CN116394903A - Vehicle deceleration braking method and vehicle deceleration braking system - Google Patents

Vehicle deceleration braking method and vehicle deceleration braking system Download PDF

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Publication number
CN116394903A
CN116394903A CN202310532857.7A CN202310532857A CN116394903A CN 116394903 A CN116394903 A CN 116394903A CN 202310532857 A CN202310532857 A CN 202310532857A CN 116394903 A CN116394903 A CN 116394903A
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CN
China
Prior art keywords
vehicle
deceleration
braking
electronic
brake
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Pending
Application number
CN202310532857.7A
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Chinese (zh)
Inventor
陶喆
刘富庆
王中平
潘盼
张宝斌
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Nasn Automotive Electronics Co Ltd
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Nasn Automotive Electronics Co Ltd
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Publication date
Application filed by Nasn Automotive Electronics Co Ltd filed Critical Nasn Automotive Electronics Co Ltd
Priority to CN202310532857.7A priority Critical patent/CN116394903A/en
Publication of CN116394903A publication Critical patent/CN116394903A/en
Pending legal-status Critical Current

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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
    • B60T13/74—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 electrical assistance or drive
    • 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
    • B60T13/74—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 electrical assistance or drive
    • B60T13/741—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 electrical assistance or drive acting on an ultimate actuator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a vehicle deceleration braking method, which comprises the following steps: transmitting braking request information to an electronic parking braking system; transmitting a deceleration braking signal to the electric brake booster through the electric parking braking system in response to the received braking request information; and in response to the received deceleration braking signal, activating an electronic control deceleration function by using the electronic brake booster, and controlling a brake pipeline of the vehicle to actively boost by using the electronic brake booster through a preset brake execution mode so as to realize deceleration braking of the vehicle. According to the vehicle deceleration braking method provided by the invention, on a vehicle without a vehicle body electronic stability control system, the electronic control deceleration function can be realized only through the electronic parking braking system and the electronic brake booster, so that the aim of safely decelerating and stopping is fulfilled.

