CN109664868A - The believable network control braking system and control method of electric car - Google Patents
The believable network control braking system and control method of electric car Download PDFInfo
- Publication number
- CN109664868A CN109664868A CN201910051894.XA CN201910051894A CN109664868A CN 109664868 A CN109664868 A CN 109664868A CN 201910051894 A CN201910051894 A CN 201910051894A CN 109664868 A CN109664868 A CN 109664868A
- Authority
- CN
- China
- Prior art keywords
- control
- braking
- module
- brake
- vehicle
- 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
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention belongs to electric vehicle brake control technology and system regions, the specially believable network control braking system and control method of electric car；The double base management framework scheme that brak control unit is combined using control and scheduling, wheel condition sensor node is connected by double-bus redundancy In-vehicle networking with brak control unit, and brak control unit is connected further through double-bus redundancy In-vehicle networking with brake actuator node.Brak control unit includes controller and scheduler Dual module, and wherein controller uses the ideal braking force distribution closed loop management strategy fed back based on wheel condition signal, and Scheduler module uses the active schedule method managed based on the basic cycle.The present invention can effectively solve the problems, such as the brake control status sampled signal of In-vehicle networking induction and delay, the asynchronous and network failure of control signal, can provide technical support to improve brake efficiency, directional stability and the fault-tolerant ability of vehicle.
Description
Technical field
The invention belongs to electric vehicle brake control technology and system regions, the specially believable network control system of electric car
Dynamic system and control method.
Background technique
Braking ability is one of main performance of automobile.Braking ability evaluation index includes that brake efficiency, braking direction are steady
Qualitative, heat resistanceheat resistant decline performance.Good braking ability needs reasonably to distribute brake force in braking, is allowed to meet ideal system
The power relations of distribution (such as I curve), should guarantee the stability of vehicle, guarantee the steering capability of vehicle again.However it is traditional
Mechanical braking is difficult to realize ideal braking force distribution.
Line control brake system teaches skill art acquisition transducing signal using line and sends brake command, instead of traditional machine liquid system
Dynamic device has the characteristics that small in size, flexible arrangement, controllability be good and fast response time, for the ideal braking force distribution of realization
Provide possibility.It, will using traditional point-to-point connection however as the application of big quantity sensor, actuator and control unit
Lead to harness and electric interfaces increase and security risk.Therefore In-vehicle networking is generallyd use to realize line control system in engineer application
It is integrated, become a kind of multi input, multi output network control system.
On the other hand, the use of In-vehicle networking will inevitably introduce signal transmission delay, signal transmission it is asynchronous with
And the security risk that In-vehicle networking failure etc. is new.These security risks will directly affect the sampling of vehicle braking status signal and control
Real-time, synchronism and reliability, it is difficult to realize the ideal braking force distribution closed loop pipe that feeds back based on wheel condition signal
Reason becomes the new challenge of electric vehicle brake technology development.It is excellent that existing brake-by-wire technical research focuses on brake force mostly
The problems such as changing allocation strategy or fault-tolerant hardware redundancy does not consider the various uncertain problems of In-vehicle networking induction, has
There is certain limitation, is unable to satisfy the practical application request of braking system of electric car.
Summary of the invention
It is an object of the invention to overcome the shortage of prior art, a kind of believable network control braking system of electric car is proposed
And control method, it can effectively solve that the signal transmission delay of network induction, signal is asynchronous and In-vehicle networking Fault-Tolerant Problems, mention
Real-time, synchronism and the reliability of high vehicle brake signal state sampling and control, are realized and are fed back based on wheel condition signal
Ideal braking force distribution closed loop management, for improve vehicle brake efficiency, brake direction steady and fault-tolerant ability provide
Technical support.
