57results about How to "Guaranteed normal driving" patented technology

The invention belongs to the technical field of lunar exploration space, and particularly relates to a manned lunar rover driving operation platform. The platform comprises a central processing module, a main display screen, an operation panel, a foldable force feedback control module, an auxiliary control panel, a sensing module and a voice control module. A comfortable and intelligent driving operation space is created for a lunar rover driver, intelligent perception and panoramic display of the surrounding lunar surface environment are provided, the driving experience is optimized, and the reliability and safety of driving operation are guaranteed.

The invention relates to an intelligent crossing early warning protection system, which comprises a central monitoring system, a crossing control terminal, an area acquisition terminal and a vehicle-mounted terminal, and is characterized in that the crossing control terminal acquires crossing information and wirelessly transmits the crossing information to the vehicle-mounted terminal, and the vehicle-mounted terminal wirelessly transmits the information to the crossing control terminal and the central monitoring system; the central monitoring system is in wired transmission with the crossing control terminal, and the area acquisition terminal acquires field equipment information and transmits the field equipment information to the crossing control terminal; the vehicle-mounted terminal is arranged on a locomotive cab operation table, a virtual electronic fence is arranged, when a crossing alarm is given, if a vehicle or a pedestrian invades the electronic fence, automatic grabbing is carried out, an early warning prompt signal is sent out, and a locomotive driver monitors the crossing state in real time; according to the invention, the crossing equipment state and the crossing video information are mastered in real time, the safety early warning and protection of the unattended crossing are realized, and the traffic safety of the crossing is comprehensively ensured.

The utility model provides a lithium ion battery acupuncture detection device. The lithium ion battery acupuncture detection device comprises an acupuncture assembly, a fixing assembly and an elastic assembly, a fixing assembly is arranged on the needling assembly, an elastic assembly is arranged in the fixing assembly, a plurality of air plug telescopic rods are arranged on the fixing assembly, and the air plug telescopic rods can move under the action of external force and the elastic assembly. Through mutual cooperation of the needling assembly, the fixing assembly, the air plug telescopic rod and the elastic assembly, the air plug telescopic rod can move under the action of external force and the elastic assembly, and the lithium ion battery is limited, fixed and unfixed.

The invention discloses a vehicle storage battery charging method and device and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps of obtaining initial voltage of a storage battery of a vehicle; in response to the situation that the initial voltage is smaller than a first voltage threshold value, the temperature of the storage battery and the SOC of the power battery are obtained, and the SOC of the power battery is used for indicating the percentage of the remaining electric quantity of the power battery in the total electric quantity; heating the storage battery in response to the temperature of the storage battery being less than a first temperature threshold; when the temperature of the storage battery is larger than or equal to a first temperature threshold value and the SOC of the power battery is larger than a first percentage, the current voltage of the storage battery is obtained; and in response to the fact that the current voltage of the storage battery is smaller than a second voltage threshold, the power battery is controlled to charge the storage battery, and the first voltage threshold is larger than the second voltage threshold. Therefore, the intelligence of the charging operation of the storage battery is improved, the power shortage of the storage battery is avoided, the health of the storage battery is ensured, and the normal starting and driving of the vehicle are ensured.

The invention provides a gear shifting control method and system and a vehicle, the gear shifting control method is used for a vehicle driving system provided with a gear shifting actuator set to be a brushless direct current motor, and the gear shifting control method comprises the following steps that a current target gear is obtained according to gear shifting operation of a user, and a current shifting fork position is obtained; in response to the situation that it is judged that the position of the shifting fork is not changed after the preset gear shifting time, the gear shifting actuator is switched into a non-inductive control mode; whether a rotor of the gear shifting actuator can rotate normally or not is judged; and if not, it is judged that mechanical clamping stagnation happens to the driving system, and gear shifting is not conducted any more, and if yes, it is judged that electric control clamping stagnation happens to the driving system, and the driving system is switched to the target gear from the current actual gear through a gear shifting actuator in the non-inductive control mode.

