CN113155483B - Control device, system and method for ABS function endurance test - Google Patents
Control device, system and method for ABS function endurance test Download PDFInfo
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- CN113155483B CN113155483B CN202110537811.5A CN202110537811A CN113155483B CN 113155483 B CN113155483 B CN 113155483B CN 202110537811 A CN202110537811 A CN 202110537811A CN 113155483 B CN113155483 B CN 113155483B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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- 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
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Abstract
The invention discloses a control device, a system and a method for an ABS function endurance test, which belong to the technical field of automatic driving and comprise the following steps: the test system comprises a brake caliper, an ESC (electronic stability control), an electronic booster, a working cylinder, a pressure sensor, a flow control valve, a test controller and a tee joint, wherein the test controller is electrically connected with the ESC, the electronic booster, the working cylinder, the pressure sensor and the flow control valve respectively, the brake caliper is connected with one side of the ESC, and the electronic booster is arranged on the working cylinder. According to the control device, the control system and the control method for the endurance test of the ABS function, the test working condition of normal human engineering is considered, the input force value is measured when the ABS function is started, the input force does not exceed the force threshold of the actuating cylinder, and therefore the test can always run normally in the whole endurance cycle.
Description
Technical Field
The invention discloses a control device, a system and a method for an ABS function endurance test, and belongs to the technical field of automatic driving.
Background
As the autodrive technology matures, more and more vehicle brake systems are beginning to incorporate electronic boosters. An electronic stability program (ESC) needs to perform an endurance test of the ABS working condition in a brake system loop carrying the electronic booster, but when the ABS function is started, the electronic booster can automatically release the push rod for the purpose of self protection, so that the input force is increased suddenly, and the test is stopped when the input force exceeds a cylinder force threshold value. The currently adopted solutions are: 1. setting the cylinder force threshold large (e.g. over 4000N) enables the test to continue, but this has the problem of: not conforming to the test conditions of normal human engineering. 2. The cylinder is rapidly retracted when the input force value is about to exceed the cylinder force threshold. However, due to the response time limitations of the cylinder itself, the speed at which the cylinder retracts is slower than the speed at which the push rod retracts, resulting in the input force sometimes exceeding the cylinder force threshold, and the test will not run normally throughout the endurance cycle. 3. A pneumatic cylinder is connected between the actuating cylinder and the push rod of the electronic booster, when the ABS function is started, the pneumatic cylinder is quickly released, so that the push rod is quickly separated from the actuating cylinder, but the same problem exists: the input force value cannot be continuously measured when the ABS function is activated.
Disclosure of Invention
The invention aims to provide a control method, a system, a terminal and a storage medium for an ABS function endurance test, so as to solve the problem that an input force value cannot be continuously measured when the ABS function is started in the prior art.
The invention aims to solve the problems and is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a control device for an ABS function endurance test, including: the test system comprises a brake caliper, an ESC (electronic stability control), an electronic booster, a working cylinder, a pressure sensor, a flow control valve, a test controller and a tee joint, wherein the test controller is electrically connected with the ESC, the electronic booster, the working cylinder, the pressure sensor and the flow control valve respectively, the brake caliper is connected with one side of the ESC, and the electronic booster is arranged on the working cylinder.
Preferably, the tee comprises: first tee bend, second tee bend, third tee bend, fourth tee bend and fifth tee bend, pressure sensor includes: a first pressure sensor and a second pressure sensor, the flow control valve comprising: the upper end of the third tee joint is connected with a first pressure sensor through a hydraulic pipeline, the left end of the third tee joint is connected with the ESC through the hydraulic pipeline, and the right end of the third tee joint is connected with the left end of the first tee joint through the hydraulic pipeline; the upper end of the fourth tee joint is connected with a second pressure sensor through a hydraulic pipeline, the left end of the fourth tee joint is connected with the ESC through the hydraulic pipeline, and the right end of the fourth tee joint is connected with the left end of the second tee joint through the hydraulic pipeline; the upper end of the first tee joint is connected with a first flow control valve through a hydraulic pipeline, the left end of the first tee joint is connected with the right end of the third tee joint through a hydraulic pipeline, and the right end of the first tee joint is connected with a main cylinder of the electronic booster through a hydraulic pipeline; the upper end of the second tee joint is connected with a second flow control valve through a hydraulic pipeline, the left end of the second tee joint is connected with the right end of the fourth tee joint through a hydraulic pipeline, and the right end of the second tee joint is connected with a main cylinder of the electronic booster through a hydraulic pipeline; the upper end of the fifth tee joint is connected with the first flow control valve through a hydraulic pipeline, the right end of the fifth tee joint is connected with the liquid storage tank of the electronic booster through a hydraulic pipeline, and the lower end of the fifth tee joint is connected with the second flow control valve through a hydraulic pipeline.
