ECU controls EMB control units to carry out parking to the automobile according to the sliding force.
- 7. it to be used for the electric control braking method of automobile as claimed in claim 2, which is characterized in that the first threshold is 0；It is described Second threshold is idle stroke corner.
- 8. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that this method further includes：The vehicle ECU transfers to signal control parking braking system ECU to implement parking to automobile according to safety belt plug.
- 9. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that this method further includes：Utilize the rotational angular velocity of angular-rate sensor periodically acquisition brake pedal plate；AndThe vehicle ECU controls the service braking system ECU to enter corresponding stop according to current vehicle speed and the rotational angular velocity Vehicle pattern.
- 10. it to be used for the electric control braking method of automobile as claimed in claim 9, which is characterized in that the brake mode includes：Tightly Pattern of bringing to a halt and conventional brake mode.
- 11. as claimed in claim 10 be used for automobile electric control braking method, which is characterized in that the vehicle ECU according to ought The step of preceding speed and the rotational angular velocity control the service braking system ECU to enter corresponding brake mode, specifically includes：The current vehicle speed is more than preset vehicle speed, and when the rotational angular velocity is more than predetermined threshold value, vehicle ECU control The service braking system ECU enters the emergency brake pattern；AndOtherwise, the vehicle ECU controls the service braking system ECU to enter the conventional brake mode.
- 12. it to be used for the electric control braking method of automobile as claimed in claim 10, which is characterized in that this method further includes：When the service braking system ECU enters the emergency brake pattern, the service braking system ECU controls EMB controls Unit starting anti-lock function.
- 13. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that vehicle ECU is according to the rotation Angle or the pressure control slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system It the step of system ECU braking vehicles, specifically includes：When the service braking system ECU failures, the vehicle ECU controls the vehicle driving motor system ECU to reduce and drives The rotating speed of dynamic motor is to predetermined value；When the rotational angle or the pressure are more than first threshold, using described slow under the control of the vehicle ECU Whole brake force braking vehicles of system ECU；AndWhen the rotational angle or the pressure are more than second threshold, braking vapour is provided using the parking braking system ECU Remaining brake force needed for vehicle.
- 14. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that vehicle ECU is according to the rotation Angle or the pressure control slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system It the step of system ECU braking vehicles, specifically includes：When the slow system ECU and the service braking system ECU break down, the vehicle ECU controls are described whole Vehicle driving motor system ECU reduces the rotating speed of driving motor to predetermined value；AndWhen the rotational angle or the pressure are more than first threshold, directly using described under the control of the vehicle ECU Parking braking system ECU provides whole brake force needed for braking vehicle.
- 15. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that vehicle ECU is according to the rotation Angle or the pressure control slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system It the step of system ECU braking vehicles, specifically includes：It is described when self-adaption cruise system ECU measures the distance of the automobile and front obstacle less than the first pre-determined distance Slow system ECU participates in braking vehicle under the control of the vehicle ECU；It is described when self-adaption cruise system ECU measures the distance of the automobile and front obstacle less than the second pre-determined distance Service braking system ECU participates in braking vehicle under the control of the vehicle ECU；AndIt is described when self-adaption cruise system ECU measures the distance of the automobile and front obstacle less than third pre-determined distance Service braking system ECU enters emergency brake modes under the control of the vehicle ECU, wherein, first pre-determined distance is big In second pre-determined distance, second pre-determined distance is more than the third pre-determined distance.
- 16. it to be used for the electric control braking method of automobile as claimed in claim 15, which is characterized in that in self-adaption cruise system When ECU measures the distance of the automobile and front obstacle less than third pre-determined distance, the service braking system ECU is described After the step of entering emergency brake modes under the control of vehicle ECU, further include：The parking braking system ECU carries out parking to the automobile automatically.
- 17. it to be used for the electric control braking method of automobile as claimed in claim 15, which is characterized in that in self-adaption cruise system When ECU measures the distance of the automobile and front obstacle less than the first pre-determined distance, the slow system ECU is in the vehicle After the step of braking vehicle is participated under the control of ECU, further include：It is described when self-adaption cruise system ECU measures the distance of the automobile and front obstacle more than four pre-determined distances Slow system ECU stops braking vehicle under the control of the vehicle ECU, wherein, the 4th pre-determined distance is more than described the One pre-determined distance.