Description

Vehicle deceleration braking method and vehicle deceleration braking system
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle deceleration braking method and a vehicle deceleration braking system.
Background
In recent years, the level of electronics and intellectualization of automobiles is higher and higher, and the technology of realizing electronic control and deceleration by actively boosting pressure by means of an automobile body electronic stability control system (Electronic Stability Controller, ESC) is widely used in the automobile industry, so that a more convenient parking mode is provided for people.
The prior art electronic parking brake system (Electrical Park Brake, EPB) performs various functions of static parking, dynamic control by electronically controlling parking brake, and the dynamic control of EPB can be generally realized by electronically dynamic controlled deceleration (Electronic Controlled Deceleration, ECD) and rear wheel anti-lock (Rear Wheel Unlock, RWU), wherein the ECD function is generally realized by ESC. However, in a vehicle equipped with only an antilock brake system (Antilock Braking System, ABS), an electronically controlled deceleration function cannot be realized without an ESC, and a driver cannot realize safe deceleration of the vehicle by a function other than service braking.
Accordingly, there is a need to provide an improved solution to overcome the above technical problems in the prior art.
Disclosure of Invention
In view of the foregoing, an object of the present invention is to provide a vehicle deceleration braking method for a vehicle not equipped with an ESC, which can realize an electronically controlled deceleration function even in a vehicle equipped with only an ABS, thereby achieving a safe deceleration stop.
The invention provides a vehicle deceleration braking method, which is applied to a vehicle with an electronic parking braking system, an electronic brake booster and an anti-lock braking system, and is characterized in that the vehicle deceleration braking method comprises the following steps: transmitting braking request information to the electronic parking braking system; transmitting a deceleration braking signal to the electric brake booster through the electric parking brake system in response to the received braking request information; and in response to the received deceleration braking signal, activating an electronic control deceleration function by using the electronic brake booster, and controlling a braking pipeline of the vehicle to actively boost by using the electronic brake booster through a preset braking execution mode so as to realize deceleration braking of the vehicle.
Further, the sending the brake request information to the electronic parking brake system includes: maintaining a brake switch of the electronic parking brake system in a pulled-up state for a predetermined period of time to generate brake request information; and transmitting the brake request information to the electronic parking brake system through a signal transmission circuit.
Further, the vehicle deceleration braking method further includes the steps of: before the electronic brake booster is used for activating the electronic control deceleration function, the electronic brake booster is used for confirming whether the current state of the vehicle meets the condition of activating the electronic control deceleration function or not, and a brake execution mode corresponding to the electronic control deceleration function is determined.
Further, the brake execution mode includes a first brake mode including: when the current state of the vehicle satisfies the condition for activating the electronically controlled deceleration function, a brake driving signal is generated using the electronic brake booster, and a motor of the electronic brake booster is controlled to generate a required pressure in a master cylinder of the vehicle by the brake driving signal.
Further, the vehicle deceleration braking method further includes: when the speed of the vehicle is reduced to a preset deceleration threshold value, the mechanical braking force of a mechanical caliper of the electronic parking brake system is increased by using the electronic brake booster control, and the hydraulic braking force is reduced by using a brake pipeline of the vehicle by using the electronic brake booster control, so that the speed of the vehicle is gradually reduced until the vehicle stops.
Further, the vehicle deceleration braking method further includes: in the execution of the electronically controlled deceleration function, when an accelerator pedal of the vehicle is depressed, the execution of the electronically controlled deceleration function is interrupted.
Further, the brake execution mode further includes a second brake mode, the second brake mode including: when the state of the wheel speed sensor of the vehicle is abnormal but the vehicle meets the condition of activating the electronically controlled deceleration function, the electronic brake booster is used for controlling the vehicle to perform deceleration braking according to the preset minimum deceleration.
Further, the vehicle deceleration braking method further includes: when the electronic control deceleration function is activated, the electronic brake booster detects that the electronic control deceleration function is abnormal in execution, the execution process of the electronic control deceleration function is interrupted, and the anti-lock brake system controls the rear wheels of the vehicle to perform anti-lock brake deceleration.
Further, the vehicle deceleration braking method further includes: and when the electronic brake booster executes the electronic control deceleration function, simultaneously controlling the vehicle to send out an indication signal for indicating the activation of the electronic control deceleration function.
The invention also provides a vehicle deceleration braking system, which comprises an electronic parking braking system, an electronic braking booster and an anti-lock braking system; the electronic parking brake system is used for responding to the received brake request information and sending a deceleration brake signal to the electronic brake booster; the electronic brake booster is used for responding to the received deceleration braking signal, activating an electronic control deceleration function, and controlling a brake pipeline of the vehicle to actively boost through a preset brake execution mode so as to realize deceleration braking of the vehicle; the anti-lock braking system is used for controlling the rear wheels of the vehicle to perform anti-lock braking deceleration when the electronic control deceleration function is abnormal.