The utility model discloses a battery pack and a vehicle with the battery pack, the battery pack comprises a battery box, a battery module, an electric control assembly and a cold plate, the battery box comprises a box body and a bottom protective plate, and the bottom protective plate is detachably connected with the box body; the battery module is mounted in the battery box; the electric control assembly is mounted in the battery box and is electrically connected with the battery module; the plate is fixed on the lower surface of the battery module, and the cold plate is provided with a maintenance window opposite to the electric control assembly. According to the battery pack provided by the embodiment of the utility model, the cold plate is arranged on the upper side of the detachable underground protective plate, the cold plate is fixedly connected with the battery module, and the cold plate is provided with the maintenance window opposite to the electric control assembly; compared with the prior art, the electric control assembly can be maintained on the premise that the battery module and the cold plate are not disassembled, safety risks occurring in the battery module disassembling and assembling process can be well prevented, operation is easy and convenient, and the labor cost can be well saved.

The present application provides a method, device, electronic device and computer-readable storage medium for processing a road electronic toll collection account of a vehicle; applied to the field of transportation, the method includes: displaying an electronic map based on a vehicle map system account login; in response to a navigation operation, displaying a navigation route from a set starting point to an end point in the electronic map; obtaining the account status of the road electronic toll collection system account of the vehicle, the account status representing the status of the road electronic toll collection system account when the vehicle travels according to the navigation route; and displaying the account status. The present application can prompt the account status of the road electronic toll collection account in a timely manner to ensure the normal driving of the vehicle.

This utility model relates to the technical field of mechanical parts processing equipment, and discloses a spraying structure for mechanical parts processing, including a transmission chamber. Several rotating shafts are rotatably connected to the transmission chamber. A hanger is fixedly mounted at the bottom end of each rotating shaft, and a gear is fixedly mounted at the top of each rotating shaft. The gear meshes with a rack. A guide assembly for guiding the rack is provided inside the transmission chamber. A bracket is fixedly mounted at the bottom end of the transmission chamber, and a cylinder for driving the rack is mounted on the top of the back of the bracket. By using a hanger at the bottom end of the rotating shaft, mechanical parts can be suspended. By connecting a spray pipe to a spraying pump, the surface of the mechanical parts can be sprayed. The rack is driven by the cylinder, and because the gear meshes with the rack, the rack can drive several rotating shafts to rotate synchronously. The rotating shafts can then drive the hanger to rotate, thereby adjusting the angle of the mechanical parts.

The utility model relates to the technical field of automobile safe driving auxiliary equipment, and provides an in-vehicle decibel alarm device which comprises a connecting bottom plate, magnetic attraction stones are fixedly connected to the two sides of the top of the connecting bottom plate, a connecting shell is fixedly connected to the top of the connecting bottom plate, a sound sensor is fixedly connected to one side of the top of the connecting shell, and the sound sensor is fixedly connected to the other side of the top of the connecting shell. An empty groove is formed in the connecting bottom plate, a signal processor is fixedly connected to the interior of the empty groove, the signal processor is electrically connected with the sound sensor, a sound alarm is fixedly connected to one side of the top of the connecting bottom plate, and a plurality of sound outlet grooves are formed in the sound alarm. The sound alarm is electrically connected with the signal processor, and the two sides of the interior of the empty groove are fixedly connected with a microprocessor and a storage correspondingly. By means of the technical scheme, the problem that in the prior art, it is not convenient for the device to carry out multi-decibel alarm reminding in a vehicle is solved, and the practicability of the device is guaranteed.

The present application discloses a method for ghost detection of point cloud maps, and belongs to the field of electronic information technology. The method includes: dividing the point cloud map to be detected into multiple grids; determining the query key frame from the local point cloud trajectory included in the target grid; determining at least one matching frame of the query key frame in the multi-frame point cloud trajectory; determining the registration results of the query key frame and each matching frame of the query key frame; in response to the existence of a registration result that meets the requirements, determining the target grid as a grid with ghosts. In the present application, by dividing the point cloud map into grids for detection, full coverage of ghost detection in the point cloud map is achieved, and the detection granularity is finer. The query key frame and the matching frame are selected for registration to improve the accuracy of detection, so that an accurate high-precision map can be constructed based on the point cloud map after ghost detection, and then the normal driving of the autonomous driving vehicle is guaranteed based on the accurate high-precision map. Since there is no need to extract specific elements, the restrictions of the scene on ghost detection are reduced.

The invention belongs to the technical field of ships, and particularly relates to a rudder angle indicating tool. The rudder angle indicating tool comprises a dial plate which is fixed on a ship body and is provided with angle scales; the indicating structure comprises a connecting assembly and a pointer, the connecting assembly is detachably connected with the rudder shaft, and the pointer is connected with the connecting assembly; wherein in the axial direction of the rudder shaft, at least part of the projection of the pointer falls on the dial plate and is used for indicating angle scales. The rudder angle indicating tool can guarantee the indicating precision.