Preferably, the brake caliper includes: the brake comprises a left front brake caliper, a right front brake caliper, a left rear brake caliper and a right rear brake caliper.
Preferably, the test controller comprises a flow control module.
Preferably, the test controller employs a HIL simulator.
In a second aspect, an embodiment of the present invention provides a control system for an ABS function endurance test, which includes the control device for an ABS function endurance test according to the first aspect.
In a third aspect, an embodiment of the present invention provides a method for controlling an ABS function endurance test, including:
s1, setting an input force threshold value and an input force reference value of the actuating cylinder to 2000N and 1000-1500N respectively;
s2, setting the maximum displacement of the actuating cylinder, and setting a vehicle dynamics model to be 80% of accelerator opening;
s3, acquiring a first vehicle speed, and judging whether the first vehicle speed is greater than a first specified threshold value:
if yes, executing the next step;
if not, repeating the step S2;
s4, setting the opening degree of the accelerator to be 0, and controlling the actuating cylinder to advance through the test controller;
step S5, judging whether the ABS function is started:
if yes, executing the next step;
if not, repeating the step S4;
step S6, judging whether the displacement of the actuating cylinder reaches a set maximum displacement:
if yes, repeating the steps 2-5;
if not, executing the next step;
s7, setting the actuating cylinder to retreat at the speed of 10mm/S, acquiring a first current pressure value and a second current pressure value through a first pressure sensor and a second pressure sensor, and distributing flow through the flow control module;
step S8, stopping the actuating cylinder after retreating for 0.04S, and acquiring the opening degree of the flow control valve in real time;
step S9, acquiring a second vehicle speed, and judging whether the second vehicle speed is less than a second specified threshold value:
if yes, executing the next step;
if not, repeating the step S8;
step S10, setting the actuating cylinder to immediately retreat at the speed of 40mm/S, and closing the flow control valve through the flow control module;
and step S11, after the test piece is static for 5S, starting the next test cycle, and returning to the step S1 again.
Preferably, the flow rate distribution by the flow rate control module includes:
acquisition of the actual value integrated on the cylinder by means of a force sensor
Obtaining an error through an actual measurement value integrated on the actuating cylinder and an actuating cylinder input force reference value;
acquiring a vehicle speed value output by the ESC;
when the ABS function is started, a first starting pressure value P is respectively obtained through the first pressure sensor and the first pressure sensor ABS1 And a second starting pressure value P ABS2 ；
Passing said first starting pressure value P according to formula (1) and formula (2) ABS1 And a second starting pressure value P ABS2 First current pressure value P 1 And a second current pressure value P 2 Obtaining a first PWM duty ratio value D that allocates a PWM total duty ratio D to the first and second flow control valves 1 And a second PWM duty ratio value D 2 ，
Preferably, the first prescribed threshold value is 100km/h.
Preferably, the second prescribed threshold value is 0.1km/h.
The invention has the advantages that: according to the control device, the control system and the control method for the endurance test of the ABS function, the test working condition of normal human engineering is considered, the input force value is measured when the ABS function is started, the input force does not exceed the force threshold of the actuating cylinder, and therefore the test can always run normally in the whole endurance cycle.
Drawings
FIG. 1 is an electrical connection diagram of an endurance testing apparatus for an air compressor according to the present invention.
FIG. 2 is a flow chart illustrating a method for controlling a flow control module in an endurance test method for an air compressor according to an embodiment of the present invention.
FIG. 3 is a flow chart of a method for designing a flow control module in a durability test method for an air compressor according to the present invention.
Detailed Description
The invention is further illustrated below with reference to the accompanying figures 1-3:
the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, the first embodiment of this patent provides a control device for an ABS function endurance test based on the prior art, comprising: braking pincers, ESC, electron booster, actuating cylinder, pressure sensor, flow control valve, experimental controller and tee bend, experimental controller adopts the HIL simulator, is the central control center of whole test bench, and experimental controller is connected with ESC, electron booster, actuating cylinder, pressure sensor, flow control valve electricity respectively, and braking pincers are connected with ESC one side, and braking pincers include: the brake caliper comprises a left front brake caliper, a right front brake caliper, a left rear brake caliper and a right rear brake caliper. The tee bend includes: first tee bend, second tee bend, third tee bend, fourth tee bend and fifth tee bend, pressure sensor includes: a first pressure sensor and a second pressure sensor, the flow control valve comprising: a first flow control valve and a second flow control valve.
