787 results about "Brake pressure" patented technology

According to the new energy automobile brake pressure control method based on dynamic environment perception, a multi-window environment perception dynamic time warping algorithm is constructed, so that the similarity of different driver brake sequences is analyzed more meticulously; according to the method, a pavement adhesion coefficient observer for optimizing variable structure Kalman filtering based on a deep reinforcement learning algorithm is provided to calculate a pavement adhesion coefficient; secondly, a slip rate dynamic adjustment factor is obtained through calculation based on a wheel dynamics model, a vehicle density correction coefficient is obtained through calculation based on vehicle density, a road adhesion correction coefficient is obtained based on a road adhesion correction parameter constraint expression, and influences of different external environments on the road adhesion coefficient can be fully considered; the brake pressure calculation is more reasonable, and the driving safety is improved. According to the method, classification results of different drivers are combined, a comprehensive self-adaptive brake pressure calculation model is constructed to cope with different types of drivers, and corresponding final brake pressure is obtained.

The invention relates to the technical field of automobile active safety, in particular to an intelligent brake pad abrasion measuring method and system based on multi-sensor fusion, and the method comprises the steps that S1, multi-source sensing signals are synchronously collected, and wheel speed pulse signals and brake pressure signals from a vehicle CAN bus are received; s2, multi-modal signal feature extraction: carrying out time domain filtering processing on the original thickness signal to form a thickness change feature vector, carrying out space partition calculation on the temperature distribution signal to form a temperature gradient feature matrix, and carrying out wavelet packet decomposition on the braking vibration signal to form a frequency domain energy feature set; s3, dynamically fusing decisions, outputting a joint feature vector, and generating a wear loss estimated value and a confidence index; and S4, performing Kalman filtering correction on the wear loss estimated value according to the confidence index to form final wear thickness data. According to the brake pad wear intelligent measurement method and system based on multi-sensor fusion, the problem that brake pad wear cannot be accurately monitored and intelligently diagnosed online in real time can be solved.

The invention relates to the technical field of aircraft brake, in particular to an aircraft brake servo valve performance monitoring and health management method, which comprises the following steps of: acquiring a servo valve theoretical output current and a servo valve recovery current; according to the theoretical output current of each channel of the servo valve and the recovery current of the servo valve, whether brake current output loops of the two channels are abnormal or not is judged; when one channel of brake current output loop is abnormal, whether the other channel of brake current output loop is abnormal or not is judged according to the actual brake pressure and the theoretical pressure; and when the brake pressure output loop of the other channel is normal, brake control is carried out on the servo valve through the channel. By monitoring the performance of the servo valve in real time, it is guaranteed that dynamic switching can be achieved when the performance of the servo valve drifts in the airplane braking process, the influence of the performance drifting of the servo valve on the airplane braking effect is avoided, and the safety of a braking system is improved.

The invention is suitable for the technical field of intelligent driving, and provides a method and device for controlling driving equipment, the driving equipment and a computer program product.The method comprises the steps that under the condition that an auxiliary steering function of the driving equipment is activated, the current driving torque, the current braking pressure, the compensation driving torque and the compensation braking pressure of the driving equipment are obtained; according to the current driving torque and the compensation driving torque, a driving torque is redistributed to a driving motor of the driving equipment; and according to the current brake pressure and the compensation brake pressure, the brake pressure of the driving equipment is adjusted, the control accuracy during vehicle steering is improved, the adaptability of the driving equipment to different working conditions is improved, the driving experience of a user is improved, and the comfort and safety of the vehicle are enhanced.

The invention relates to the technical field of vehicle safety, in particular to a vehicle autonomous emergency braking-oriented road surface attachment sensing method, which comprises the following steps of: acquiring all initial point cloud data in a preset sensing area in front of a vehicle by using a laser radar at the top of the vehicle, and segmenting the initial point cloud data to obtain a road surface point cloud data set in the preset sensing area; acquiring a reflected light intensity value of each piece of road surface point cloud data in a preset sensing area, and taking the road surface point cloud data of which the reflection intensity value is not in a high reflection intensity threshold range but is in a road surface reflection intensity threshold range as target point cloud data; based on the reflection intensity values of all the target point cloud data, generating a grayscale image, inputting the grayscale image into a classification model, outputting a pavement type prediction result, determining a pavement adhesion coefficient, and calculating brake pressure; and if the distance between the current vehicle and the front vehicle is smaller than the safe distance, the vehicle performs autonomous emergency braking based on the braking pressure. The safety and comfort of emergency braking are improved.