According to the vehicle deceleration braking method and the vehicle deceleration braking system, the electronic parking braking system sends the deceleration braking signal to the electronic brake booster, the electronic brake booster receives the deceleration braking signal and then controls and executes the electronic control deceleration function, and on a vehicle which is not provided with the ESC and is only provided with the ABS, the electronic control deceleration function can be realized only through the electronic parking braking system and the electronic brake booster, so that the aim of safely decelerating and stopping is fulfilled.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle deceleration braking method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a system for implementing a vehicle deceleration braking method according to an embodiment of the present invention.
Detailed Description
The foregoing and other features, aspects, and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments, which proceeds with reference to the accompanying drawings. While the invention may be susceptible to further details of technical means and effects for achieving the desired purpose, there is shown in the drawings a form a further part hereof, and in which is shown by way of illustration and not by way of limitation, certain well-known elements of the invention. Like elements are denoted by like reference numerals throughout the various figures. For clarity, the various features of the drawings are not drawn to scale.
Fig. 1 is a flowchart of a vehicle deceleration braking method according to an embodiment of the present invention. As shown in fig. 1, a vehicle deceleration braking method provided in an embodiment of the present invention is applied to a vehicle having an electronic parking brake system, an electronic brake booster, and an anti-lock brake system, and includes:
step S01: transmitting braking request information to an electronic parking braking system;
in one embodiment, the electronic parking brake system (EPB) includes an EPB brake switch and an EPB controller, and transmitting the brake request information to the electronic parking brake system includes: maintaining the EPB brake switch in a pulled-up state for a predetermined period of time to generate an electrical signal indicative of brake request information; an electrical signal representing the brake request information is sent to the EPB controller via a signal transfer circuit. In other embodiments, the duration of time that the EPB switch is pulled up, and the degree of opening of the pull-up, is also related to the set brake actuation mode, i.e., the corresponding brake actuation mode is set according to the difference in duration of time that the EPB switch is pulled up, and the difference in degree of opening of the pull-up, and the brake effect or the brake response sensitivity is different in the different brake actuation modes.
Step S02: transmitting a deceleration braking signal to the electric brake booster through the electric parking braking system in response to the received braking request information;
in one embodiment, after receiving the brake request information sent by the EPB brake switch, the EPB controller sends a deceleration brake signal to an electronic brake Booster (Booster) through a CAN bus.
Step S03: responding to the received deceleration braking signal, activating an electronic control deceleration function by using an electronic brake booster, and controlling a braking pipeline of the vehicle to actively boost by using the electronic brake booster through a preset braking execution mode so as to realize deceleration braking of the vehicle;
in one embodiment, after the electronic brake booster receives the deceleration braking signal through the CAN bus, before the electronic brake booster is used to activate the electronically controlled deceleration function, the electronic brake booster is used to determine whether the current state of the vehicle satisfies the condition of activating the electronically controlled deceleration function, and determine a brake execution mode corresponding to the electronically controlled deceleration function. Specifically, as shown in a schematic system structure diagram for implementing a vehicle deceleration braking method according to an embodiment of the present invention in fig. 2, the electronic brake booster may confirm whether a current state of the vehicle satisfies a condition for activating an electronically controlled deceleration function and a brake execution mode corresponding to executing the electronically controlled deceleration function according to a state signal sent by each module of the vehicle through a CAN bus and a level signal representing state information sent through a signal connection circuit (hard wire). By way of example, the engine speed signal and the engine torque signal may be obtained by an Engine Management System (EMS) of the vehicle, the transmission gear signal and the clutch engagement degree signal may be obtained from a Transmission Control Unit (TCU), the seat belt locking signal may be obtained from an airbag system (SRS), the corresponding status signals may be obtained from a body control system (BCM), a gateway system (GW), an electronic parking brake system (EPB), etc., by which it is determined whether each module is in a normal operation state without affecting the execution of the electronically controlled deceleration function, the electronic brake booster may further confirm whether the current operation state of the Wheel speed sensor is normal and acquire the current Wheel speed of the vehicle in real time by a Wheel speed pulse signal transmitted by the Wheel speed sensor (Wheel speed), and determine whether the power operation state of the engine is normal by an ignition switch signal transmitted by an ignition switch power supply system (IGN). The electric brake booster recognizes and judges the current state of the vehicle through various signals, and different brake execution modes are selected according to different current states of the vehicle.
In one embodiment, the brake execution mode includes a first brake mode including: when the current state of the vehicle satisfies the condition for activating the electronically controlled deceleration function, a brake drive signal is generated using the electronic brake booster, and a motor of the electronic brake booster is controlled to generate a desired pressure in a master cylinder of the vehicle by the brake drive signal. Specifically, the electric brake booster may include a brake control unit, a booster motor, a booster transmission mechanism, and a master cylinder push rod, and when the brake control unit of the electric brake booster detects that each module of the vehicle is operating normally and the current vehicle speed is above a preset deceleration threshold, the brake control unit of the electric brake booster will follow a preset parking brake force curve (e.g., the vehicle reaches 6m/s within 2s 2 The deceleration of the brake master cylinder) generates a brake driving signal, and the power-assisted motor outputs power under the control of the brake driving signal, so that the power-assisted transmission mechanism works to drive the push rod of the master cylinder to move, and further drive the piston of the brake master cylinder to move, and hydraulic braking force required by deceleration braking is generated in the brake master cylinder. It will be appreciated that the above description of the specific embodiment in which the brake actuation mode is performed by an electric brake booster is merely illustrative of the technology and not limiting of the technology.
