Braking method and braking device

Abstract

The present invention discloses a braking method and a braking device, the braking method comprising: obtaining brake pedal depth information; judging and determining the braking state of a vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state, wherein the brake pedal depth information includes a brake pedal stroke and a brake pedal change rate; the braking state includes a light braking state, a medium braking state, and an emergency braking state. The braking device according to an embodiment of the present invention can judge the driver's driving intention according to the brake pedal depth information, etc., and adjust the vehicle's braking state according to the driving intention to optimize the braking strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a braking method and a braking device suitable for applying the braking method. Background Art

[0002] Traditional friction brakes on cars are divided into two categories: disc brakes and drum brakes. They use the friction between the brake pads and the brake disc or brake drum to reduce the speed of the car and eventually stop it. Currently, the most commonly used friction brakes are disc brakes. The hydraulic oil is used to push the piston in the brake caliper to move. The piston presses the brake pad against the brake disc, and the friction between the two creates braking.

[0003] When the vehicle is running at high speed, braking will not only cause severe wear on the brake shoes of the friction brake, but also generate a lot of harmful dust. At the same time, the friction between the brake pads and the brake disc will also generate a lot of noise. Summary of the invention

[0004] An object of the present invention is to provide a braking method that can determine the driver's driving intention based on brake pedal depth information, etc., and adjust the braking state of the vehicle according to the driving intention to optimize the braking strategy.

[0005] Another object of the present invention is to provide a braking device.

[0006] According to the braking method of an embodiment of the present invention, the braking method includes: acquiring brake pedal depth information; judging and determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state, wherein the brake pedal depth information includes brake pedal travel and brake pedal change rate; the braking state includes a light braking state, a moderate braking state and an emergency braking state.

[0007] According to the braking device of the embodiment of the present invention, the driver's driving intention can be determined based on the brake pedal depth information, etc., and the braking state of the vehicle can be adjusted according to the driving intention to optimize the braking strategy.

[0008] In addition, the braking device according to the above embodiment of the present invention may also have the following additional technical features:

[0009] Optionally, the "determining the braking state of the vehicle based on the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle based on the braking state" includes: obtaining vehicle speed information; when the vehicle is in a light braking state and the vehicle speed is greater than a first threshold, controlling the electromagnetic braking mechanism to operate to perform electromagnetic braking on the vehicle; wherein, when the brake pedal stroke is less than or equal to a first distance and the brake pedal change rate is less than or equal to a first acceleration value, it is determined that the vehicle is in a light braking state.

[0010] Optionally, when the vehicle speed is less than or equal to the first threshold, the friction brake mechanism is controlled to operate to perform friction braking on the vehicle.

[0011] Optionally, the "determining the braking state of the vehicle based on the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle based on the braking state" also includes: obtaining vehicle speed information, and when the vehicle is in a moderate braking state and the vehicle speed is greater than a first threshold, controlling the electromagnetic braking mechanism and the motor to perform electromagnetic braking and motor feedback braking on the vehicle; wherein, when the brake pedal stroke is greater than the first distance and less than the second distance, and the brake pedal change rate is greater than the first acceleration value and less than the second acceleration value, it is determined that the vehicle is in a moderate braking state.

[0012] Optionally, when the vehicle speed is less than or equal to a first threshold, the friction braking mechanism is controlled to operate.

[0013] Optionally, the "determining the braking state of the vehicle based on the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle based on the braking state" also includes: when the vehicle is in an emergency braking state, controlling the electromagnetic braking mechanism, the motor and the friction braking mechanism to operate, so as to perform electromagnetic braking, motor feedback braking and friction braking on the vehicle; wherein, when the brake pedal forms a distance greater than or equal to the second distance, and the brake pedal change rate is greater than or equal to the second acceleration value, it is determined that the vehicle is in an emergency braking state.

[0014] Optionally, the method further includes acquiring gear information, and controlling the electromagnetic braking mechanism to be in a forward braking state or a reverse braking state according to the gear information, wherein the gear information includes a forward gear and a reverse gear.

[0015] According to the braking device of the embodiment of the present invention, the braking device is suitable for applying the aforementioned braking method, comprising: a brake disc, a plurality of brake coils and an electromagnet, wherein the plurality of brake coils are relatively fixedly connected to the brake disc, and the plurality of brake coils are arranged along the circumference of the brake disc, and each of the brake coils is constructed as a closed-loop coil; the electromagnet cooperates with the brake coil to construct an electromagnetic braking mechanism, wherein the electromagnet is configured to selectively cause the brake coil that follows the movement of the brake disc to generate an induced current, and then the brake coil cooperates with the electromagnet to apply a force to the brake disc opposite to its rotation direction.

[0016] Optionally, a through hole is provided on the brake disc, and the brake coil is a closed-loop coil passing through the through hole.

[0017] Optionally, the brake coil surrounds a circumference of the brake disc.

[0018] Optionally, the via hole is non-circular in shape, and the brake coil has an embedding portion, which is arranged corresponding to the via hole.

[0019] Optionally, the embedding portion is adapted to a shape of the via hole.