The utility model provides a Mars robot for demonstration, which belongs to the field of teaching aid demonstration articles and comprises a frame, a driving component, a solar panel and an obstacle avoidance component. According to the mars probe vehicle, the walking wheels are installed on the two sides of the vehicle frame, the walking wheels are driven by the direct-current motor installed in the vehicle frame, the walking wheels rotate to enable the whole vehicle frame to move, the mars probe vehicle is driven to walk under the cooperation of the auxiliary wheels, and the solar panel is installed on the back of the installation plate on the top of the vehicle frame. The solar panel receives sun irradiation and converts the sun irradiation into electric energy, the electric energy is provided for operation of the Mars probe vehicle, the ultrasonic sensor is installed at the top of the installation plate and used for detecting whether obstacles exist in the advancing process of the Mars probe vehicle, normal running of the Mars probe vehicle is guaranteed, and the Mars probe vehicle can be visually watched conveniently in a movable display mode. The learning interest is improved.

The present application provides a method, device, vehicle and storage medium for controlling mode switching, the method comprising: in the process of switching the vehicle from the series mode to the direct drive mode, when it is determined that the second clutch is open, controlling the second input shaft to be engaged in an even gear; if it is detected that the gear position of the second input shaft is neutral, determining that the even gear on the second input shaft is unavailable; when it is determined that the even gear on the second input shaft is unavailable, if it is monitored that the vehicle meets the preset conditions for switching to the series mode, controlling the second clutch to close; when the second clutch is in a closed state, controlling the first clutch to open, so that the vehicle switches back from the direct drive mode to the series mode. The method can automatically switch back to the series mode when the vehicle is stuck during the mode change process, ensuring the normal power output of the vehicle.

The present invention relates to a steering system control strategy, which is used to solve the problem of stability and safety of the steering system. Specifically, during the system adjustment process, the vehicle driving speed signal, steering wheel angle signal, wheel angle signal, pressure signals of various parts of the system, etc. are first monitored to determine whether the system is working normally. If normal, check whether the speed of the motor or engine power take-off port has reached the use requirements. If it has reached the standard, the control valve group will charge and discharge the steering cylinder, and collect the wheel angle signal and the working pressure signal of each position in real time; if the speed of the motor or engine power take-off port does not meet the use requirements, the emergency steering system will be started, and the accumulator will be used to provide compensation pressure to the system to ensure normal operation, and further determine whether the working pressure and wheel angle meet the use requirements. If the target position is reached, the automatic centering function is executed and the steering is completed. If the target position is not reached, the steering cylinder is continuously adjusted by charging and discharging oil until the requirements are met.

The present disclosure relates to a head-up display sunshade and a car, and belongs to the field of automobiles. The head-up display sunshade includes a cover body, a reel, a sunshade, two cables, a motor, a temperature sensor and a controller. The cover body has a bottom plate and a side wall surrounding the bottom plate, and the bottom plate has a rectangular opening. Both ends of the reel are mounted on the bottom plate. One side of the sunshade is fixed to the side wall of the reel. One end of one of the two cables is connected to one end of the other side of the sunshade, and one end of the other cable of the two cables is connected to the other end of the other side of the sunshade. The motor has an output shaft, and the output shaft is mounted on the bottom plate. The other end of each cable of the two cables is connected to the side wall of the output shaft. The temperature sensor is located in the head-up display inside the head-up display sunshade, and the temperature sensor is used to measure the temperature of the head-up display, convert the temperature into an electrical signal, and transmit it to the controller.

According to the technical scheme, the safety pull rod of the manual curtain is characterized by comprising a pull rod body, a pull bead groove A and a pull bead groove B which are used for containing curtain pull bead ropes are formed in the pull rod body, a pull bead steering piece and a pull bead guiding piece are arranged at the two ends of the pull rod body, and a steering channel is formed in the pull bead steering piece; the steering channel is communicated with the bead pulling groove A and the bead pulling groove B. The bead pulling guiding piece is provided with a guiding hole for a bead pulling rope to penetrate through. A slidable pull rod sleeve is arranged on the pull rod body, a button A and a button B corresponding to the pull bead groove A and the pull bead groove B are arranged on the pull rod sleeve, clamping jaws are arranged in the button A and the button B, and the clamping jaws are matched with pull beads on the pull bead rope. The position of the bead pulling rope can be limited, safety is improved, and meanwhile smooth sliding of the bead pulling rope can be guaranteed.

