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WO2006038309A1 - Dispositif de frein électrique - Google Patents

Dispositif de frein électrique Download PDF

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Publication number
WO2006038309A1
WO2006038309A1 PCT/JP2004/015092 JP2004015092W WO2006038309A1 WO 2006038309 A1 WO2006038309 A1 WO 2006038309A1 JP 2004015092 W JP2004015092 W JP 2004015092W WO 2006038309 A1 WO2006038309 A1 WO 2006038309A1
Authority
WO
WIPO (PCT)
Prior art keywords
brake
braking force
transmission
engine
vehicle
Prior art date
Application number
PCT/JP2004/015092
Other languages
English (en)
Japanese (ja)
Inventor
Toshio Manaka
Original Assignee
Hitachi, Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi, Ltd. filed Critical Hitachi, Ltd.
Priority to PCT/JP2004/015092 priority Critical patent/WO2006038309A1/fr
Priority to JP2006518997A priority patent/JP4825668B2/ja
Publication of WO2006038309A1 publication Critical patent/WO2006038309A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/34—Locking or disabling mechanisms
    • F16H63/3416—Parking lock mechanisms or brakes in the transmission
    • F16H63/3491—Emergency release or engagement of parking locks or brakes
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/007—Emergency systems using the steering system for braking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe ; Circumventing or fixing failures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/48—Signals to a parking brake or parking lock; Control of parking locks or brakes being part of the transmission