The utility model discloses a brake pump used on a mobile mechanical brake system, belongs to the technical field of mobile machinery, and solves the problems that an existing brake pump is strenuous in brake operation and poor in brake effect. The brake pump comprises a pump body, a boosting assembly, a connecting assembly, a brake assembly and a booster cylinder body, and is characterized in that the boosting assembly used for boosting and pushing the brake assembly is arranged at the front end of the pump body, one end of the boosting assembly is connected with a pedal, a boosting cavity is formed between the boosting assembly and the pump body, the connecting assembly is arranged in the pump body, and the booster cylinder body is arranged in the boosting cavity. The pressurizing cylinder body is arranged at the rear end of the pump body, the braking assembly is arranged between the pump body and the pressurizing cylinder body, and the left end and the right end of the connecting assembly are connected with the boosting assembly and the braking assembly respectively. According to the brake pump used on the mobile mechanical brake system, a pressurization mode is adopted, so that the brake pump has the advantages that the brake pedal is labor-saving to operate, the brake displacement is large, and the brake pressure is high.

The invention relates to a random stability control method and system of an electronic mechanical braking system and an automobile in the technical field of automobile braking. The control method comprises the steps that under the calibrated brake working condition, brake pressure control is conducted on a brake motor, specifically, the target brake pressure # imgabs0 # output by the brake motor is calculated according to the wheel angular velocity omega at the initial moment of automobile brake and the brake pressure FN on a brake block, and the brake pressure output to the brake block by the brake motor is adjusted to # imgabs1 #. The method is used for conducting brake pressure control on the brake motor according to omega and FN under the calibrated brake working condition, automobile brake safety is guaranteed, meanwhile, automobile brake chatter is effectively restrained, the automobile brake performance is improved, and therefore the problem that in the prior art, while automobile brake safety is guaranteed, the automobile brake chatter is effectively restrained is solved. And the technical problem of automobile braking chatter suppression is effectively solved.

The invention belongs to the technical field of vehicle braking control, and provides a vehicle braking system failure auxiliary processing method, system and device and a medium. When the state is a non-failure state, executing a pressure building braking strategy; when the vehicle is in the failure state, an auxiliary processing strategy is executed, and the auxiliary processing strategy comprises the steps that the braking intention is judged based on vehicle braking feedback, and vehicle stability control threshold setting, deceleration distribution of electric braking and hydraulic braking, active adjustment of the braking pressure and active adjustment of the motor torque are sequentially completed based on the judgment result; and the wheel slip rate of the vehicle is monitored in real time, and the steering force of the vehicle is corrected in combination with vehicle braking feedback. While the deceleration of the vehicle meets the requirement of a driver, drifting or rollover of the vehicle due to the fact that the driver suddenly turns the steering wheel can be avoided, so that the stability of the vehicle is ensured.

The embodiment of the invention provides a zero point learning method and device for a braking system, and relates to the technical field of motor control, and the method comprises the steps: obtaining a starting signal of braking voltage buildup zero point learning, the starting signal of braking voltage buildup zero point learning being generated based on vehicle power-on or vehicle power-off; the motor controls the piston to move forward from a target position by adopting a set moving method, the forward direction is the direction of the brake disc relative to the piston, and the set moving method is used for controlling the speed change of the piston; in the moving process, motor movement data of the motor are collected, real-time change data of the motor movement data are analyzed, if the real-time change data meet the set movement condition, the current position data, corresponding to the real-time change data, of the piston serves as the braking zero point, and the set movement condition is that when the motor passes through the braking zero point in the movement process, the current position data of the piston is changed into the braking zero point. The generated empirical data is obtained. According to the method, zero point learning and correction can be flexibly and conveniently carried out, and the driving safety is improved.