The utility model relates to a front overhang supporting tool which comprises a supporting piece with the vertical length adjustable, a transverse arm with the root connected with the supporting piece and a clamping piece connected to the transverse arm, the lower end of the supporting piece is used for being supported on a front overhang upper control arm, and the upper end of the supporting piece is used for supporting a vehicle body. The clamping piece is used for being clamped on a front overhang upper control arm. The front overhang supporting tool can support a vehicle body when a front overhang air spring fails, so that the height of the front portion of the vehicle body is guaranteed, normal running and running of the vehicle are guaranteed, and the front overhang supporting tool has the advantages of being simple in structure and easy to use.

The invention discloses an automatic navigation control system and method of a hydraulic drive crawler, and relates to the technical field of engineering vehicle control, the system comprises a navigation control subsystem used for confirming a starting point and an ending point to confirm a driving path; the man-machine interface logic control subsystem is used for receiving the driving path and setting initial information of the crawler according to the driving path; the crawler driving control subsystem is used for controlling the crawler to run along the running path according to the initial information; the controller is also used for acquiring real-time data and yaw information of the crawler, calculating a yaw distance, comparing the yaw distance with a yaw threshold value to obtain a comparison result, and generating a correction instruction according to the comparison result; and the tracked vehicle driving control subsystem corrects the yawing tracked vehicle based on the correction instruction, so that the tracked vehicle recovers to go straight. According to the method and the device, the crawler running in the preset path can be timely, accurately and automatically corrected.

The utility model discloses a high-precision operating room nursing needle searching device which comprises a shell, a driving supporting mechanism and a collecting and cleaning mechanism, the shell is provided with a push rod in a hinged mode, and the driving supporting mechanism and the collecting and cleaning mechanism are arranged on the shell. The driving and supporting mechanism comprises rolling shafts, guide grooves and air cylinders, the rolling shafts are rotationally arranged on the shell, the two sets of rolling shafts are arranged in parallel, rolling wheels are arranged on the rolling shafts, the guide grooves are formed in the side walls of the shell in a penetrating mode, the air cylinders are arranged on the side walls of the two sides of the shell, the number of the air cylinders is multiple, and the air cylinders are arranged on the side walls of the two sides of the shell. The output ends of the multiple sets of air cylinders on the same side are jointly provided with a push plate, sliding blocks are arranged on the push plate in a sliding mode, a connecting shaft is rotationally arranged between the two sets of sliding blocks, a magnetic roller is arranged on the connecting shaft, and a transmission assembly is further arranged on the connecting shaft. The utility model belongs to the technical field of needle searching devices, and particularly relates to a high-precision operating room nursing needle searching device.

The invention provides a tail gas heating method of a fuel cell vehicle and a tail exhaust system. The tail gas heating method of the fuel cell vehicle comprises the steps that the theoretical exhaust temperature is determined based on the current actual operation parameters of an air system; the current actual exhaust temperature of the air system is obtained; and the tail gas heating temperature is controlled based on the theoretical exhaust temperature and the actual exhaust temperature. According to the tail gas heating method of the fuel cell vehicle, the theoretical exhaust temperature is determined through the current actual operation parameters of the air system, and the theoretical exhaust temperature is more accurate and reliable; the tail gas heating temperature is controlled according to the theoretical exhaust temperature and the actual exhaust temperature, the situation that water vapor is condensed into mist in the tail gas emission process is effectively reduced, and driving safety of a rear vehicle is guaranteed. And moreover, tail gas heating control is carried out based on the theoretical exhaust temperature and the actual exhaust temperature, the heating temperature of the tail gas can be controlled within a reasonable range, the requirement for preventing water vapor condensation is met, heating energy consumption can be reduced, and the running cost of the vehicle can be reduced.