Definitions

  • the present invention relates to an automobile brake device, and more particularly, a parking brake mechanism that can maintain a braking force even when the power of an electric brake device that electrically generates a braking force is turned off, and an electric brake that electrically generates a braking force.
  • This relates to a method for controlling a vehicle when either of them fails.
  • JP-A-6 2-6 4 6 6 4 discloses a diagnosis of the parking brake and assists the start of the hill using another braking assist device (hydraulic check valve) when the parking brake fails. Yes.
  • Japanese Patent Laid-Open No. 2 0 0 1-1 0 6 0 4 7 discloses a device that prevents forgetting to apply the parking brake.
  • Japanese Patent Application Laid-Open No. 2000-101600 discloses that a failure of a conventional parking brake using a wire is detected.
  • the parking brake device described in the above-mentioned prior art has a malfunction that prevents the parking brake from being hooked (the parking brake is applied). No) There was no consideration for maintaining the brake state at times. Therefore, there was a problem when parking was not possible due to a failure of the parking brake device. Another problem was that the vehicle could not be stopped when the electric brake failed.
  • the present invention provides an electric brake device that can reliably stop and park a vehicle even when either of such a conventional parking brake mechanism or an electric brake that electrically generates braking force breaks down. It is aimed. Disclosure of the invention
  • the present invention includes a function for electrically controlling connection / disconnection of a vehicle transmission, a function for controlling ON / OFF of star start for starting an engine based on a switch operation signal, an engine,
  • a brake failure that has at least one of the functions to generate regenerative braking force (regenerative braking) or reverse torque by the generator or motor installed in the vehicle, and the function to arbitrarily and independently control the direction of tires on each wheel It has a braking force generator. This makes it possible to stop and park the vehicle even when the parking brake mechanism that can hold the braking force during the power switch OFF cannot be locked.
  • the vehicle cannot move in the resistance force of the driving force transmission system due to the transmission connection and the direction of the tire of each wheel in the event of a failure in which the braking force for parking by the parking brake mechanism cannot be maintained. It is characterized by performing control to ensure parking braking force during parking by changing the direction independently.
  • the parking brake cannot be applied. Even in the event of a failure or failure where the electric brake cannot be applied, the driving resistance force due to the transmission connection, increased tire rolling resistance by changing the direction of the tire on each wheel (toe angle control), regenerative braking by the motor generator , Stops and parks reliably due to reverse torque.
  • FIG. 1 is a preferred system configuration diagram according to the present invention.
  • FIG. 2 is an explanatory diagram of an electric brake with a parking brake mechanism according to an embodiment of the present invention.
  • FIG. 3 is a diagram showing an example of a combination pattern of tire corners.
  • FIG. 4 is an operation logic circuit diagram when the electric parking brake lock mechanism of the present embodiment fails.
  • FIG. 5 is an operational logic circuit diagram of the present embodiment when it is activated overnight.
  • FIG. 6 is an operation logic circuit diagram when the electric brake mechanism of the present embodiment fails.
  • FIG. 7 is a flowchart of the present embodiment corresponding to FIG.
  • FIG. 8 is a flowchart of the present embodiment corresponding to FIG.
  • FIG. 9 is a flowchart of the present embodiment corresponding to FIG. BEST MODE FOR CARRYING OUT THE INVENTION
  • the electric brake device achieves the purpose of stopping and parking with a minimum number of parts even when the parking brake cannot be applied or when the electric brake cannot be applied. This simplifies the redundant system.
  • a vehicle transmission is connected or disconnected.
  • Function to electrically control the connection start star start to start engine 3 ⁇ 4 Function to control ON — 0 FF based on start switch operation signal, regenerative braking force by generator or motor mounted on engine ( Regenerative brake)
  • the braking force generator at the time of a brake failure may be provided with at least one of the above four functions. Also, it may be a braking force generator in the event of a brake failure with multiple functions. You may choose from these multiple functions. It is also possible to use a combination of these functions.
  • the resistance force of the driving force transmission system is generated by the transmission connection, and the tire of each wheel. Control is performed to realize the generation of parking braking force during parking by independently changing the direction of the vehicle so that the vehicle cannot move, the generation of regenerative braking force by the motor generator, and the generation of reverse torque.
  • the driving resistance force due to the transmission connection and the change in the tire direction of each wheel (The tire can be stopped and parked with certainty by increasing the rolling resistance of the tire due to the single-point control, regenerative braking by the motor generator, and reverse torque.
  • the vehicle body control after such stopping and parking is performed according to a predetermined flow as shown in the following embodiment, for example, by disconnecting the transmission.
  • the engine can be changed.
  • FIG. 1 is a system configuration diagram showing an embodiment of the present invention.
  • the brake controller 1 detects the amount of depression of the brake pedal 2 by the driver.
  • the brake stroke sensor signal from the brake sensor 3, parking brake that controls the operation of the parking brake mechanism.
  • Key switch signal 4 eg ONZO FF signal
  • vehicle power switch eg ONZO FF signal
  • Key switch signal 5 for example, ignition key switch
  • vehicle speed sensor signal 6 from the vehicle speed sensor indicating the speed of the vehicle
  • engine speed sensor signal 7 indicating the engine speed
  • gear is connected or disconnected Parking Z neutral switch signal 8 (For example, if it is ON, it is disconnected, and if it is OFF, it is in the connected state)
  • accelerator pedal sensor signal 9 indicating the driver's accelerator pedal depression amount 9
  • the shift lever 1 position switch 1 5 etc. is input.
  • the brake controller 1 Based on these input signals, the brake controller 1 sends a control signal for obtaining the required braking force to the electric brake (EMB) 2 2 and a control signal for obtaining the required steering to the steering actuator. Output to 24 overnight.
  • EMB electric brake
  • the electric brake (EMB) 2 2 and the steering actuary 2 4 are mounted on each wheel, and are controlled independently from the brake controller 1 by each wheel.
  • the brake controller 1 controls the start of the switch 1 2 to start the engine 14.
  • the brake controller 1 controls the transmission 13 to be disconnected (parking position, neutral position) and connected (reverse, drive range, low speed range).
  • the output of the engine 14 is also controlled by the brake controller 1.
  • the engine 14 is equipped with an electric throttle throttle, and the amount of air taken into the engine 14 can be increased or decreased by controlling the motor in the throttle throttle. This controls the engine output.
  • a motor generator 16 is provided between the engine 14 and the transmission 13 so that regenerative braking (energy regeneration during deceleration by power generation) or reverse torque by the motor can be applied.
  • the reverse torque of the regenerative brake and the motor is controlled by the brake controller 1.
  • FIG. 2 is an explanatory diagram of an electric brake (EMB) 22 with a parking brake mechanism.
  • the electric brake (E, MB) 2 2 is a screw mechanism that converts the rotational motion of the motor 2 6 and the motor into a reciprocating motion, a locking mechanism that mechanically locks the reciprocating motion of the screw, and a lock for the locking mechanism.
  • (Fixed) Unlocked (released) parking brake mechanism 2 1, Brake pad that presses brake disk 2 3 with screw mechanism to generate specified braking force, Thrust sensor to detect actual braking force It is composed of