In one embodiment, when the speed of the vehicle is reduced to a preset deceleration threshold value, the mechanical braking force of a mechanical caliper of the electronic parking brake system is increased by using the electronic brake booster control, and the hydraulic braking force is reduced by using a brake pipeline of the vehicle by using the electronic brake booster control, so that the speed of the vehicle is gradually reduced until the vehicle stops, and the stability of the deceleration of the vehicle is ensured.
In one embodiment, the execution of the electronically controlled deceleration function is interrupted when the accelerator pedal of the vehicle is depressed during the execution of the electronically controlled deceleration function.
In an embodiment, the brake execution mode further includes a second brake mode, the second brake mode including: when the state of a wheel speed sensor of the vehicle is abnormal but the vehicle satisfies the condition of activating the electronically controlled deceleration function, the vehicle is controlled to perform deceleration braking according to a preset minimum deceleration using an electronic brake booster. For example, when the electric brake booster judges that the wheel speed sensor is out of order or is working abnormally by the wheel speed pulse signal sent by the wheel speed sensor, the electric brake booster will follow the preset 2m/s 2 The deceleration of the vehicle is dynamically parked, and the running safety of the vehicle is further ensured.
In one embodiment, when the electronic control deceleration function is activated, the electronic brake booster detects that the electronic control deceleration function is abnormally executed, the execution process of the electronic control deceleration function is interrupted, and the rear wheels of the vehicle are controlled by the anti-lock brake system to perform anti-lock brake deceleration. Specifically, when the electronic parking brake system transmits a deceleration brake signal, and the electronic brake booster receives the deceleration brake signal and detects that the electronically controlled deceleration function cannot be achieved, or the electronically controlled deceleration function is performed without reaction, or the deceleration during the execution of the electronically controlled deceleration function cannot reach a preset minimum deceleration, for example, 2m/s 2 When the electronic brake booster interrupts the execution process of the electronic control deceleration function, the ABS starts RWU function, and the vehicle can realize safe braking even when the electronic control deceleration braking function is abnormal by realizing anti-lock braking deceleration on the rear wheels of the vehicle.
When the electronic brake booster executes the electronic control deceleration function, the control vehicle simultaneously sends out an indication signal for indicating the activation of the electronic control deceleration function. Illustratively, when the electronic brake booster performs an electronically controlled deceleration function, an electronically controlled deceleration function activation signal is simultaneously sent to the CAN bus, and after the electronically controlled deceleration function activation signal is received by a combination meter panel (IP) of the vehicle, an instrument lamp is turned on to prompt the driver that the vehicle is safely decelerating.
The invention also provides a vehicle deceleration braking system which comprises the electronic parking braking system, the electronic braking booster and the anti-lock braking system. In one embodiment, the electronic parking brake system includes an EPB brake switch for generating an electrical signal indicative of brake request information when a state in which the EPB brake switch is kept pulled up exceeds a predetermined period of time, and an EPB controller for transmitting the electrical signal indicative of brake request information to the EPB controller through a signal transmission circuit; the EPB controller is used for responding to the received braking request information and sending a deceleration braking signal to the electronic brake booster; the electronic brake booster comprises a brake control unit and a brake actuating mechanism, wherein the brake control unit is used for responding to the received deceleration braking signal, activating an electronic control deceleration function, and controlling a brake pipeline of the vehicle to actively boost according to a preset brake actuating mode so as to realize deceleration braking of the vehicle; the anti-lock braking system is used for controlling the rear wheels of the vehicle to perform anti-lock braking deceleration when the electronic control deceleration function is abnormal.
According to the vehicle deceleration braking method and the vehicle deceleration braking system, the electronic parking braking system sends the deceleration braking signal to the electronic brake booster, the electronic brake booster receives the deceleration braking signal and then controls and executes the electronic control deceleration function, the electronic parking braking system is only used as a sending module of the deceleration braking signal, and when the electronic control deceleration braking is carried out, the electronic brake booster is used as a controller of the electronic deceleration braking function and an actuator of the electronic deceleration braking function, and the electronic control deceleration function can be realized on a vehicle which is not provided with the ESC and is only provided with the ABS, so that the aim of safe deceleration and parking is fulfilled.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms described above will be understood to those of ordinary skill in the art in a specific context. The terms "first," "second," and the like, are merely used for distinguishing between similar elements and not necessarily for indicating or implying a relative importance or order. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements does not include only those elements but may include other elements not expressly listed.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.