The purpose of the present invention is achieved through the following technical solutions: the believable network control braking system of electric car,
Including multiple wheel condition sensor nodes, multiple brake actuator nodes, brak control unit and the vehicle-mounted net of double-bus redundancy
Network；The double base management framework scheme that the brak control unit is combined using control and scheduling, the wheel condition sensor
It is connected between node and brak control unit by double-bus redundancy In-vehicle networking, constitutes feedback channel, brak control unit is logical
It crosses double-bus redundancy In-vehicle networking to be also connected with brake actuator node, constitutes forward path.
The brak control unit includes receiving module, controller module, Scheduler module and sending module；Described connects
Module is received to be connected with wheel condition sensor node by double-bus redundancy In-vehicle networking, receiving module also with controller module phase
Even；Scheduler module is connected with controller module, is also connected with sending module；Controller module is connect with sending module；
Sending module is connect by double-bus redundancy In-vehicle networking with brake actuator node, that is, braking motor controller；The controller
Module for realizing braking moment order calculating and distribution；The Scheduler module is for guaranteeing braking torque distribution order
Transmit real-time and synchronism.
The controller module uses ideal brake force curve (the i.e. I curve) relationship of being based on, and carries out front and back braking moment
Distribution then compensates adjusting to front and back braking torque distribution based on front and back wheel rotary regimes, avoids vehicle braking force not
Foot and brake slip problem form the braking force distribution closed loop management strategy protocol fed back based on vehicle wheel rotational speed state.
The Scheduler module uses the flexible time scheduling method based on the basic cycle, realizes the scheduling of data transmission
Management, in particular to: the scheduling strategy of the scheduler module realizes that the basic cycle is controlled by braking using two basic cycles circulation
Unit processed is respectively completed sampled signal and control by sending reference frame or control frame starting or terminating within two basic cycles
The transmission of signal, wherein the transmission of sampled signal is started transmission by reference frame in a broadcast manner, to realize the same of sampled signal
Step；The implementation of control signal is notified brake actuator starting operation by reference frame in a broadcast manner, to realize controlling behavior
It is synchronous.
Wherein, the parameter designing of the basic cycle should meet the following conditions constrained dispatch and differ to guarantee real-time
Formula:
∑[max(Tmessage)] < Tbase-cycle< τmax,
Wherein, Tbase-cycleFor basic cycle time span, TmessageExpression refers to that traffic order in the basic cycle, wheel turn
Fast information, the information transmission time of braking force distribution order, τmaxIndicate the maximum allowable delay of system channel, ∑ [] expression, which refers to, to be asked
And maximum operation is sought in operation, max () expression；S.t. indicate constrained in Tmessage-scheduleIndicate traffic order signal
Transmission time, Tmessage-sensorIndicate wheel speed sensor sampled signal transmission time, Tmessage-controlIndicate brake force point
With command signal transmission time, n indicates wheel speed sensor number, and m indicates wheel drag node number.
The beneficial effects of the present invention are:
Hardware aspect of the present invention uses double-bus redundancy Fault-Tolerant Topology scheme, while double using control and scheduling in terms of algorithm
First management framework is realized using the flexible time scheduling method based on the basic cycle by designing reasonable basic cycle length
Real-Time Scheduling management to network control braking system, effectively inhibit network induction signal transmission delay, signal transmission it is asynchronous and
In-vehicle networking failure improves the real-time, synchronism and reliability of vehicle braking control, for the comprehensive braking effect for improving vehicle
Energy, brake direction steady and fault-tolerant ability provide technical support.
Detailed description of the invention
Fig. 1 is brake-by-wire technology schematic diagram；
Fig. 2 is line control brake system braking force distribution schematic diagram；
Fig. 3 is ideal front and rear wheel braking force distribution curve；
Fig. 4 is network control braking system schematic diagram of the invention；
Fig. 5 is the network control system schematic diagram of braking system of the invention；
Fig. 6 is the dispatch list schematic diagram of embodiment network control braking system；
Fig. 7 (a) is the control based on network implementation effect figure using traditional approach；
Fig. 7 (b) is the control based on network implementation effect figure that embodiment uses the present invention program.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, being brake-by-wire technology schematic diagram, uses line to teach skill art acquisition transducing signal and send braking life
It enables, instead of traditional machine hydraulic brake device, has the characteristics that small in size, flexible arrangement, controllability be good and fast response time, it can
To realize the independent control of wheel braking force.
As shown in Fig. 2, using four-wheel line control brake system, it can be achieved that the flexible allocation of brake force, preferably makes to realize
Power distribution provides possibility.Its braking force distribution principle is as shown in Figure 3: four wheel condition sensors are by collected wheel
Status information feedback is to brak control unit, while brak control unit receives the command information (deceleration of electrons from driver
The speed signal and angular signal of pedal), the braking of four-wheel target is solved according to ideal front and rear wheel braking force distribution optimization of profile
Power, and target braking force signals are sent to brake actuator node, realize the brake-by-wire of vehicle.Ideal braking force distribution
Curve such as I curve, I curve are as shown in Figure 3.
It to sum up, can be steady for the brake efficiency and braking direction of improvement motor vehicle braking system using four-wheel line control brake system
Qualitative offer technical support.
On the other hand, as shown in Fig. 2, the application of big quantity sensor, actuator and control unit is also brought to integrated control
Challenge will lead to harness using traditional point-to-point connection and electric interfaces increase and security risk, is unable to satisfy engineering and answers
With needs, therefore In-vehicle networking is generallyd use in engineer application to realize the integrated of line control system, that is, form network control braking system,
As shown in figure 4, simultaneously, in order to improve the fault-tolerant ability of braking system, redundant network, such as dual CAN bus are generallyd use in design.
As shown in figure 5, network control braking system has become a kind of typical multiple-input and multiple-output network for control angle
Networked control systems, which includes brak control unit, 4 wheel speed sensor nodes, 4 brake actuator nodes, double
Bus redundancy network wherein passes through double-bus redundancy In-vehicle networking phase between wheel speed sensor node and brak control unit
Even, feedback channel is constituted, brak control unit is also connected with brake actuator node by double-bus redundancy In-vehicle networking, is constituted
Forward path.According to control based on network theory, the use of In-vehicle networking will inevitably introduce signal delay, signal difference
Step and the problems such as network failure, these problems will directly affect vehicle braking state signal collecting and the real-time of control, synchronous
Property and reliability, it is difficult to realize the ideal braking force distribution closed loop management fed back based on wheel condition signal, become electronic vapour
The new challenge of vehicle braking technology development.
To solve the above problems, as shown in figure 4, the present invention on hardware use double-bus redundancy network, algorithmically adopt
The double base management framework scheme combined with control and scheduling, brak control unit includes receiving module, controller module, scheduling
Device module and sending module；Receiving module is connected by double-bus redundancy In-vehicle networking with wheel condition sensor node, is received
Module is also connected with controller module；Scheduler module is connected with controller module, is also connected with sending module；Controller
Module is connect with sending module；Sending module is connect by double-bus redundancy In-vehicle networking with braking motor controller；The control
Device module processed for realizing braking moment order calculating and distribution；The Scheduler module is for guaranteeing that braking torque distribution is ordered
The transmission real-time and synchronism of order.
The controller module uses ideal brake force curve (the i.e. I curve) relationship of being based on, and carries out front and back braking moment
Distribution then compensates adjusting to front and back braking torque distribution based on front and back wheel rotary regimes, avoids vehicle braking force not
The braking force distribution closed loop management as shown in Figure 5 based on vehicle wheel rotational speed state feedback is consequently formed in foot and brake slip problem
Scheme.
The Scheduler module uses the flexible time scheduling method based on the basic cycle, realizes the scheduling of data transmission
Management, specific scheduling strategy are managed by dispatch list as shown in FIG. 6, and dispatch list is realized using two basic cycle circulations, substantially
Period is respectively completed within two basic cycles and is adopted by sending reference frame or control frame starting or terminating by brak control unit
The transmission of sample signal and control signal, wherein completing the management of sample information transmission, sampled signal within first basic cycle
Transmission start transmission in a broadcast manner by reference frame, to realize the synchronization of sampled signal；It is completed in second basic cycle
The management of command information transmission, the implementation for controlling signal are notified brake actuator starting operation by reference frame in a broadcast manner,
To realize the synchronization of controlling behavior.In this example, setting CAN bus baud rate is 250kbps, and system communication cycle is
20ms, basic cycle are set as 10ms, the maximum allowable delay 20ms of system channel.The message frame lattice according to as defined in CAN2.0
Formula extends frame length calculations formula are as follows:Know that extension frame length longest can be 160.
To guarantee real-time, in this example, a basic cycle will complete to send 1 traffic order in feedback channel
Frame, 4 wheel rotation speed signals data frames, a basic cycle will complete 4 control command data frames, 1 tune in forward path
Spend command frame:
That is, the basic cycle meets inequality ∑ [max (T in this examplemessage)] < Tbase-cycle< τmax, thus scheme can
Guarantee real-time.
For the control based on network implementation effect analysis diagram in embodiment, wherein Fig. 7 (a) be using traditional approach (not
Using scheduler) control based on network implementation effect figure, Fig. 7 (b) is using the control based on network of the mentioned above scheme of the present invention
Implementation effect figure, τ indicate the Networked-induced delay of system control loop.Comparison is it is found that the present invention suggests plans and efficiently solves
Sampled signal sends asynchronous and control signal and executes asynchronous problem in network system, while Networked-induced delay being reduced
To a sampling period, and there are biggish asynchronism and biggish time-varying delays for traditional scheme, to be based on to realize
The ideal braking force distribution closed loop management of wheel condition signal feedback provides real-time, synchronous guarantee.
To sum up, pair that redundant network is used on suggested plans hardware, while algorithmically being combined using control and scheduling
First management framework, it is ensured that the real-time and synchronism and reliability of the sampling of wheel braking status signal and control, in conjunction with being based on
The ideal braking force distribution closed loop management strategy of wheel condition signal feedback, has apparent technical advantage, can be improvement vehicle
Brake efficiency, brake direction steady and fault-tolerant ability technical support is provided.
The foregoing is merely example of the present invention, the present invention is not limited solely to above-mentioned realization embodiment, all
Locality change, equivalent replacement, improvement for being done within the spirit and principles in the present invention etc. should be included in guarantor of the invention
Within the scope of shield.
Claims (5)
1. the believable network control braking system of electric car, which is characterized in that including multiple wheel condition sensor nodes, multiple
Brake actuator node, brak control unit and double-bus redundancy In-vehicle networking；The brak control unit using control and
Dispatch the double base management framework scheme combined；By double total between the wheel condition sensor node and brak control unit
Line redundancy In-vehicle networking is connected, and constitutes feedback channel, and brak control unit is also held with braking by double-bus redundancy In-vehicle networking
Row device node is connected, and constitutes forward path.
2. the believable network control braking system of electric car according to claim 1, it is characterised in that: the control for brake
Unit, including receiving module, controller module, Scheduler module and sending module；The receiving module is superfluous by dual bus
Remaining In-vehicle networking is connected with wheel condition sensor node, and receiving module is also connected with controller module；The scheduler mould
Block is connected with controller module, is also connected with sending module；The controller module is connect with sending module；Described
Sending module is connect by double-bus redundancy In-vehicle networking with brake actuator node；The controller module is for realizing braking
The calculating and distribution of torque command；The Scheduler module be used to guarantee the transmission real-time of braking torque distribution order with it is synchronous
Property.
3. the control method of the believable network control braking system of electric car according to claim 1 or 2, feature exist
In: the controller module, which uses, is based on ideal brake force curved line relation, front and back braking torque distribution is carried out, before being then based on
Rear wheel rotary regimes compensate adjusting to front and back braking torque distribution, and vehicle braking force deficiency and brake slip is avoided to ask
Topic forms the braking force distribution closed loop management strategy protocol fed back based on vehicle wheel rotational speed state.
4. the control method of the believable network control braking system of electric car according to claim 3, it is characterised in that: institute
The Scheduler module stated uses the flexible time scheduling method based on the basic cycle, realizes the management and running of data transmission；It is described
The scheduling strategy of scheduler module realizes that the basic cycle is by brak control unit by sending reference using two basic cycle circulations
Frame or control frame start or stop, and sampled signal is respectively completed within two basic cycles and controls the transmission of signal, wherein adopting
The transmission of sample signal is started transmission by reference frame in a broadcast manner, to realize the synchronization of sampled signal；Control the implementation of signal
Notify brake actuator starting operation, in a broadcast manner by reference frame to realize the synchronization of controlling behavior.
5. the control method of the believable network control braking system of electric car according to claim 4, it is characterised in that: institute
The parameter designing for the basic cycle stated should meet the following conditions constrained dispatch inequality:
∑[max(Tmessage)] < Tbase-cycle< τmax,
Wherein, Tbase-cycleFor basic cycle time span, TmessageExpression refers to traffic order in the basic cycle, vehicle wheel rotational speed letter
It ceases, the information transmission time of braking force distribution order, τmaxIndicate that the maximum allowable delay of system channel, ∑ [] expression refer to summation fortune
It calculates, maximum operation is sought in max () expression；S.t. indicate constrained in Tmessage-scheduleIndicate the transmission of traffic order signal
Time, Tmessage-sensorIndicate wheel speed sensor sampled signal transmission time, Tmessage-controlIndicate braking force distribution life
Signal transmission time is enabled, n indicates wheel speed sensor number, and m indicates wheel drag node number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910051894.XA CN109664868B (en) | 2019-01-21 | 2019-01-21 | Trusted network control brake system and control method of electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910051894.XA CN109664868B (en) | 2019-01-21 | 2019-01-21 | Trusted network control brake system and control method of electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109664868A true CN109664868A (en) | 2019-04-23 |
| CN109664868B CN109664868B (en) | 2020-07-21 |
Family
ID=66149586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910051894.XA Active CN109664868B (en) | 2019-01-21 | 2019-01-21 | Trusted network control brake system and control method of electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664868B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224029A (en) * | 2020-10-15 | 2021-01-15 | 中车青岛四方车辆研究所有限公司 | Redundancy control method for electromechanical brake system of rail vehicle |
| US11325638B2 (en) | 2019-07-11 | 2022-05-10 | Jilin University | Dual-mode active rear-wheel steering device |
| CN114763124A (en) * | 2021-01-12 | 2022-07-19 | 现代摩比斯株式会社 | Device and method for controlling an electromechanical brake |
| CN115279633A (en) * | 2020-04-01 | 2022-11-01 | 大陆汽车科技有限公司 | Brake system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008058303A1 (en) * | 2008-11-19 | 2010-05-20 | Sew-Eurodrive Gmbh & Co. Kg | Method for operating a drive and drive |
| CN106218419A (en) * | 2016-08-24 | 2016-12-14 | 武汉地和智能有限公司 | A kind of antero posterior axis drives the control method of electric automobile process of regenerative braking |
| JP2017035993A (en) * | 2015-08-11 | 2017-02-16 | Ntn株式会社 | Electric brake device |
| CN207931706U (en) * | 2018-02-13 | 2018-10-02 | 重庆长安汽车股份有限公司 | A kind of vehicle redundant braking system |
| CN108790941A (en) * | 2018-06-05 | 2018-11-13 | 北京理工大学 | The real time synchronization network control device and method of distributed-driving electric automobile |
| CN109204260A (en) * | 2018-05-15 | 2019-01-15 | 哈尔滨理工大学 | Electric vehicle brake force distribution method |
-
2019
- 2019-01-21 CN CN201910051894.XA patent/CN109664868B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008058303A1 (en) * | 2008-11-19 | 2010-05-20 | Sew-Eurodrive Gmbh & Co. Kg | Method for operating a drive and drive |
| JP2017035993A (en) * | 2015-08-11 | 2017-02-16 | Ntn株式会社 | Electric brake device |
| CN106218419A (en) * | 2016-08-24 | 2016-12-14 | 武汉地和智能有限公司 | A kind of antero posterior axis drives the control method of electric automobile process of regenerative braking |
| CN207931706U (en) * | 2018-02-13 | 2018-10-02 | 重庆长安汽车股份有限公司 | A kind of vehicle redundant braking system |
| CN109204260A (en) * | 2018-05-15 | 2019-01-15 | 哈尔滨理工大学 | Electric vehicle brake force distribution method |
| CN108790941A (en) * | 2018-06-05 | 2018-11-13 | 北京理工大学 | The real time synchronization network control device and method of distributed-driving electric automobile |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11325638B2 (en) | 2019-07-11 | 2022-05-10 | Jilin University | Dual-mode active rear-wheel steering device |
| CN115279633A (en) * | 2020-04-01 | 2022-11-01 | 大陆汽车科技有限公司 | Brake system |
| CN112224029A (en) * | 2020-10-15 | 2021-01-15 | 中车青岛四方车辆研究所有限公司 | Redundancy control method for electromechanical brake system of rail vehicle |
| CN114763124A (en) * | 2021-01-12 | 2022-07-19 | 现代摩比斯株式会社 | Device and method for controlling an electromechanical brake |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109664868B (en) | 2020-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109664868A (en) | The believable network control braking system and control method of electric car | |
| CN109849686B (en) | Trusted network control chassis system and control method of electric automobile | |
| WO2020019543A1 (en) | Electric vehicle domain architecture vehicle network system, domain collaborative processing method and domain control device | |
| CA3125365C (en) | Train network control system, method and device and train | |
| CN108790941B (en) | The real time synchronization network control device and method of distributed-driving electric automobile | |
| CN105398458B (en) | The rail transit train traction braking system and method for traction braking control fusion | |
| CN105459989A (en) | Traction and braking control method for train in emergency traction mode | |
| CN109606290B (en) | Double-topology networked control system of electric automobile and scheduling method thereof | |
| CN101943898A (en) | Real-time control system of train sets | |
| WO2010139259A1 (en) | Vehicle brake-by-wire method and device based on can bus communication technology | |
| CN206719141U (en) | A kind of electric tractor and communication device with two-way CAN | |
| CN102887120B (en) | Method for strengthening message of CAN (Controller Area Network) bus | |
| CN109703370B (en) | Trusted network control power platform system of electric automobile and control method thereof | |
| CN109747707A (en) | The believable network control steering system and its control method of electric car | |
| CN109130889B (en) | Networked control system and scheduling method for multi-axis distributed driving electric vehicle | |
| CN105610662B (en) | The feedback type comprehensive dynamic dispatching control based on network device of electric car | |
| CN201153265Y (en) | Vehicle mounted network | |
| CN103621016B (en) | For running method and motor vehicle with multiple communication user communication bus systems | |
| CN201914192U (en) | Controller Area Network (CAN) bus control system of electric vehicle | |
| CN115576309B (en) | Vehicle-mounted network area architecture method based on multi-objective design and vehicle | |
| CN105835872B (en) | Electric vehicle network control electronic synchronizer shift control method and system | |
| CN110143197B (en) | Trusted network control power coupling system and control method of hybrid electric vehicle | |
| CN105539196A (en) | Feedback type variable-priority composite transmission networking control device for electric vehicle | |
| CN113726687B (en) | Data transmission system and method | |
| CN207374100U (en) | Multi-motors drive system before and after a kind of semi |
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 |