  • the parking brake mechanism 21 is composed of a small motor 26 and a screw mechanism.
  • the motor-driven brake mechanism is used to unlock the electric brake screw mechanism.
  • the brake is applied until a predetermined braking force is obtained by the rotational force of the motor With the pad pressed against the brake disc 2 3, the parking brake mechanism 2 1 can hook the screw mechanism.
  • the braking force is maintained even if the rotational force (current value) of the motor 26 is zero. Abnormalities before capping the screw mechanism can be detected by checking the disconnection of the motor connection.
  • abnormalities in the electric brake mechanism can be detected when the necessary braking force (pressing force) is not obtained by the thrust sensor 28, and overheating of the electric brake motor 27 can be detected by the built-in temperature sensor, power consumption, It can be detected by the estimated temperature estimated from the operating frequency.
  • Fig. 3 shows several combinations of tire directions (toe angles) so that the vehicle can be stopped by changing the angle of the tire when the parking brake mechanism or electric brake mechanism fails.
  • Each indicates the direction of the tire on each wheel when the vehicle is viewed from directly above. This is the concept of ski pogen.
  • the rolling resistance (braking force) increases as the tire toe angle opens outward or closes inward.
  • Such a pattern can be selected in advance, but it can also be selected according to the stop state of the vehicle body.
  • FIG. 4 is an operation logic circuit diagram when the electric parking brake lock mechanism malfunctions and the parking brake switch malfunctions (always OFF) according to the present invention.
  • key switch 5 vehicle power switch
  • vehicle speed O kmZ h (stopped)
  • engine speed 0 rpm (stopped)
  • engine Either king brake lock mechanism failure or parking brake kiss failure connect to transmission gear position 1st gear or reverse, or control the wheel toe angle of each wheel to one of the patterns in Fig. 3.
  • Parking brake switch 4 ON condition is entered in OR condition If the parking brake switch 4 is normal, it is connected to the transmission gear position 1st speed or reverse according to the parking brake switch, or the tire toe angle of each wheel is This is so that the pattern can be controlled.
  • FIG. 5 is an operational logic circuit diagram when the engine is started in the present invention. Brake pedal 2 ON (depressed) key switch 5
  • the vehicle power switch When the vehicle power switch is 0 N, the vehicle speed is O kmZ h (stopped), the engine speed is O rpni (stopped), the parking brake lock mechanism is broken, or the parking brake switch is broken. Start star evening 1 2 after the gear position of transmission 1 3 is disconnected. This prevents the engine from starting when the transmission is connected.
  • FIG. 6 is an operation logic circuit diagram when the electric brake mechanism of the present invention is faulty and in the electric brake operation limit mode.
  • Brake pedal 2 ON (depressed) key switch 5 (vehicle power switch) is ON, vehicle speed> 0 kmZ h
  • FIG. 7 is a flowchart of the present invention corresponding to FIG. Step
  • step 91 input the signals for each side, and in step 91, determine parking brake lock mechanism failure and parking brake switch failure.
  • step 100 it is determined whether the conditions in FIG. 4 are satisfied. In the case of Y E S, connect to transmission gear position 1st speed or reverse at step 1 0 1, or control the toe angle of each wheel to one of the patterns in Fig. 3. If it is N0 at Step 1 0 0, it is judged at Step 1 0 2 whether the parking brake lock mechanism is normal.
  • step 200 various signal input processing is performed, and in step 200, parking brake lock mechanism failure determination and parking brake switch failure determination are performed.
  • step 2 0 2 it is determined whether the conditions in FIG. 5 are satisfied. If YES, disconnect the transmission at step 2 0 3 and allow the engine to start in the evening and start the engine. If NO, 2 0 4 prohibits star start and does not start the engine. This prevents engine starting (the vehicle moving) when the transmission is connected.
  • FIG. 9 is a flowchart of the present invention corresponding to FIG.
  • step 300 various signal input processing is performed, and in step 300, electric brake mechanism failure determination and electric brake operation restriction determination are performed. Specifically, it can be judged by whether a predetermined pressing force cannot be obtained by the thrust sensor or whether the electric brake motor is overheated.
  • step 3 0 2 it is determined whether the conditions in FIG. 6 are satisfied. If YES, connect the transmission gear position to 1st speed or reverse in step 303, or control the corner of the tire on each wheel to one of the patterns in Fig. 3. The tire corner is continuously variable according to the brake pedal stroke or pedaling force according to steering action 24, and in the case of Fig. 3 / ⁇ ° turn (b), the amount of brake pedal depression is large.
  • the rolling resistance can be increased by changing the toe angle toward the inner side. Transmission gear position If sufficient deceleration cannot be obtained even if connected to 1st gear or reverse gear, braking by controlling the toe angle of the tire may be performed. The vehicle can also be stopped by regenerative braking or reverse torque generated by a motor generator. If NO at step 3 0 2, determine whether the electric brake mechanism is normal at step 3 0 4. If YES, determine at step 3 0 5 whether the electric brake operation is restricted. If NO, step 3 0 6 To perform electric brake control according to the brake pedal operation signal and cancel the processing in step 303.
  • step 3 0 5 Even if YES at step 3 0 5, electric brake control is performed according to the brake pedal operation signal at step 3 0 7, and the processing at step 3 0 3 is canceled. However, a warning lamp is turned on and caution is given to stop the vehicle immediately. If NO in step 3 0 4, it is determined in step 3 0 8 whether the accelerator pedal is depressed. If YES, the engine output is controlled in step 3 0 9 according to the accelerator pedal. At that time, the processing of step 303 is canceled, a warning light is turned on, and attention is paid to stop the vehicle immediately. Industrial applicability
  • the brake device, the control device thereof, and the control method thereof according to the present invention can be applied to a vehicle brake device, and the hydraulic pressure is driven not only by the electric brake device using the motor but also by the motor. It can also be applied to brake devices that control braking force.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Transmission Device (AREA)
  • Braking Systems And Boosters (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Un problème se présente lorsqu’un véhicule ne peut pas être arrêté ou stationné parce qu’une force de freinage au niveau des pneumatiques n’est pas disponible en raison de la défaillance d’un mécanisme de blocage de frein de stationnement ou d’un mécanisme de frein électrique. Pour résoudre ce problème un dispositif de frein électrique à mécanisme de frein de stationnement ci-décrit est construit de façon que, lors d’une défaillance du mécanisme de blocage de frein de stationnement ou du mécanisme de frein électrique, la force de freinage puisse être maintenue en mettant la transmission d’un véhicule en prise, ou en commandant indépendamment la direction du pneumatique (angle de dérive) de chaque roue, ou en appliquant un couple de freinage ou de marche arrière régénérateur par un moteur générateur. Plus spécifiquement, lors d’une défaillance du mécanisme de blocage de frein de stationnement ou du mécanisme de frein électrique, une force de freinage nécessaire pour arrêter ou stationner le véhicule peut être atteinte en mettant la transmission en prise ou en commandant l’angle de dérive du pneumatique indépendamment afin de produire une résistance dans un système d’entraînement et une résistance au roulement des pneumatiques, ou par le couple de freinage ou de marche arrière régénérateur produit par le moteur générateur.
PCT/JP2004/015092 2004-10-06 2004-10-06 Dispositif de frein électrique WO2006038309A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2004/015092 WO2006038309A1 (fr) 2004-10-06 2004-10-06 Dispositif de frein électrique
JP2006518997A JP4825668B2 (ja) 2004-10-06 2004-10-06 電動ブレーキ装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2004/015092 WO2006038309A1 (fr) 2004-10-06 2004-10-06 Dispositif de frein électrique