The invention discloses a driving and braking suspension cooperative control method, device and equipment, a medium and a product, and relates to the field of vehicle active safety control. The method comprises the steps that a driving demand analysis and decision module determines driver demand torque, a control mode and a neutral steering target according to the vehicle state, the steering angle of a steering wheel of a driver and input information of a driving / braking pedal; the hybrid coordination control module determines front and rear motor torques according to the torque required by a driver and the vehicle state under the conventional working condition, and determines four-wheel cylinder brake pressure by using sliding mode control according to the vehicle state; the torque vector optimization distribution control and Smith predictor control method is adopted to determine the torque of a front motor, the torque of a rear motor and the brake pressure of a four-wheel cylinder according to the torque required by a driver, the vehicle state and a neutral steering target under the limiting working condition, and the weighted pseudo-inverse distribution vehicle body posture coordination control is adopted to determine the damping force of the semi-active suspension. The method can achieve the precise tracking of the expected neutral steering target, and gives full play to the lateral movement limit of the vehicle.

The present invention relates to the technical field of wheel braking system control, and specifically relates to an automatic parking control method, and an electronic device and a vehicle. The automatic parking control method provided in the present invention comprises: under flat-road conditions, on the basis of the braking style of a driver, automatically adjusting a braking pressure baseline threshold; and under slope conditions, modifying the braking pressure baseline threshold. In the present invention, a congestion level recognition module is designed, and during creeping and tailgating under congestion conditions, an AVH trigger policy is automatically adjusted on the basis of real-time congestion situations, thereby further reducing the frequency of false triggers of AVH. In the present invention, the frequency of consecutive triggers and the trigger duration of AVH are monitored in combination with a designed thermal protection policy, thereby achieving failover to EPB parking.

The invention relates to a shared bicycle brake pad abrasion monitoring system and a monitoring method thereof, and aims to solve the problems that in the prior art, shared bicycle brake pad abrasion monitoring is high in cost and low in precision, and abnormal abrasion cannot be detected, and accurate monitoring is achieved through a multi-parameter correction model of brake frequency statistics and pressure distribution perception. A microswitch is arranged on a brake pedal, three film pressure sensors are arranged on a brake pad steel backing, a brake pressure value, an average effective pressure Pavg and a pressure distribution difference delta P are synchronously collected, a wear estimation model is built by combining working condition data such as temperature and vehicle speed, and a material coefficient k, a vehicle speed correction coefficient f (v) and a temperature correction coefficient g (T) are adopted for multi-dimensional correction, so that the wear estimation precision is improved. And calculating the accumulated abrasion loss and predicting the residual thickness. Accurate recognition of abnormal wear such as eccentric wear and block falling is achieved by analyzing a delta P threshold value and Pavg mutation characteristics, parameter customization of brake pads made of different materials is supported, and a graded early warning function is achieved.

A brake system for a vehicle may include at least two hydraulic brake circuits, each having at least one hydraulically acting wheel brake, at least two pressure supply devices, each of which is driven by an electromotive drive, at least one valve assembly having valves for the wheel-individual adjustment of brake pressures and / or for separating the wheel brakes from, or connecting same to, a pressure supply device, at least one electronic control and regulating unit, one of which is a superordinate central control unit that controls individual control and regulating units of the components of the brake system, as well as at least one additional electric drive motor for at least one axle or wheel of the vehicle. The brake system may use the at least one pressure supply device and / or the at least one electric drive motor for controlling pressure in at least one wheel brake for steering interventions.

The invention discloses a coal mine underground unmanned vehicle trajectory tracking method and system. The method comprises the steps that S1, a trajectory prediction module of an unmanned vehicle and a vehicle transverse dynamics tracking error model are established; s2, designing a transverse controller based on the vehicle transverse dynamics tracking error model, and obtaining a front wheel steering angle control instruction of the unmanned vehicle; s3, designing a longitudinal controller to obtain the expected acceleration of the unmanned vehicle; s4, establishing a longitudinal inverse dynamic model of the unmanned vehicle, inputting the expected acceleration of the unmanned vehicle, and calculating to obtain the opening degree of an accelerator or the braking pressure; and S5, the speed of the unmanned vehicle is obtained based on the accelerator opening degree or the brake pressure, the front wheel rotation angle of the unmanned vehicle is obtained based on the front wheel rotation angle control instruction of the unmanned vehicle, and unmanned vehicle trajectory tracking is completed through transverse and longitudinal combined control. According to the method, a transverse and longitudinal cooperative control strategy is provided for the real-time performance and robustness requirements of the coal mine underground complex environment for trajectory tracking control, and the accurate tracking and anti-interference capability of the vehicle speed are achieved.