The utility model relates to the technical field of railway transportation equipment and safety, and particularly discloses an external brake device of a track inspection tester, which comprises a supporting mechanism, the supporting mechanism comprises a supporting assembly, and a clamping assembly, a braking assembly and a driving assembly are installed on the supporting assembly. The supporting assembly and the clamping assembly are combined and fixed to a train track inspection vehicle, and the driving assembly is rotationally clamped and embedded in the supporting assembly and drives the brake assembly to abut against a train track. The torsion spring drives the connecting shaft rod to rotate, so that the brake pad is far away from a train track, and normal running of a train is guaranteed; when braking is needed, an operator only needs to rotate the handle, the first push block can be pushed to move through the second push block, then the brake pad abuts against a train track, and rapid and effective braking is achieved. In addition, a first spring in the brake assembly can drive a first push block to be away from a second fixing plate after braking, so that a brake pad leaves a rail in time, and excessive abrasion is avoided.

The present application relates to a fuel cell system comprising: a stack having an anode and a cathode, the cathode having a cathode gas inlet and a cathode gas outlet; a cathode gas supply line that supplies a cathode gas to the cathode gas inlet and a cathode exhaust line that discharges a cathode exhaust gas from the cathode gas outlet; the turbocharger is arranged between the cathode air supply pipeline and the cathode exhaust pipeline and comprises a turbine connected with the cathode exhaust pipeline and an air compressor connected with the cathode air supply pipeline; the water separator is located between the turbine and the cathode gas outlet on the cathode exhaust pipeline, the fuel cell system further comprises a bypass pipeline connected between the upstream of the water separator and the downstream of the turbine, and a pressure adjusting device used for controlling connection and disconnection of the bypass pipeline and adjusting fluid flow and pressure in the bypass pipeline. And by arranging the bypass pipeline and the pressure adjusting device, the exhaust pressure of the vehicle can be adjusted according to the special driving environment.

The invention relates to the technical field of chemical containers, in particular to a petrochemical horizontal pressure container which comprises a base support and a storage mechanism fixed to the base support, the storage mechanism comprises a sealing tank fixed to the base support, and a separation plate is fixed in the sealing tank. One side of the separation plate is provided with a movable plate which is connected into the sealed tank body in a sliding mode, a first telescopic rod is fixed between the separation plate and the movable plate, and the sealed tank body is divided into a liquid storage cavity and a solid-gas storage cavity through the separation plate. The storage mechanism and the balance mechanism are used in cooperation, a cavity for storing materials can keep overall balance, the situation that the materials are top-heavy is avoided, normal running of a transport vehicle is ensured, the accident rate during transport is reduced, the liquid can be kept in a sealed and full state in the liquid storage cavity, and the service life of the liquid storage cavity is prolonged. And the condition of shaking cannot occur in the transportation process, and the stability of materials in the container during transportation is improved.

The invention discloses a vehicle out-of-gear prevention control method and device and a medium. The method comprises the steps that a position signal of a transmission part of a gear shifting mechanism is obtained; under the condition that it is determined that the vehicle is in the out-of-gear state according to the position signal, the complementary gear engaging influence factors of the vehicle are determined; wherein the complementary gear engaging influence factors comprise an out-of-gear stage used for representing the current out-of-gear degree of the vehicle and dynamics control parameters of the vehicle; and when it is determined that the vehicle meets the supplementary gear engaging condition according to the supplementary gear engaging influence factors, the vehicle is controlled to carry out supplementary gear engaging. Therefore, the vehicle out-of-gear is divided into different out-of-gear stages according to the out-of-gear degree, and when it is determined that the vehicle meets the supplementary gear engaging condition according to the dynamic control parameters of the vehicle in the different out-of-gear stages, supplementary gear engaging is conducted on the vehicle, so that the situation that the vehicle is suddenly and completely out-of-gear, and consequently a motor overspeed fault is caused is avoided, and normal running of the vehicle is guaranteed; and the vehicle driving safety is improved.

The application provides a driving device and a vehicle, and relates to the technical field of vehicle driving devices. The driving device comprises an input shaft, a first clutch, a second clutch, a separator, a first half shaft, a second half shaft, a housing, a first planetary gear set and a second planetary gear set. The first half shaft and the second half shaft are connected with left and right wheels respectively. When the vehicle turns left at medium-high speed, the first clutch can be switched to a sliding friction state, the left wheel is decelerated, the driving torque output to the left wheel is reduced, and the left wheel can be prevented from slipping. When the vehicle turns right at medium-high speed, the second clutch can be switched to a sliding friction state, the right wheel is decelerated, the driving torque output to the right wheel is reduced, and the right wheel can be prevented from slipping. Therefore, the driving device in the embodiment of the application can reasonably distribute the driving torque output to the first half shaft and the second half shaft, the wheel can be prevented from slipping when the vehicle turns at medium-high speed, and the vehicle body can be prevented from losing stability.