Claims (10)

1. A vehicle deceleration braking method applied to a vehicle having an electronic parking brake system, an electronic brake booster, and an anti-lock brake system, the vehicle deceleration braking method comprising:
transmitting braking request information to the electronic parking braking system;
transmitting a deceleration braking signal to the electric brake booster through the electric parking brake system in response to the received braking request information;
and in response to the received deceleration braking signal, activating an electronic control deceleration function by using the electronic brake booster, and controlling a braking pipeline of the vehicle to actively boost by using the electronic brake booster through a preset braking execution mode so as to realize deceleration braking of the vehicle.
2. The vehicle deceleration braking method according to claim 1, wherein the sending braking request information to the electronic parking braking system includes:
maintaining a brake switch of the electronic parking brake system in a pulled-up state for a predetermined period of time to generate brake request information;
and transmitting the brake request information to the electronic parking brake system through a signal transmission circuit.
3. The vehicle deceleration braking method according to claim 1, characterized by further comprising the steps of: before the electronic brake booster is used for activating the electronic control deceleration function, the electronic brake booster is used for confirming whether the current state of the vehicle meets the condition of activating the electronic control deceleration function or not, and a brake execution mode corresponding to the electronic control deceleration function is determined.
4. A vehicle deceleration braking method according to claim 3, wherein the brake-actuation mode comprises a first braking mode comprising: when the current state of the vehicle satisfies the condition for activating the electronically controlled deceleration function, a brake driving signal is generated using the electronic brake booster, and a motor of the electronic brake booster is controlled to generate a required pressure in a master cylinder of the vehicle by the brake driving signal.
5. The vehicle deceleration braking method according to claim 4, characterized by further comprising: when the speed of the vehicle is reduced to a preset deceleration threshold value, the mechanical braking force of a mechanical caliper of the electronic parking brake system is increased by using the electronic brake booster control, and the hydraulic braking force is reduced by using a brake pipeline of the vehicle by using the electronic brake booster control, so that the speed of the vehicle is gradually reduced until the vehicle stops.
6. The vehicle deceleration braking method according to claim 5, characterized by further comprising: in the execution of the electronically controlled deceleration function, when an accelerator pedal of the vehicle is depressed, the execution of the electronically controlled deceleration function is interrupted.
7. The vehicle deceleration braking method according to claim 6, wherein the brake-implemented mode further includes a second braking mode including: when the state of the wheel speed sensor of the vehicle is abnormal but the vehicle meets the condition of activating the electronically controlled deceleration function, the electronic brake booster is used for controlling the vehicle to perform deceleration braking according to the preset minimum deceleration.
8. The vehicle deceleration braking method according to claim 7, characterized by further comprising: when the electronic control deceleration function is activated, the electronic brake booster detects that the electronic control deceleration function is abnormal in execution, the execution process of the electronic control deceleration function is interrupted, and the anti-lock brake system controls the rear wheels of the vehicle to perform anti-lock brake deceleration.
9. A vehicle deceleration braking method according to claim 3, characterized by further comprising: and when the electronic brake booster executes the electronic control deceleration function, simultaneously controlling the vehicle to send out an indication signal for indicating the activation of the electronic control deceleration function.
10. A vehicle deceleration braking system comprises an electronic parking braking system, an electronic brake booster and an anti-lock braking system;
the electronic parking brake system is used for responding to the received brake request information and sending a deceleration brake signal to the electronic brake booster;
the electronic brake booster is used for responding to the received deceleration braking signal, activating an electronic control deceleration function, and controlling a brake pipeline of the vehicle to actively boost through a preset brake execution mode so as to realize deceleration braking of the vehicle;
the anti-lock braking system is used for controlling the rear wheels of the vehicle to perform anti-lock braking deceleration when the electronic control deceleration function is abnormal.
CN202310532857.7A 2023-05-11 2023-05-11 Vehicle deceleration braking method and vehicle deceleration braking system Pending CN116394903A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310532857.7A CN116394903A (en) 2023-05-11 2023-05-11 Vehicle deceleration braking method and vehicle deceleration braking system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310532857.7A CN116394903A (en) 2023-05-11 2023-05-11 Vehicle deceleration braking method and vehicle deceleration braking system

Publications (1)

Publication Number Publication Date
CN116394903A true CN116394903A (en) 2023-07-07

Family

ID=87018114

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310532857.7A Pending CN116394903A (en) 2023-05-11 2023-05-11 Vehicle deceleration braking method and vehicle deceleration braking system

Country Status (1)

Country Link
CN (1) CN116394903A (en)

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