The invention provides a modular multi-shaft redundant braking system and a braking pressure distributed calculation and distribution method thereof. The system comprises an air storage tank, a battery and a plurality of redundant brake units arranged on all axles of the multi-axle vehicle respectively, and each axle of the multi-axle vehicle is independently provided with one redundant brake unit. The shaft redundant brake unit comprises a redundant brake module, and a shaft left wheel brake cylinder, a shaft right wheel brake cylinder, a shaft left wheel speed sensor and a shaft right wheel speed sensor which are respectively connected with the redundant brake module; the redundant braking module is connected with the air storage tank and the battery so as to obtain a braking air source and a working power source. The communication networks of all the redundant brake modules are mutually connected and are connected with a whole vehicle network; the problems that an existing redundant braking system is high in cost and low in redundancy are solved.

A vehicle control method, apparatus and device, a storage medium, and a product. The vehicle control method comprises: acquiring a first traveling state and a first control parameter of a vehicle device; when the first traveling state and the first control parameter satisfy preset activation conditions of an abrupt slope slow descent function, determining a first target vehicle speed, a first target braking pressure, and a first target driving torque on the basis of the first traveling state and the first control parameter; and performing vehicle control on the basis of the first target braking pressure and the first target driving torque, such that the vehicle device travels on the basis of the first target vehicle speed.

The invention provides an aircraft ground steering system and an aircraft ground steering control method, which can realize steering and runway separation of an aircraft under a low-speed condition even if a front wheel turning system cannot work normally, and can inhibit or avoid additional weight increase. The aircraft ground steering system comprises a turning hand wheel assembly used for controlling a front wheel turning system to achieve steering of an aircraft when the aircraft slides on the ground at a low speed; the brake system comprises a brake control part, and the brake control part is used for controlling the brake pressure of the left main undercarriage wheel and the brake pressure of the right main undercarriage wheel; and a standby turning control unit capable of switching to a standby mode in which the brake pressure of the left main landing gear wheel and the brake pressure of the right main landing gear wheel are controlled via a brake control unit according to the angle of the hand wheel of the turning hand wheel assembly operated by a pilot.

The invention relates to the field of vehicle control, in particular to a vehicle downhill constant-speed control method and system based on a hydraulic retarder and a storage medium. According to the ramp information and the state information of the vehicle, fitting wind resistance and road resistance coefficients of the vehicle based on a least square method; according to the wind resistance and road resistance coefficient and ramp information of the vehicle, first target brake pressure of a hydraulic retarder controller and second target brake pressure of a hydraulic retarder are calculated; calculating a proportional valve control input value, wherein the hydraulic retarder controls the vehicle speed based on the proportional valve control input value; the first target brake pressure and the second target brake pressure of the hydrodynamic retarder are calculated by fitting the wind resistance coefficient of the vehicle and the road resistance coefficient, the pressure of the working cavity is adjusted through the input value of the pressure closed-loop control proportional valve, and the precision and stability of vehicle downhill constant-speed control are remarkably improved; and it is ensured that the vehicle can still rapidly and stably maintain the target vehicle speed when the gradient changes, and the driving safety and comfort are greatly optimized.

An automatic brake control system of a passive electric control brake valve comprises an upper computer, a power distribution power device, the passive electric control brake valve, a speed sensor and a main machine wheel, the power distribution power device is connected with the upper computer, the power distribution power device receives a power-on instruction of the upper computer and then powers on the control system, the passive electric control brake valve is connected with the upper computer, and the speed sensor is connected with the main machine wheel. The upper computer collects the brake pressure of the passive electric control brake valve, controls the passive electric control brake valve to brake and conducts closed-loop control over the brake pressure, and the passive electric control brake valve is connected with a brake device of the main engine wheel through a hydraulic pipeline. The passive electric control brake valve outputs hydraulic pressure to the main engine wheel to provide brake pressure for braking and feed back the brake pressure to the upper computer, a speed sensor is arranged at the main engine wheel to detect the rotating speed of the main engine wheel, and the speed sensor is connected with the upper computer and transmits the rotating speed of the main engine wheel to the upper computer. Automatic braking and deviation rectifying braking functions of the unmanned aerial vehicle can be achieved, and the landing braking efficiency and safety of the unmanned aerial vehicle are improved.