Publications (1)

Publication Number Publication Date
WO2006038309A1 true WO2006038309A1 (fr) 2006-04-13

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PCT/JP2004/015092 WO2006038309A1 (fr) 2004-10-06 2004-10-06 Dispositif de frein électrique

Country Status (2)

Country Link
JP (1) JP4825668B2 (fr)
WO (1) WO2006038309A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2896754A1 (fr) * 2006-01-30 2007-08-03 Renault Sas Procede de reduction de la distance de freinage d'un vehicule automobile et dispositif de mise en oeuvre
JP2008126962A (ja) * 2006-11-24 2008-06-05 Advics:Kk 駐車ブレーキ制御装置
JP2009184467A (ja) * 2008-02-05 2009-08-20 Hitachi Ltd ブレーキ制御装置、これを備えたブレーキシステム及び車両
JP2010526701A (ja) * 2007-05-14 2010-08-05 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 車両用の自動化されたパーキングブレーキ
WO2012044210A1 (fr) * 2010-10-01 2012-04-05 Volvo Lastavagnar Ab Procédé de freinage d'un véhicule et véhicule employant ce procédé
US9260092B1 (en) 2013-09-27 2016-02-16 Google Inc. Methods and systems for steering-based oscillatory vehicle braking
DE102015210678A1 (de) * 2015-06-11 2016-12-15 Robert Bosch Gmbh Verfahren zum Festsetzen eines Fahrzeugs
US10723227B2 (en) * 2015-08-11 2020-07-28 Byd Company Limited Brake system and method for four-wheel drive electric vehicle and electric vehicle
WO2020259830A1 (fr) * 2019-06-26 2020-12-30 Abb Schweiz Ag Procédé de freinage de véhicule à guidage automatique et véhicule à guidage automatique (agv)
CN112406896A (zh) * 2020-11-24 2021-02-26 东风汽车集团有限公司 一种纯电动汽车代客泊车功能失效保护方法和系统
CN113561956A (zh) * 2021-07-05 2021-10-29 恒大恒驰新能源汽车研究院(上海)有限公司 驻车控制电路及方法、装置、计算机可读存储介质
JP2021187360A (ja) * 2020-06-02 2021-12-13 トヨタ自動車株式会社 車両

