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A redundant braking system composed of an Integrated Electronic Control Brake System (IBC) and a Redundant Brake Unit (RBU) has been proposed. Firstly, the working principle and modes of the IBC+RBU system are analyzed. Then, the pressure control of the RBU is implemented based on the Hardware Abstraction Layer (HAL) module. Next, a control strategy for the IBC+RBU to take over Level 3 autonomous driving is developed, and the Anti-Lock Braking System (ABS) is controlled based on the RBU. Finally, a Hardware-In-the-Loop (HIL) test bench is set up for HIL testing and verification. The research results indicate that the current system has the basic capability of redundant brake control which can ensure the reliability of redundant takeover and the stability of redundant brake control, and can meet the fundamental functional and performance requirements of Level 3 autonomous driving.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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