The utility model relates to a valve device for a vehicle electronic brake system and the vehicle electronic brake system. The valve device comprises a shell; an actuation assembly having a push rod; a first piston; a first spacer in which a pilot chamber in the housing is in fluid communication with a brake pedal side of a brake circuit of the vehicle electronic brake system; a second spacer having a control chamber in fluid communication with a brake side of the brake circuit and a high pressure chamber in fluid communication with a high pressure source side of the brake circuit; a relay valve comprising a second piston, in an unactivated valve position in which the push rod retracts and the second piston abuts against the second spacer to isolate the high pressure chamber from the control chamber, and in a working valve position in which the actuation assembly extends and urges the first piston through the second spacer to urge the second piston to fluidly communicate the high pressure chamber with the control chamber, high-pressure gas from the high-pressure gas source side enters the brake side through the high-pressure cavity and the control cavity so as to be used for generating brake pressure. According to the valve device and system, the risk that the electromagnetic valve fails is reduced.

The embodiment of the invention discloses a vehicle anti-lock braking control method, a medium, equipment and a product. The vehicle anti-lock braking control method comprises the steps that the braking pressure difference of a vehicle in the braking process and multi-modal data used for representing the current road surface where the vehicle is located are obtained; determining a pavement adhesion coefficient of a pavement where the vehicle is currently located, load data of the vehicle and an actual slip rate of the vehicle according to the multi-modal data; calculating a target slip rate of the vehicle according to the road adhesion coefficient, the load data and a preset load; a braking force distribution instruction is generated according to the road adhesion coefficient, the target slip rate, the actual slip rate and the braking pressure difference of the vehicle in the braking process; a brake pressure for anti-lock braking of the vehicle is controlled based on the braking force distribution command. The limitation that a traditional method depends on a single wheel speed signal can be broken through, the control target is dynamically adjusted according to the real-time road surface and the vehicle state, and the problem that traditional fixed slip rate control is insufficient in performance under the complex working condition is solved.

The utility model discloses a brake hydraulic element fault detection system and a mining dump truck. The brake hydraulic element fault detection system comprises an oil tank, a variable pump, a pedal valve, a relay valve, an angle sensor, a controller, a brake and a pressure sensor. The oil tank is used for storing hydraulic oil; the variable pump is connected with the oil tank, serves as a hydraulic system oil source and outputs hydraulic oil outwards; the pedal valve and the relay valve are respectively connected with the variable pump; the pedal valve outputs pressure oil which is proportional to a pedal angle to a pilot port of the relay valve; the angle sensor mounted on the pedal is used for sending the detected angle of the treaded pedal to the controller; the brake is connected with the relay valve, and the relay valve outputs pressure oil proportional to the pressure of the pilot port to the brake; the pressure sensor is electrically connected with the controller and sends the detected pressure of the brake to the controller, and the controller judges whether the pedal valve and the relay valve break down or not by analyzing the angle of the pedal valve and the pressure of the brake.

Disclosed is a number of variations that may include a method, system, or computer product useful in determining an intended yaw or yaw rate that a driver desires using a model, comparing the yaw or yaw rate with the actual vehicle yaw or yaw rate to determining a yaw error or yaw rate error, using the yaw error or yaw rate error in a model predictive control to determine the brake pressure required to minimize or reduced to zero the yaw error or the yaw rate error.

A method and system for providing maximum trailer braking during a high pressure demand, such as during autonomous emergency braking (AEB), for tractor-trailers is provided. The system can include a brake controller of the trailer that uses only tractor anti-lock brake system (ABS) data from the tractor wheels, without using any trailer ABS information, to estimate the surface friction and generate a high or low pressure command to be sent to the trailer based on only the tractor ABS data. The estimation of surface friction may be accomplished using the ABS information from the tractor and the pressure being demanded to determine a percent reduction of pressure requested by the tractor that may be compared to a threshold percentage to differentiate between high and low mu surfaces in real time.