- 18. it to be used for the electric control braking method of automobile as claimed in claim 15, which is characterized in that in self-adaption cruise system When ECU measures the distance of the automobile and front obstacle less than the second pre-determined distance, the service braking system ECU is described After the step of braking vehicle is participated under the control of vehicle ECU, further include：It is described when self-adaption cruise system ECU measures the distance of the automobile and front obstacle more than five pre-determined distances Service braking system ECU stops braking vehicle under the control of the vehicle ECU, wherein, the 5th pre-determined distance is more than institute The second pre-determined distance is stated, and less than first pre-determined distance.
- 19. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that vehicle ECU is according to the rotation Angle or the pressure control slow system ECU, service braking system ECU, vehicle driving motor system ECU and parking braking system It the step of system ECU braking vehicles, specifically includes：As the slow system ECU, the service braking system ECU and the equal failures of the parking braking system ECU, machine is utilized Tool parking hand brake controls the vehicle driving motor system ECU to carry out emergency brake to the automobile.
- 20. it to be used for the electric control braking method of automobile as claimed in claim 19, which is characterized in that utilize mechanical parking hand brake control The step of vehicle driving motor system ECU carries out emergency brake to the automobile is made, is specifically included：The vehicle driving motor system ECU is controlled at the appointed time to drop the speed of the automobile using mechanical parking hand brake To preset value；AndCompound EMB motors carry out emergency brake and parking to the automobile.
- 21. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that this method further includes：Be more than preset vehicle speed in current vehicle speed, and when braking deceleration is more than setting value, detected using wheel speed sensors described in The tachometer value of each wheel of automobile；AndThe service braking system ECU controls the EMB control units on each wheel according to the tachometer value.
- 22. it to be used for the electric control braking method of automobile as claimed in claim 21, which is characterized in that the service braking system ECU controls the step of EMB control units on each wheel according to the tachometer value, specifically includes：The service braking system ECU calculates the slip rate value of each wheel according to the tachometer value；AndThe service braking system ECU adjusts the work of EMB control units on corresponding wheel according to the slip rate value of each wheel Make electric current and clamp clamping force.
- 23. it to be used for the electric control braking method of automobile as claimed in claim 21, which is characterized in that the service braking system ECU controls the step of EMB control units on each wheel according to the tachometer value, specifically includes：The vehicle ECU calculates the rotating speed difference of front vehicle wheel and rear wheel according to the tachometer value；AndThe service braking system ECU is under vehicle ECU controls, according to the rotating speed difference and the rotating speed of front vehicle wheel The operating current of value adjustment front vehicle wheel EMB motors corresponding with rear wheel.
- 24. it to be used for the electric control braking method of automobile as claimed in claim 23, which is characterized in that the service braking system ECU adjusts front vehicle wheel and rear wheel under vehicle ECU controls, according to the tachometer value of the rotating speed difference and front vehicle wheel It the step of operating current of corresponding EMB motors, specifically includes：When being more than or equal to the tachometer value of front vehicle wheel according to the rotating speed difference, the service braking system ECU increases front truck The operating current of corresponding EMB motors is taken turns, and reduces the operating current of the corresponding EMB motors of rear wheel.
- 25. it to be used for the electric control braking method of automobile as claimed in claim 23, which is characterized in that the rotating speed difference VDTool Body calculation formula is：VD=C (VF-VR)=C (VFL+VFR)-C(VRL+VRR)Wherein, C is default parameter；VFTachometer value for front vehicle wheel；VRTachometer value for rear wheel；VFLFor turning for preceding left wheel Speed value；VFRTachometer value for front right wheel；VRLTachometer value for rear left wheel；VRRTachometer value for rear right wheel.
- 26. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that this method further includes：The travel values of the EMB motors of each wheel of automobile are detected using brake pad thickness wear sensor；AndThe service braking system ECU adjusts the operating current of the EMB motors of each wheel according to the travel values.
- 27. it to be used for the electric control braking method of automobile as claimed in claim 26, which is characterized in that the service braking system ECU adjusts the step of operating current of the EMB motors of each wheel according to the travel values, specifically includes：If the difference of the maxima and minima of the travel values is more than specified value, the service braking system ECU is reduced most The operating current and clamp clamping force of the big corresponding EMB motors of the travel values, and improve the minimum travel values The operating current of corresponding EMB motors and clamp clamping force.
- 28. it to be used for the electric control braking method of automobile as described in claim 1, which is characterized in that this method further includes：The locked rotor current of the EMB motors of each wheel is acquired in real time；AndThe service braking system ECU enters rotation-clogging protection state according to the locked rotor current.