The upper end of the third tee joint is connected with a first pressure sensor through a hydraulic pipeline, the left end of the third tee joint is connected with an ESC (electronic stability control) through a hydraulic pipeline, and the right end of the third tee joint is connected with the left end of the first tee joint through a hydraulic pipeline; the upper end of the fourth tee joint is connected with a second pressure sensor through a hydraulic pipeline, the left end of the fourth tee joint is connected with the ESC through the hydraulic pipeline, and the right end of the fourth tee joint is connected with the left end of the second tee joint through the hydraulic pipeline; the upper end of the first tee joint is connected with a first flow control valve through a hydraulic pipeline, the left end of the first tee joint is connected with the right end of the third tee joint through the hydraulic pipeline, and the right end of the first tee joint is connected with a main cylinder of the electronic booster through the hydraulic pipeline; the upper end of the second tee joint is connected with a second flow control valve through a hydraulic pipeline, the left end of the second tee joint is connected with the right end of the fourth tee joint through the hydraulic pipeline, and the right end of the second tee joint is connected with a main cylinder of the electronic booster through the hydraulic pipeline; the upper end of the fifth tee joint is connected with the first flow control valve through a hydraulic pipeline, the right end of the fifth tee joint is connected with a liquid storage tank of the electronic booster through a hydraulic pipeline, and the lower end of the fifth tee joint is connected with the second flow control valve through a hydraulic pipeline.
The electronic booster is arranged on the actuating cylinder, so that the actuating cylinder can only push the push rod of the electronic booster to advance but can not pull the push rod to retreat, and the test controller comprises a flow control module.
The second embodiment of this patent provides a control system for an endurance test of ABS function based on the prior art, which includes a control device for an endurance test of ABS function as in the first embodiment.
The third embodiment of the present patent provides a method for controlling an ABS function endurance test based on the prior art, including:
s1, setting an input force threshold value and an input force reference value of an actuating cylinder to 2000N and 1000-1500N respectively;
and S2, setting the maximum displacement of the actuating cylinder, setting the vehicle dynamics model as 80% of accelerator opening, and accelerating the vehicle.
S3, acquiring a first vehicle speed, and judging whether the first vehicle speed is greater than a first specified threshold value, wherein the first specified threshold value is 100km/h:
if yes, executing the next step;
if not, repeating the step S2;
step S4, setting the opening of the accelerator to be 0, controlling the actuating cylinder to advance through the test controller and controlling the actuating cylinder to advance through the test controller, and assuming that the maximum stroke of the main cylinder is Lmax, then using the following formula (1)
L(t)＝0.5×L max ×sin(2.62×t)(0＜t＜0.6s) (I)
The displacement of the actuating cylinder is controlled by the sine curve of (1), namely the maximum displacement of the actuating cylinder is 0.5 times of the maximum stroke L of the main cylinder. At the moment, the vehicle enters a braking state, and the vehicle speed is gradually reduced;
step S5, judging whether the ABS function is started:
if yes, executing the next step;
if not, repeating the step S4;
step S6, judging whether the displacement of the actuating cylinder reaches the set maximum displacement:
if yes, the actuating cylinder returns to the initial displacement (namely the displacement is 0), the maximum displacement of the actuating cylinder is modified, and the step 2-5 is repeated;
if not, executing the next step;
and S7, setting the actuating cylinder to retreat at the speed of 10mm/S immediately, acquiring a first current pressure value and a second current pressure value through a first pressure sensor and a second pressure sensor, performing flow distribution through a flow control module, performing flow distribution through the flow control module, controlling the opening of a flow control valve through a PID (proportion integration differentiation) control method, enabling brake fluid to flow back into an electronic booster liquid storage tank through the flow control valve, reducing the hydraulic pressure returned to an electronic booster master cylinder from an ESC (electronic stability control) and reducing the resilience force, namely the input force, applied to the actuating cylinder by a push rod of the electronic booster. As shown in fig. 2, in view of the fast response time, i.e., the low control accuracy, the flow control module is controlled in a PID manner,
acquiring an actual measurement value integrated on the actuating cylinder through a force sensor;
obtaining an error by a difference between an actual measurement value integrated on the cylinder and a reference value of the input force of the cylinder; the reference value of the input force of the actuating cylinder is generally 1000-1500N, and the output control quantity is a first PWM duty ratio of the first flow control valve and a second PWM duty ratio of the second flow control valve.