The invention relates to the technical field of agricultural machinery gearboxes, in particular to an agricultural machinery gearbox with a differential lock function and a method. The invention discloses an agricultural machinery gearbox with a differential lock function. A differential lock locking mechanism and a hand brake braking mechanism are arranged in a main body; the differential lock locking mechanism comprises a differential lock switch, an oil cylinder, a clutch claw and a return spring; the hand brake braking mechanism comprises a pull rod, a pressure plate and a driven plate; the invention further provides an agricultural machine speed change method with the differential lock function. The differential lock locking mechanism can lock the differential mechanism to enable tires on two sides to be rigidly connected and synchronously obtain power when tires on one side of an agricultural machine slip, so that a vehicle is prevented from slipping under bad road conditions such as muddy and snowfield, and stable running is guaranteed; the hand brake braking mechanism drives the pressure plate by operating the pull rod to control the contact or separation of the driven plate and the three shafts of the transmission mechanism, so that the power transmission is cut off or recovered, the vehicle is reliably parked, and the vehicle sliding is prevented.

The utility model provides an auxiliary device of an overwater electric double-spray-pump system of an all-terrain vehicle, a mounting bracket comprises a fixing frame, a mounting frame and a linkage rod group, the fixing frame is arranged at the tail part of the all-terrain vehicle, the lower end of the fixing frame is hinged with the lower end of the mounting frame, spray pumps are mounted on two sides of the mounting frame, and positioning plates are arranged on two sides of the fixing frame; the positioning plate is attached to the mounting frame and is fixed through a fastener; the linkage rod group comprises an upper pull rod, a connecting rod and a lower pull rod, one end of the upper pull rod is hinged to one end of the lower pull rod through the connecting rod, the other end of the lower pull rod is hinged to the top end of the mounting frame, the other end of the upper pull rod is hinged to the top end of the fixing frame, and the upper end of the upper pull rod is connected with a pressing rod; a handle part is arranged at one end of the pressing rod. The installation support is compact in overall structure, the installation support can be unfolded and folded by pulling the handle part of the pressing rod on the vehicle, operation is easy and convenient, parking operation is not needed, and the moving efficiency of the all-terrain vehicle is guaranteed.

The invention discloses a method for building piers in a middle isolation belt of existing lines of a busy expressway, and relates to a pier manufacturing process. Comprising the following steps: measuring the floor contour of piers; building a fence outside the floor contour; excavating an inclined pit outside an expressway; excavating a tunnel from the bottom of the inclined pit to the center position of the fence, upwards excavating a foundation pit in the tunnel located below the fence, excavating pile pits in the positions of the floor contours of the two piers at the bottom of the foundation pit, and erecting template brackets at the pile pits. Pouring the reinforcement cage outside the expressway by using a concrete pump truck, forming a concrete pile after the reinforcement cage is poured, maintaining, removing the mold, backfilling the foundation pit, backfilling the tunnel, and backfilling the tunnel. The tunnel capable of penetrating through the isolation belt needing to build the bridge pier is excavated outside the lane of the expressway, materials needing to build the bridge pier are transported along the tunnel, and the defects that when the bridge pier is built on the isolation belt, the normal driving lane of the expressway is blocked, and driving safety is endangered are overcome.

The embodiments of the present application provide an electronic mechanical braking device and a vehicle. The electronic mechanical braking device includes a balancing device and two brakes, the two brakes are respectively used to brake the two wheels of the vehicle, and the operation modes of the electronic mechanical braking device include a main braking mode and a secondary braking mode. When the electronic mechanical braking device operates in the main braking mode, the two brakes are respectively used to receive the motor braking force output by the brake motor. When the electronic mechanical braking device operates in the secondary braking mode, the balancing device is used to receive the pedal braking force output by the pedal mechanism of the vehicle and transmit the same braking force to the two brakes respectively. The same braking force can be used to brake the two wheels of the vehicle, thereby preventing the vehicle from drifting, skidding and other out-of-control behaviors, and further improving the reliability of the electronic mechanical braking device.