- A kind of 29. computer storage media for including computer executed instructions, which is characterized in that the computer executed instructions warp When crossing data processing equipment processing, 1~28 any electricity for automobile of data processing equipment perform claim requirement Control braking method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810148109.8A CN108248582B (en) | 2018-02-13 | 2018-02-13 | Electric control braking method for automobile and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810148109.8A CN108248582B (en) | 2018-02-13 | 2018-02-13 | Electric control braking method for automobile and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108248582A true CN108248582A (en) | 2018-07-06 |
| CN108248582B CN108248582B (en) | 2023-10-27 |
Family
ID=62744140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810148109.8A Active CN108248582B (en) | 2018-02-13 | 2018-02-13 | Electric control braking method for automobile and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108248582B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053594A (en) * | 2019-05-15 | 2019-07-26 | 斯沃博达汽车电子（昆山）有限公司 | The auxiliary brake control method of Vehicle brake assist system, automobile and automobile |
| CN110103915A (en) * | 2019-05-10 | 2019-08-09 | 吉林大学青岛汽车研究院 | With service brake, parking braking, slow function wet brake system |
| CN110641432A (en) * | 2019-10-31 | 2020-01-03 | 东风汽车股份有限公司 | Combined brake control method based on brake-by-wire and electronic parking brake |
| CN110962813A (en) * | 2018-09-28 | 2020-04-07 | 郑州宇通客车股份有限公司 | Vehicle parking brake control method and device |
| CN111145589A (en) * | 2019-12-17 | 2020-05-12 | 北京交通大学 | Vehicle omnidirectional anti-collision warning system based on vector algorithm |
| CN112298133A (en) * | 2019-07-30 | 2021-02-02 | 比亚迪股份有限公司 | Brake control method, brake control device, storage medium and vehicle |
| CN112298125A (en) * | 2019-07-31 | 2021-02-02 | 比亚迪股份有限公司 | Brake-by-wire system and vehicle |
| CN113059999A (en) * | 2019-12-30 | 2021-07-02 | 上汽通用五菱汽车股份有限公司 | Electric automobile motor locked-rotor protection method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120171305A (en) * | 2023-12-20 | 2025-06-20 | 罗伯特·博世有限公司 | Method for controlling a brake system of an electric vehicle and brake system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6253887B1 (en) * | 1998-05-22 | 2001-07-03 | Daimlerchrysler Ag | Method and system for braking a vehicle |
| US6354676B1 (en) * | 1997-12-19 | 2002-03-12 | Nisshinbo Industries, Inc. | Method for controlling electronic braking force distribution |
| EP1659042A1 (en) * | 2004-11-17 | 2006-05-24 | Delphi Technologies, Inc. | Vehicle driving assistance, method and system |
| CN101327788A (en) * | 2007-06-19 | 2008-12-24 | 比亚迪股份有限公司 | Electric booster braking system |
| CN102785648A (en) * | 2012-08-15 | 2012-11-21 | 奇瑞汽车股份有限公司 | Electromechanical brake system based on automobile bus and automobile |
| CN102806856A (en) * | 2012-08-01 | 2012-12-05 | 何仁 | Hybrid braking system integrated with electromechanical brake and hub retarder and brake method |
| CN107010028A (en) * | 2016-01-27 | 2017-08-04 | 比亚迪股份有限公司 | Collision avoidance system, control method and the electric automobile of electric automobile |
-
2018
- 2018-02-13 CN CN201810148109.8A patent/CN108248582B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6354676B1 (en) * | 1997-12-19 | 2002-03-12 | Nisshinbo Industries, Inc. | Method for controlling electronic braking force distribution |
| US6253887B1 (en) * | 1998-05-22 | 2001-07-03 | Daimlerchrysler Ag | Method and system for braking a vehicle |
| EP1659042A1 (en) * | 2004-11-17 | 2006-05-24 | Delphi Technologies, Inc. | Vehicle driving assistance, method and system |
| CN101327788A (en) * | 2007-06-19 | 2008-12-24 | 比亚迪股份有限公司 | Electric booster braking system |
| CN102806856A (en) * | 2012-08-01 | 2012-12-05 | 何仁 | Hybrid braking system integrated with electromechanical brake and hub retarder and brake method |
| CN102785648A (en) * | 2012-08-15 | 2012-11-21 | 奇瑞汽车股份有限公司 | Electromechanical brake system based on automobile bus and automobile |