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110654357B (zh) * 2018-06-29 2021-08-10 比亚迪股份有限公司 驻车控制方法、装置、设备及车辆

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JP2002295532A (ja) * 2001-04-03 2002-10-09 Isuzu Motors Ltd クラッチ自動制御式車両
JP2004249992A (ja) * 2004-04-05 2004-09-09 Toyota Motor Corp 車両制御装置

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JPS6357195U (fr) * 1986-10-01 1988-04-16
JPH05236604A (ja) * 1991-11-30 1993-09-10 Linde Ag 電気的に駆動される車両の、損失の少ない制動法
JPH10205554A (ja) * 1997-01-23 1998-08-04 Akebono Brake Ind Co Ltd 電動ブレーキ
JPH10264792A (ja) * 1997-03-25 1998-10-06 Sanyo Electric Co Ltd 車両の制動制御装置
JPH10297462A (ja) * 1997-04-28 1998-11-10 Toyota Motor Corp 制動力制御装置
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Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2896754A1 (fr) * 2006-01-30 2007-08-03 Renault Sas Procede de reduction de la distance de freinage d'un vehicule automobile et dispositif de mise en oeuvre
JP2008126962A (ja) * 2006-11-24 2008-06-05 Advics:Kk 駐車ブレーキ制御装置
JP2010526701A (ja) * 2007-05-14 2010-08-05 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 車両用の自動化されたパーキングブレーキ
US8991943B2 (en) 2007-05-14 2015-03-31 Robert Bosch Gmbh Automatic parking brake having a slip controller
JP2009184467A (ja) * 2008-02-05 2009-08-20 Hitachi Ltd ブレーキ制御装置、これを備えたブレーキシステム及び車両
WO2012044210A1 (fr) * 2010-10-01 2012-04-05 Volvo Lastavagnar Ab Procédé de freinage d'un véhicule et véhicule employant ce procédé
US9783172B2 (en) 2013-09-27 2017-10-10 Waymo Llc Methods and systems for steering-based oscillatory vehicle braking
US9260092B1 (en) 2013-09-27 2016-02-16 Google Inc. Methods and systems for steering-based oscillatory vehicle braking
US9994199B2 (en) 2015-06-11 2018-06-12 Robert Bosch Gmbh Method for securing a vehicle at a standstill
CN106240550A (zh) * 2015-06-11 2016-12-21 罗伯特·博世有限公司 用于固定车辆的方法
DE102015210678A1 (de) * 2015-06-11 2016-12-15 Robert Bosch Gmbh Verfahren zum Festsetzen eines Fahrzeugs
CN106240550B (zh) * 2015-06-11 2021-01-12 罗伯特·博世有限公司 用于固定车辆的方法
US10723227B2 (en) * 2015-08-11 2020-07-28 Byd Company Limited Brake system and method for four-wheel drive electric vehicle and electric vehicle
WO2020259830A1 (fr) * 2019-06-26 2020-12-30 Abb Schweiz Ag Procédé de freinage de véhicule à guidage automatique et véhicule à guidage automatique (agv)
CN113993769A (zh) * 2019-06-26 2022-01-28 Abb瑞士股份有限公司 制动自主引导车辆的方法和自主引导车辆
CN113993769B (zh) * 2019-06-26 2023-11-21 Abb瑞士股份有限公司 制动自主引导车辆的方法和自主引导车辆
JP2021187360A (ja) * 2020-06-02 2021-12-13 トヨタ自動車株式会社 車両
JP7372598B2 (ja) 2020-06-02 2023-11-01 トヨタ自動車株式会社 車両
CN112406896A (zh) * 2020-11-24 2021-02-26 东风汽车集团有限公司 一种纯电动汽车代客泊车功能失效保护方法和系统
CN113561956A (zh) * 2021-07-05 2021-10-29 恒大恒驰新能源汽车研究院(上海)有限公司 驻车控制电路及方法、装置、计算机可读存储介质

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