The invention discloses a motorcycle ABS performance detection method, system and device and a medium, and relates to motorcycle ABS detection. According to the method, the brake fluid is subjected to dewatering and degassing treatment, and target brake fluid is obtained; establishing an instruction transmission channel; the brake pipeline is subjected to air exhaust operation, and the negative pressure establishment rate and the dwell pressure attenuation rate are measured; judging whether the sealing performance of the brake pipeline reaches the standard or not; if the sealing performance reaches the standard, target brake fluid is injected into the hydraulic loop in an excessive injection mode of the preset target liquid level amount, and after injection is completed, the target brake fluid is controlled to reach the preset liquid level height through a back suction device; and a brake pressure release instruction is sent to the hydraulic device through the instruction transmission channel, and after the hydraulic device drives the brake device to complete brake operation of a preset number of rounds according to the brake pressure release instruction, a detection result is obtained according to the position change of the brake device. By implementing the scheme, the performance of the ABS system can be effectively detected, and the ABS system can be effectively controlled.

The invention discloses an active suspension control method, a vehicle controller and a vehicle, and belongs to the technical field of vehicles, when a driver steps on a brake pedal to brake the vehicle, target brake pressure can be calculated based on the trampled stroke of the brake pedal, at the moment, a brake system does not control a brake to brake, and the target brake pressure can be calculated based on the trampled stroke of the brake pedal. A front active force of a front suspension is adjusted to a target forward active force in an upward direction, a rear active force of a rear suspension is adjusted to a target rear active force in a downward direction, and the front suspension increases the target forward active force opposite to the sinking movement of the front side of the vehicle before a braking system applies a significant braking force to the vehicle. Meanwhile, the rear suspension increases target rear main power opposite to the lifting motion of the rear side of the vehicle, and resistance is provided for the upcoming forward inclination trend of the vehicle; when the braking system brakes the vehicle, the front side and the rear side of the vehicle are affected by the target front main power and the target rear main power respectively, the initial amplitude and the speed of forward inclination of the vehicle body are restrained, and the comfort of passengers in the vehicle is improved.

A method for controlling a hydraulic motor vehicle braking system, wherein brake pressure is to be built up at wheel brakes on a front axle and a rear axle by means of via an electric pressure supply device based on a brake demand variable. Inlet valves of the wheel brakes on the front axle and rear axle are open and a brake demand variable is implemented by joint pressure build-up on the front axle and rear axle in the case of no fault. In the event of a fault with a degradation of the pressure supply device, the pressure build-up is first applied to the front axle by closing the inlet valves of the wheel brakes of the rear axle before or at the start of volume delivery. When a condition is met, the wheel brakes on the rear axle are activated by opening the inlet valves.

A 3-way solenoid valve, a vehicle brake system including the 3-way solenoid valve, and a controlling method for the same are disclosed. The present disclosure in at least one embodiment provides a brake system for a vehicle, including one or more wheel cylinders configured to apply braking pressure to each of wheels of a vehicle by using hydraulic pressure, one or more of the 3-way solenoid valve configured to increase or decrease the hydraulic pressure supplied to the one or more wheel cylinders, and a braking device configured to supply the hydraulic pressure to the one or more wheel cylinders by using a stepping force applied to a brake pedal or driving of a hydraulic pump.

Methods and systems are provided for controlling braking to avoid groan noise in a braking system. The system has a brake actuator configured to apply a friction force to a moving member, a conduit system coupled with the brake actuator, an inlet valve in the conduit system configured to control fluid pressure delivered to the brake actuator, and an outlet valve in the conduit system configured to control fluid pressure released from the brake actuator. The system includes a controller to monitor for an upper target pressure condition in the braking system, wherein the upper target pressure condition is associated with a noise zone; and operate, when the upper target pressure is detected and in a noise zone avoidance mode, the inlet valve and the outlet valve to avoid brake pressures that generate a brake noise from the friction force.

The invention relates to the technical field of vehicle active safety, and discloses an anti-lock braking system and control method based on wheel speed prediction.The control method comprises the following steps that acoustic and vibration signals reflecting tire-road surface interaction are collected in real time through a predictive sensor set, and a conventional wheel speed signal is combined; and extracting a predictive feature vector and a conventional dynamic feature vector. The core of the method is that a time sequence prediction neural network is utilized to process fused time sequence features, and an optimal slip rate target and an optimal control strategy identifier are generated at the same time in a prospective manner. And the system dynamically selects and switches an optimal control algorithm from a preset control strategy library according to the optimal control algorithm, and carries out closed-loop brake pressure regulation by taking the predictive target as a guide. According to the method, traditional reaction type control is converted into predictive control, response lag of a braking system during sudden change of the road surface is fundamentally overcome, and the stability, efficiency and safety of the braking process are remarkably improved.