And acquiring an ABS function starting signal ABS _ Intervision output by the ESC as the input of the flow controller, wherein when the ABS function is not started or the vehicle speed value is more than or equal to 0.1km/h, the PWM duty ratio output by the flow control valve is 0, namely the flow of the flow control valve is 0, when the ABS function is started and the vehicle speed value is less than 0.1km/h, the flow controller performs closed-loop control, and the PWM duty ratio of the output flow control valve is more than 0.
When the ABS function is started, a first starting pressure value P is respectively obtained through the first pressure sensor and the first pressure sensor ABS1 And a second starting pressure value P ABS1 ；
According to the formula (2) and the formula (3), passing the first starting pressure value P ABS1 And a second starting pressure value P ABS2 First current pressure value P 1 And a second current pressure value P 2 Obtaining a first PWM duty ratio value D that allocates a PWM total duty ratio D to the first flow control valve and the second flow control valve 1 And a second PWM duty ratio value D 2 ，
S8, stopping the actuator after the actuator retreats for 0.04S, and acquiring the opening degree of the flow control valve in real time;
step S9, acquiring a second vehicle speed, and judging whether the second vehicle speed is smaller than a second specified threshold value, wherein the second specified threshold value is 0.1km/h:
if yes, executing the next step;
if not, repeating the step S8;
step S10, setting the actuating cylinder to immediately retreat at the speed of 40mm/S, and closing the flow control valve through the flow control module to prevent brake fluid from passing through the flow control valve;
and step S11, after the test piece is static for 5S, starting the next test cycle, and returning to the step S1 again.
Preferably, the flow rate distribution by the flow rate control module includes:
as shown in fig. 3, the electronic booster circuit as the controlled object is modeled: the input quantity is Q (t) and the output quantity is F a (t)
F b (t)＝f 1 (F a (t)) (4)
F b (t)＝P(t)×A (5)
P(t)＝f 2 (L(t)) (7)
Wherein:
F a (t): actuating cylinder input force (N)
F b (t): output force (N) of the electronic booster, which is equal to F a (t) has a functional relationship f 1 Generally, the power-assisted characteristic of the electronic booster acts as this function
P (t): electronic booster circuit hydraulic pressure (bar) having a functional relationship f with L (t) 2 Generally, the pressure-volume characteristic of the master cylinder of the electronic booster is taken as a function of this
A: area of main cylinder of electronic booster (mm) 2 )
Q (t): flow rate (mL/s) output from the flow control valve
L (t): the piston stroke (mm) in the main cylinder of the electronic booster can be equivalent to the displacement of the actuating cylinder
According to the design thought, the transfer function of the controlled object can be calculated as follows:
modeling an actuating mechanism, namely a flow control valve: the input quantity is D (t) and the output quantity is Q (t)
i(t)＝f 3 (D(t)) (9)
Q(t)＝f 4 (i(t)) (10)
Wherein:
d (t): PWM duty ratio of flow controller output
i (t): the flow control valve internal current (A) having a functional relationship f with D (t) 3 Can be obtained by actual measurement
Q (t): flow rate (mL/s) output from the flow control valve
According to the design thought, the transfer function of the actuating mechanism can be calculated as follows:
modeling the force sensor: with an input of F a (t), the output quantity is the actual measurement value F (t) of the force sensor, and hysteresis of the force sensor needs to be taken into consideration. The transfer function of the force sensor is obtained by actual measurement as:
modeling the flow control module: the input quantity is a reference value F of the input force of the actuating cylinder ref And D (t) is the output quantity, a PID tool box in matlab simulink is used for debugging, the response time is set to be 0.12s, and the P, I, D value at the moment is recorded as the proportional, derivative and integral links in the flow controller.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (3)
1. A control method of an ABS function endurance test is applied to a control system of the ABS function endurance test, the control system of the ABS function endurance test comprises a control device of the ABS function endurance test, and the control device of the ABS function endurance test comprises the following steps: braking pincers, ESC, electron booster, actuating cylinder, pressure sensor, flow control valve, experimental controller and tee bend, experimental controller is connected with ESC, electron booster, actuating cylinder, pressure sensor, flow control valve electricity respectively, braking pincers are connected with ESC one side, electron booster sets up on actuating cylinder, the tee bend includes: first tee bend, second tee bend, third tee bend, fourth tee bend and fifth tee bend, pressure sensor includes: a first pressure sensor and a second pressure sensor, the flow control valve comprising: the upper end of the third tee joint is connected with a first pressure sensor through a hydraulic pipeline, the left end of the third