| CN107010028A (en) * | 2016-01-27 | 2017-08-04 | 比亚迪股份有限公司 | Collision avoidance system, control method and the electric automobile of electric automobile |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962813A (en) * | 2018-09-28 | 2020-04-07 | 郑州宇通客车股份有限公司 | Vehicle parking brake control method and device |
| CN110103915A (en) * | 2019-05-10 | 2019-08-09 | 吉林大学青岛汽车研究院 | With service brake, parking braking, slow function wet brake system |
| CN110103915B (en) * | 2019-05-10 | 2024-03-29 | 吉林大学青岛汽车研究院 | Wet braking system with service braking, parking braking and retarding functions |
| CN110053594A (en) * | 2019-05-15 | 2019-07-26 | 斯沃博达汽车电子（昆山）有限公司 | The auxiliary brake control method of Vehicle brake assist system, automobile and automobile |
| CN112298133B (en) * | 2019-07-30 | 2022-05-13 | 比亚迪股份有限公司 | Brake control method, brake control device, storage medium and vehicle |
| CN112298133A (en) * | 2019-07-30 | 2021-02-02 | 比亚迪股份有限公司 | Brake control method, brake control device, storage medium and vehicle |
| CN112298125A (en) * | 2019-07-31 | 2021-02-02 | 比亚迪股份有限公司 | Brake-by-wire system and vehicle |
| CN112298125B (en) * | 2019-07-31 | 2022-03-15 | 比亚迪股份有限公司 | Brake-by-wire system and vehicle |
| CN110641432A (en) * | 2019-10-31 | 2020-01-03 | 东风汽车股份有限公司 | Combined brake control method based on brake-by-wire and electronic parking brake |
| CN111145589B (en) * | 2019-12-17 | 2021-10-08 | 北京交通大学 | Vehicle omnidirectional anti-collision warning system based on vector algorithm |
| CN111145589A (en) * | 2019-12-17 | 2020-05-12 | 北京交通大学 | Vehicle omnidirectional anti-collision warning system based on vector algorithm |
| CN113059999A (en) * | 2019-12-30 | 2021-07-02 | 上汽通用五菱汽车股份有限公司 | Electric automobile motor locked-rotor protection method |
| CN113059999B (en) * | 2019-12-30 | 2023-11-10 | 上汽通用五菱汽车股份有限公司 | Electric automobile motor locked-rotor protection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108248582B (en) | 2023-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108248582A (en) | For the electric control braking method and computer storage media of automobile | |
| CN207875607U (en) | Electric controlled brake system for automobile | |
| US9327695B2 (en) | Method and device for the electronic control of the brake force distribution according to the differential slip | |
| JP5302749B2 (en) | Electric vehicle control device | |
| US8442737B2 (en) | Method for operating a vehicle brake system and vehicle brake system | |
| CN101088818B (en) | Antiskid control system and method for electromobile | |
| CN108025651A (en) | Electric vehicle with the braking system and method for braking system, controller and computer program | |
| US10576950B2 (en) | Method and a system for controlling vehicle speed | |
| US9637004B2 (en) | System and method for delimiting regenerative braking | |
| CN110549871B (en) | A vehicle controller and control method based on a distributed drive vehicle | |
| US20080243323A1 (en) | Electronic brake system pedal release transition control apparatus and method | |
| CN107901908A (en) | The control method and control system of electric car uphill starting | |
| JPH0443829B2 (en) | ||
| CN110936940A (en) | Commercial vehicle ESC system based on AEBS relay valve | |
| CN113954806B (en) | Automobile brake control method and device and automobile | |
| CN107225978A (en) | Electric vehicle braking method and device and electric vehicle | |
| CN108025710B (en) | Regenerative braking control device | |
| CN201362248Y (en) | Large-sized automobile intelligent comprehensive brake control system | |
| JP4613520B2 (en) | Parking assistance control device, parking assistance control system, and parking assistance program | |
| Kant | Sensotronic brake control (SBC) | |
| US6431660B2 (en) | Method for automatically detecting the installation position of brake force generating units of an electromagnetic motor vehicle brake system | |
| JP2005343248A (en) | Parking assist brake controlling device | |
| CN201694180U (en) | One-passage ABS system and vehicle with the same | |
| JPH09136634A (en) | Braking force controller | |
| CN216734246U (en) | Double-control redundant brake-by-wire system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |