CN114701457A - Adaptive cruise and constant-speed cruise pedal response system and method - Google Patents
Adaptive cruise and constant-speed cruise pedal response system and method Download PDFInfo
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- CN114701457A CN114701457A CN202210469992.7A CN202210469992A CN114701457A CN 114701457 A CN114701457 A CN 114701457A CN 202210469992 A CN202210469992 A CN 202210469992A CN 114701457 A CN114701457 A CN 114701457A
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 43
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- 210000003127 knee Anatomy 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
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- 230000004048 modification Effects 0.000 description 2
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- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
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- 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
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- Engineering & Computer Science (AREA)
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- Regulating Braking Force (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention discloses a pedal response system and a pedal response method adaptive to self-adaptive cruise and constant-speed cruise, which comprise a human body posture acquisition module, a brake pedal position adjustment module, a brake corresponding style switching module and a sound prompt module; the human body posture acquisition module is used for acquiring human body posture parameters and judging whether the position of the brake pedal can be adjusted or not; the brake pedal position adjusting module is used for adjusting the brake pedal to move to a target adjusting position according to the human body posture parameters; the braking style switching module is used for adjusting the pressure building response speed of the braking cylinder according to the target adjusting position of the braking pedal; the voice prompt module is used for informing the driver of the current brake pedal state and the current brake response style according to the current position of the brake pedal and the pressure build response speed of the brake cylinder. The invention performs scene adaptability adjustment on the whole braking response system, improves the comfort, shortens the braking response time and reduces the probability of risk generation.
Description
Technical Field
The invention relates to the technical field of automobile control systems, in particular to a pedal response system and method adaptive to adaptive cruise and constant-speed cruise.
Background
Most vehicles on the market today are already equipped with CCS (constant speed cruise) and the control of the switches ensures that the vehicle is in a form at a given speed. Most of the vehicles of ADAS L2 have also been equipped with an ACC (adaptive cruise control) function, which can realize automatic change of the vehicle in a certain speed range, so as to achieve the effect of automatic following. In the two functional scenes, the feet of the driver are released, and when the driver is in a relaxed state, the feet are usually placed in two ways: 1. the foot is placed in a comfortable pedal position, typically on the accelerator pedal, since the accelerator pedal is initially lower than the brake pedal. 2. The feet are placed on the footrest pad, and the feet are adaptively moved when the vehicle is in an emergency state or the control right of the vehicle needs to be taken over. Both of these situations present certain safety hazards: 1. the foot is preferentially placed on the accelerator pedal, and under the emergency state of a car following scene, the car is often required to preferentially perform braking response, but because the foot is placed on the accelerator pedal in advance, the situation of directly stepping on the pedal may exist, and the probability of accident occurrence can be increased. 2. The feet are placed on the foot rest pad and are far away from the brake pedal, under the condition, when an emergency is handled, the time for moving the feet is increased, the driving distance from the emergency to the vehicle stop is artificially prolonged, and certain potential safety hazards exist.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provide a pedal response system and a pedal response method for adaptive cruise and constant-speed cruise, which can effectively reduce potential safety hazards.
To achieve the purpose, the invention designs a pedal response system adaptive to adaptive cruise and constant-speed cruise, which is characterized in that: the device comprises a human body posture acquisition module, a brake pedal position adjustment module, a brake corresponding style switching module and a sound prompt module;
the human body posture acquisition module is used for acquiring human body posture parameters and judging whether the position of the brake pedal can be adjusted or not;
the brake pedal position adjusting module is used for adjusting the brake pedal to move to a target adjusting position according to the human body posture parameters;
the braking style switching module is used for adjusting the pressure build-up response speed of the braking cylinder according to the target adjusting position of the braking pedal;
the voice prompt module is used for informing the driver of the current brake pedal state and the current brake response style according to the current position of the brake pedal and the pressure build response speed of the brake cylinder.
Further, the human body posture acquisition module acquires the distance S1 between the bottom surface of the brake pedal and the front wall plate, the included angle alpha between the sole plane of the driver and the floor of the vehicle body and the distance S2 between the knee of the driver and the instrument panel.
Further, the method for judging whether the position of the brake pedal can be adjusted is as follows: the collected human body posture parameters are compared with the set human body posture parameters, when the collected human body posture parameters are not less than the set human body posture parameters, the position of the brake pedal can be adjusted, otherwise, the position of the brake pedal cannot be adjusted.
Further, the set human body posture parameters comprise a minimum distance of 60mm from the bottom surface of the brake pedal to the front wall plate, a minimum included angle of 30 degrees between the plane of the sole of the foot of the driver and the floor of the vehicle body and a minimum distance of 90mm from the knee of the driver to the instrument panel.
Furthermore, the brake pedal position adjusting module comprises a pedal adjusting and calculating module for determining a target adjusting position of the brake pedal according to the human body posture parameters, a pedal driving module for driving the brake pedal to move to the target adjusting position, and a signal shielding module for shielding a brake cylinder pressure building signal sent when the brake pedal moves from an initial position to the target adjusting position.
Further, the method for determining the target adjustment position of the brake pedal according to the human body posture parameter comprises the following steps: the method comprises the steps of simulating the process of stepping on a brake pedal by a driver by taking the current position of the brake pedal as a starting point, recording the position of the brake pedal at the moment when any one of human body posture parameters of the driver reaches a set human body posture parameter, and taking the position of the brake pedal at the moment as a target adjusting position of the brake pedal.
Further, the method for adjusting the pressure build-up response speed of the brake cylinder according to the target adjustment position of the brake pedal is as follows: the method comprises the steps of determining the stroke of a brake pedal by taking a target adjusting position of the brake pedal as a starting point, calculating the braking deceleration according to the linear relation between the stroke of the brake pedal and the braking deceleration, and adjusting the build-up pressure of a brake cylinder in the unit stroke of the brake pedal according to the braking deceleration.
Further, the method for informing the driver of the current brake pedal state and the current brake response style according to the current position of the brake pedal and the pressure build-up response speed of the brake cylinder is as follows: comparing the current position of the brake pedal with the position of the brake pedal when the adaptive cruise or the constant-speed cruise is not started, and comparing the pressure build-up magnitude of the current brake cylinder in the unit stroke of the brake pedal with the pressure build-up magnitude of the brake cylinder in the unit stroke of the brake pedal when the adaptive cruise or the constant-speed cruise is not started; and informing the driver of the current brake pedal state and the current brake response style according to the comparison result.
Furthermore, if the current position of the brake pedal is detected to be lower than the position of the brake pedal when the adaptive cruise or the constant-speed cruise is not started, and the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal is larger than the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal when the adaptive cruise or the constant-speed cruise is not started, the driver is informed that the current state of the brake pedal and the brake response style are adjusted; when the driver is informed that the current brake pedal and the brake response style are adjusted, if the current position of the brake pedal is detected to be the same as the position of the brake pedal when the adaptive cruise or the constant-speed cruise is not started, and the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal is the same as the build-up pressure of the brake cylinder in the unit stroke of the brake pedal when the adaptive cruise or the constant-speed cruise is not started, the driver is informed that the current state of the brake pedal and the brake response style are recovered.
Still further, a pedal response method for adaptive cruise and constant cruise adaptation, comprising the steps of:
the method comprises the following steps: collecting the human body posture parameters of the current driver, comparing the human body posture parameters with the set human body posture parameters of the driver, and judging whether the position of the brake pedal can be adjusted or not;
step two: if the position of the brake pedal can not be adjusted, informing a driver that the position adjustment of the brake pedal fails, and if the position of the brake pedal can be adjusted, simulating the process that the driver steps on the brake pedal to determine the target adjustment position of the brake pedal;
step three: driving a brake pedal to move to a target adjusting position, and shielding a brake cylinder pressure building signal generated in the process that the brake pedal moves from an initial position to the target adjusting position;
step four: and adjusting the pressure build-up response speed of the brake cylinder according to the target adjustment position of the brake pedal, and informing the driver of the current brake pedal state and the current brake response style.
The invention has the beneficial effects that: the pedal response system composed of the multiple modules solves the risk caused when a human body tends to place feet on a floor or an accelerator pedal due to human body comfort deviation when the ACC and CCS functions are used. The whole system strategy comprehensively considers the use comfort, and simultaneously combines a specific use scene to adjust the scene adaptability of the whole braking response system, so that the comfort is improved, the braking response time is shortened, and the probability of risk generation is reduced.
Drawings
FIG. 1 is a block diagram of a pedal response system for adaptive cruise and cruise control according to the present invention;
FIG. 2 is a block diagram of a brake pedal position adjustment module according to the present invention;
FIG. 3 is a schematic diagram of human body posture acquisition in the present invention;
FIG. 4 is a schematic view of a brake pedal adjustment structure according to the present invention;
FIG. 5 is a graph of pedal travel versus deceleration before and after brake pedal adjustment according to the present invention;
FIG. 6 is a strategy diagram of the adaptive cruise and cruise control pedal response method of the present invention;
the automobile brake pedal comprises a human body posture acquisition module, a brake pedal position adjustment module (2.1-pedal adjustment calculation module, a pedal driving module (2.2), a signal shielding module (2.3)), a brake corresponding style switching module (3), a sound prompt module (4), a brake pedal (5), a front coaming (6), a driver sole plane (7), an automobile body floor (8), a driver knee (9) and an instrument panel (10).
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The adaptive cruise and constant speed cruise pedal response system shown in fig. 1-5 comprises a human body posture acquisition module 1, a brake pedal position adjusting module 2, a brake corresponding style switching module 3 and a sound prompting module 4.
After receiving the constant-speed cruising or self-adaptive cruising signal, the human body posture acquisition module 1 acquires human body posture parameters, including acquiring the distance S1 from the bottom surface of the brake pedal 5 to the front panel 6, the included angle alpha between the sole plane 7 of the driver and the vehicle body floor 8 and the distance S2 from the knee 9 of the driver to the instrument panel 10. Whether the position of the brake pedal 5 can be adjusted is judged according to the parameters, and the specific method comprises the following steps: the collected human body posture parameters are compared with the set human body posture parameters, when the collected human body posture parameters are not less than the set human body posture parameters, the position of the brake pedal 5 can be adjusted, otherwise, the position of the brake pedal 5 cannot be adjusted. As an embodiment, the invention sets the parameters to be capable of adjusting the brake pedal 5 when the conditions are satisfied when S1 is more than or equal to 60mm, alpha is more than or equal to 30 degrees and S2 is more than or equal to 90 mm.
The brake pedal position adjusting module 2 adjusts the brake pedal 5 to move to a target adjusting position according to the human body posture parameters; the brake pedal position adjusting module 2 comprises a pedal adjusting calculation module 2.1, a pedal driving module 2.2 and a signal shielding module 2.3. The pedal adjustment calculation module 2.1 simulates the process of stepping on the brake pedal 5 by the driver with the current position of the brake pedal 5 as a starting point, and records the position of the brake pedal 5 at the moment when any one of the human body posture parameters of the driver reaches the set human body posture parameter, wherein the position of the brake pedal 5 at the moment is the target adjustment position of the brake pedal 5. The pedal driving module 2.2 drives the brake pedal 5 to move to a target adjusting position, and the signal shielding module 2.3 shields a brake cylinder pressure building signal sent out when the brake pedal 5 moves from an initial position to the target adjusting position.
The braking style switching module 3 adjusts the pressure build-up response speed of the braking cylinder according to the target adjusting position of the braking pedal 2, and the specific method is as follows: the stroke of the brake pedal 5 is determined with the target adjustment position of the brake pedal 5 as a starting point, the brake deceleration is calculated based on the linear relationship (as shown in fig. 5) between the stroke of the brake pedal 5 and the brake deceleration, and the build-up pressure of the brake cylinder per stroke of the brake pedal 5 is adjusted based on the brake deceleration.
The voice prompt module 4 informs the driver of the current brake pedal state and the current brake response style according to the current position of the brake pedal 5 and the pressure build-up response speed of the brake cylinder; the specific method comprises the following steps: the current position of the brake pedal 5 is compared with the position of the brake pedal 5 when the adaptive cruise or the constant-speed cruise is not turned on, and the current build-up pressure level of the brake cylinder per unit stroke of the brake pedal 5 is compared with the build-up pressure level of the brake cylinder per unit stroke of the brake pedal 5 when the adaptive cruise or the constant-speed cruise is not turned on. And if the current position of the brake pedal 5 is detected to be lower than the position of the brake pedal 5 when the adaptive cruise or the constant-speed cruise is not started, and the pressure build-up magnitude of the current brake cylinder in the unit stroke of the brake pedal 5 is larger than the pressure build-up magnitude of the current brake cylinder in the unit stroke of the brake pedal 5 when the adaptive cruise or the constant-speed cruise is not started, informing a driver that the current brake pedal state and the brake response style are adjusted. After the driver is informed that the current brake pedal and brake response style are adjusted, if it is detected that the current position of the brake pedal 5 is the same as the position of the brake pedal 5 when the adaptive cruise or constant speed cruise is not started, and the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal 5 is the same as the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal 5 when the adaptive cruise or constant speed cruise is not started, the driver is informed that the current brake pedal state and brake response style are recovered.
In summary, the working method of the pedal response system adaptive to adaptive cruise and constant-speed cruise designed by the invention comprises the following steps:
the method comprises the following steps: collecting the human body posture parameter of the current driver, comparing the human body posture parameter with the set human body posture parameter of the driver, and judging whether the position of the brake pedal 5 can be adjusted or not;
step two: if the position of the brake pedal 5 cannot be adjusted, informing the driver that the position adjustment of the brake pedal 5 fails, and if the position of the brake pedal 5 can be adjusted, simulating the process that the driver steps on the brake pedal 5 and determining the target adjustment position of the brake pedal 5;
step three: driving a brake pedal 5 to move to a target adjusting position, and shielding a brake cylinder pressure building signal generated in the process that the brake pedal 5 moves from an initial position to the target adjusting position;
step four: and adjusting the pressure build-up response speed of the brake cylinder according to the target adjustment position of the brake pedal 5, and informing the driver of the current brake pedal state and the current brake response style.
As shown in fig. 6, as another embodiment of the present invention, the present invention may further collect foot sizes of human bodies in different positions, preset target adjustment positions of the brake pedal 5 corresponding to the foot sizes of the human bodies in different positions, correspond to the foot sizes of the human bodies in the positions preset in the system after collecting the body size of the current human body and determining the percentile of the current human body, determine the target adjustment position of the brake pedal 5 corresponding to the foot size of the current human body, and then adjust the brake pedal 5 to the preset target adjustment position.
The pedal response system composed of the multiple modules solves the risk caused when a human body tends to place feet on a floor or an accelerator pedal due to human body comfort deviation when the ACC and CCS functions are used. The whole system strategy comprehensively considers the use comfort, and meanwhile, the scene adaptability adjustment is carried out on the whole braking response system by combining a specific use scene, so that the comfort is improved, the braking response time is shortened, and the probability of risk generation is reduced.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the structure of the present invention in any way. Any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (10)
1. An adaptive cruise and cruise pedal response system, characterized by: the device comprises a human body posture acquisition module (1), a brake pedal position adjustment module (2), a brake corresponding style switching module (3) and a sound prompt module (4);
the human body posture acquisition module (1) is used for acquiring human body posture parameters and judging whether the position of the brake pedal (5) can be adjusted or not;
the brake pedal position adjusting module (2) is used for adjusting the brake pedal (5) to move to a target adjusting position according to the human body posture parameters;
the braking style switching module (3) is used for adjusting the pressure build-up response speed of the braking cylinder according to the target adjusting position of the braking pedal (2);
the voice prompt module (4) is used for informing the driver of the current brake pedal state and the current brake response style according to the current position of the brake pedal (5) and the build-up pressure response speed of the brake cylinder.
2. The adaptive cruise and cruise control pedal response system according to claim 1, wherein: the human body posture acquisition module (1) comprises a distance S1 from the bottom surface of the brake pedal (5) to the front wall panel (6), an included angle alpha between a driver sole plane (7) and a vehicle body floor (8) and a distance S2 from a driver knee (9) to an instrument panel (10).
3. The adaptive cruise and cruise control pedal response system according to claim 2, wherein: the method for judging whether the position of the brake pedal (5) can be adjusted is as follows: the collected human body posture parameters are compared with the set human body posture parameters, when the collected human body posture parameters are not less than the set human body posture parameters, the position of the brake pedal (5) can be adjusted, otherwise, the position of the brake pedal (5) cannot be adjusted.
4. The adaptive cruise and cruise control pedal response system according to claim 3, wherein: the set human body posture parameters comprise a minimum distance of 60mm from the bottom surface of the brake pedal (5) to the front wall plate (6), a minimum included angle of 30 degrees between a driver sole plane (7) and a vehicle body floor (8) and a minimum distance of 90mm from a driver knee (9) to an instrument panel (10).
5. The adaptive cruise and cruise control pedal response system according to claim 4, wherein: the brake pedal position adjusting module (2) comprises a pedal adjusting calculation module (2.1) for determining a target adjusting position of a brake pedal (5) according to human body posture parameters, a pedal driving module (2.2) for driving the brake pedal (5) to move to the target adjusting position, and a signal shielding module (2.3) for shielding a brake cylinder pressure building signal sent out when the brake pedal (5) moves from an initial position to the target adjusting position.
6. The adaptive cruise and cruise control pedal response system according to claim 5, wherein: the method for determining the target adjusting position of the brake pedal (5) according to the human body posture parameters comprises the following steps: the method comprises the steps of simulating the process of stepping on the brake pedal (5) by a driver by taking the current position of the brake pedal (5) as a starting point, recording the position of the brake pedal (5) at the moment when any one of human body posture parameters of the driver reaches the set human body posture parameter, and taking the position of the brake pedal (5) at the moment as a target adjusting position of the brake pedal (5).
7. The adaptive cruise and constant speed cruise pedal response system according to claim 6, wherein: the method for adjusting the pressure build-up response speed of the brake cylinder according to the target adjustment position of the brake pedal (5) comprises the following steps: the stroke of the brake pedal (5) is determined by taking the target adjustment position of the brake pedal (5) as a starting point, the brake deceleration is calculated according to the linear relation between the stroke of the brake pedal (5) and the brake deceleration, and the build-up pressure of the brake cylinder in the unit stroke of the brake pedal (5) is adjusted according to the brake deceleration.
8. The adaptive cruise and cruise control pedal response system according to claim 6, wherein: the method for informing the driver of the current brake pedal state and the current brake response style according to the current position of the brake pedal (5) and the pressure build response speed of the brake cylinder is as follows: comparing the current position of the brake pedal (5) with the position of the brake pedal (5) when the adaptive cruise or the constant-speed cruise is not started, and comparing the pressure build-up magnitude of the current brake cylinder in the unit stroke of the brake pedal (5) with the pressure build-up magnitude of the brake cylinder in the unit stroke of the brake pedal (5) when the adaptive cruise or the constant-speed cruise is not started; and informing the driver of the current brake pedal state and the current brake response style according to the comparison result.
9. The adaptive cruise and cruise control pedal response system according to claim 8, wherein: if the current position of the brake pedal (5) is lower than the position of the brake pedal (5) when the adaptive cruise or the constant-speed cruise is not started and the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal (5) is larger than the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal (5) when the adaptive cruise or the constant-speed cruise is not started, informing a driver that the current brake pedal state and the brake response style are adjusted; and after the driver is informed that the current brake pedal and the brake response style are adjusted, if the current position of the brake pedal (5) is detected to be the same as the position of the brake pedal (5) when the adaptive cruise or the constant speed cruise is not started, and the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal (5) is detected to be the same as the build-up pressure of the current brake cylinder in the unit stroke of the brake pedal (5) when the adaptive cruise or the constant speed cruise is not started, the driver is informed that the current state of the brake pedal and the brake response style are recovered.
10. A pedal response method for adaptive cruise and cruise control comprising the steps of:
the method comprises the following steps: collecting the human body posture parameter of the current driver, comparing the human body posture parameter with the set human body posture parameter of the driver, and judging whether the position of the brake pedal (5) can be adjusted or not;
step two: if the position of the brake pedal (5) cannot be adjusted, informing a driver that the position adjustment of the brake pedal (5) fails, and if the position of the brake pedal (5) can be adjusted, simulating the process that the driver steps on the brake pedal (5) and determining the target adjustment position of the brake pedal (5);
step three: driving a brake pedal (5) to move to a target adjusting position, and shielding a brake cylinder pressure building signal generated in the process that the brake pedal (5) moves from an initial position to the target adjusting position;
step four: and adjusting the pressure build-up response speed of the brake cylinder according to the target adjustment position of the brake pedal (5) to inform the driver of the current brake pedal state and the current brake response style.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210469992.7A CN114701457B (en) | 2022-04-28 | 2022-04-28 | Pedal response system and method adaptive to self-adaptive cruising and constant-speed cruising |
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| CN202210469992.7A CN114701457B (en) | 2022-04-28 | 2022-04-28 | Pedal response system and method adaptive to self-adaptive cruising and constant-speed cruising |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116767149A (en) * | 2023-08-24 | 2023-09-19 | 中铁电气化铁路运营管理有限公司 | Braking auxiliary device suitable for operation vehicle |
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