tee joint is connected with the ESC through the hydraulic pipeline, and the right end of the third tee joint is connected with the left end of the first tee joint through the hydraulic pipeline; the upper end of the fourth tee joint is connected with a second pressure sensor through a hydraulic pipeline, the left end of the fourth tee joint is connected with the ESC through the hydraulic pipeline, and the right end of the fourth tee joint is connected with the left end of the second tee joint through the hydraulic pipeline; the upper end of the first tee joint is connected with a first flow control valve through a hydraulic pipeline, the left end of the first tee joint is connected with the right end of the third tee joint through a hydraulic pipeline, and the right end of the first tee joint is connected with a main cylinder of the electronic booster through a hydraulic pipeline; the upper end of the second tee joint is connected with a second flow control valve through a hydraulic pipeline, the left end of the second tee joint is connected with the right end of the fourth tee joint through a hydraulic pipeline, and the right end of the second tee joint is connected with a main cylinder of the electronic booster through a hydraulic pipeline; the upper end of the fifth tee joint is connected with a first flow control valve through a hydraulic pipeline, the right end of the fifth tee joint is connected with a liquid storage tank of the electronic booster through a hydraulic pipeline, the lower end of the fifth tee joint is connected with a second flow control valve through a hydraulic pipeline, and the brake caliper comprises: left front brake caliper, right front brake caliper, left back brake caliper and right back brake caliper, experimental controller includes flow control module, experimental controller adopts the HIL simulator, its characterized in that includes:
s1, setting an input force threshold value and an input force reference value of the actuating cylinder to 2000N and 1000-1500N respectively;
s2, setting the maximum displacement of the actuating cylinder, and setting a vehicle dynamics model to be 80% of accelerator opening;
s3, acquiring a first vehicle speed, and judging whether the first vehicle speed is greater than a first specified threshold value:
if yes, executing the next step;
if not, repeating the step S2;
s4, setting the opening degree of the accelerator to be 0, and controlling the actuating cylinder to advance through the test controller;
step S5, judging whether the ABS function is started:
if yes, executing the next step;
if not, repeating the step S4;
step S6, judging whether the displacement of the actuating cylinder reaches a set maximum displacement:
if yes, repeating the step 2-5;
if not, executing the next step;
step S7, setting the actuating cylinder to retreat immediately at the speed of 10mm/S, acquiring a first current pressure value and a second current pressure value through a first pressure sensor and a second pressure sensor, and distributing flow through the flow control module, wherein the method comprises the following steps:
acquiring an integrated measured value on the actuating cylinder through a force sensor;
obtaining an error through an actual measurement value integrated on the actuating cylinder and an actuating cylinder input force reference value;
acquiring a vehicle speed value output by the ESC;
when the ABS function is started, a first starting pressure value is respectively obtained through the first pressure sensor and the first pressure sensor
And a second starting pressure value
；
Passing said first starting pressure value according to formula (1) and formula (2)
And a second start
First current pressure value
And a second current pressure value
Obtaining a first PWM duty ratio for distributing the total PWM duty ratio D to the first flow control valve and the second flow control valve
And a second PWM duty cycle value
；
Step S8, stopping the actuating cylinder after retreating for 0.04S, and acquiring the opening degree of the flow control valve in real time;
step S9, acquiring a second vehicle speed, and judging whether the second vehicle speed is less than a second specified threshold value:
if yes, executing the next step;
if not, repeating the step S8;
step S10, setting the actuating cylinder to immediately retreat at the speed of 40mm/S, and closing the flow control valve through the flow control module;
and step S11, after the test piece is static for 5S, starting the next test cycle, and returning to the step S1 again.
2. The method of claim 1, wherein the first predetermined threshold is 100km/h.
3. The method for controlling the endurance test of the ABS function according to claim 2, wherein the second predetermined threshold is 0.1km/h.
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| CN113447258A (en) * | 2021-08-12 | 2021-09-28 | 中汽创智科技有限公司 | Brake system durability testing device and brake system durability testing method |
| CN113945395B (en) * | 2021-11-22 | 2024-10-18 | 中国第一汽车股份有限公司 | IBC braking system test bench |
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| KR20140005562A (en) * | 2012-07-04 | 2014-01-15 | 현대모비스 주식회사 | Pressure control method in case of anti-lock brake system in smart booster brake device |
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