[0020] Optionally, the brake coil is interference fit with the through hole.

[0021] Optionally, the electromagnet and the brake coil are opposite to each other in the radial direction or axial direction of the brake disc.

[0022] Optionally, the braking device further comprises a brake caliper, and the brake caliper cooperates with the brake disc to form a friction braking mechanism.

[0023] Optionally, the brake disc comprises a friction disc and a coil disc, the friction disc is fixedly connected to the coil disc, the brake caliper cooperates with the friction disc, and the brake coil is arranged on the coil disc.

[0024] Optionally, the brake caliper is integrated with the electromagnet.

[0025] Optionally, the brake caliper comprises a caliper body, a mounting seat is provided on the caliper body, wherein the electromagnet is mounted on the mounting seat, and at least a portion of the brake coil is directly opposite to the electromagnet along the magnetic field direction of the electromagnet.

[0026] Optionally, the electromagnet comprises a plurality of electromagnets. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of a braking method according to some embodiments of the present invention.

[0028] Figure 2is a schematic diagram of a braking method according to some embodiments of the present invention.

[0029] Figure 3 is a schematic diagram of a braking method according to some embodiments of the present invention.

[0030] Figure 4 is a schematic diagram of a braking system according to some embodiments of the present invention.

[0031] Figure 5 It is a schematic diagram of the braking method of some embodiments of the present invention, which is a control schematic diagram of non-emergency braking in a forward gear and when the vehicle speed is higher than a first threshold, and the arrow shows the signal or power supply direction.

[0032] Figure 6 It is a schematic diagram of the braking method of some embodiments of the present invention, which is a control schematic diagram of emergency braking in forward gear and when the vehicle speed is higher than a first threshold. The arrow shows the signal or power supply direction, and the motor is connected to feedback braking.

[0033] Figure 7 It is a schematic diagram of the braking method of some embodiments of the present invention, which is a control schematic diagram of non-emergency braking in reverse gear when the vehicle speed is higher than a first threshold, and the arrow shows the signal or power supply direction.

[0034] Figure 8 It is a schematic diagram of the braking method of some embodiments of the present invention, which is a control schematic diagram of emergency braking in reverse gear when the vehicle speed is higher than a first threshold. The arrow shows the signal or power supply direction, and the motor is connected to feedback braking.

[0035] Fig. 9 Schematic diagram of a braking device according to some embodiments of the present invention.

[0036] Fig.10 Schematic diagram of an exploded view of a braking device according to some embodiments of the present invention.

[0037] Fig.11 It is a schematic diagram of the cooperation between the coil disk and the brake coil of the brake device in some embodiments of the present invention.

[0038] Fig.12 yes Fig.11 A partial enlarged schematic diagram of the area A in the middle circle.

[0039] Fig.13 Schematic diagram of a brake coil of a brake device according to some embodiments of the present invention.

[0040] Fig.14 yes Fig.13 Cross-sectional view of the middle section BB.

[0041] Fig.15 It is a schematic diagram of the electromagnetic braking principle of the braking device of some embodiments of the present invention.

[0042] Fig.16 It is a schematic diagram of the principle of electromagnetic induction.

[0043] Reference numerals:

[0044] Braking system 100, braking device 10, brake disc 11, friction disc 111, disc body 1111, annular plate 1112, flange 1113, coil disc 112, recess 101, through hole 102, brake coil 12, embedding portion 121, brake caliper 13, caliper body 131, mounting seat 132, end cover 133, baffle 134, mounting cavity 103, electromagnet 14, power supply 20, control device 30, ECU 31, control switch 32, motor 40, brake pedal assembly 51, foot feel simulator assembly 52. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0046] The present invention provides a braking method. Figure 1 As shown, according to the braking method of an embodiment of the present invention, the braking method includes: acquiring brake pedal depth information; judging and determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state, wherein the brake pedal depth information includes brake pedal travel and brake pedal change rate; the braking state includes light braking state, moderate braking state and emergency braking state.

[0047] According to the braking method of the embodiment of the present invention, the braking state of the vehicle is determined by the brake pedal depth information, the driver's driving intention can be obtained in time, the braking state required by the driver can be judged, and the vehicle can be controlled to adopt a braking strategy corresponding to the driving intention in time, so that the vehicle can be braked in time and quickly according to the driver's driving intention, the braking method can be simplified, and fast feedback can be achieved to optimize the driving experience and safety.

[0048] Among them, Figure 4As shown, the vehicle may include a brake pedal assembly 51, a foot-feel simulator assembly 52, etc. The brake pedal assembly 51 is used for the driver to step on, and the foot-feel simulation assembly can generate brake pedal depth information according to the stepping depth and speed of the brake pedal, and the foot-feel simulation assembly is connected to the control device 30 to send the brake pedal depth information to the control device 30. The braking state can feedback the driver's driving intention. For example, during normal driving, the vehicle speed can be adjusted through a light braking state; during deceleration, fast automatic braking can be achieved through a moderate braking state; in an emergency, faster braking can be achieved through an emergency braking state.

[0049] Vehicles can use electromagnetic braking to perform non-contact braking, such as Figure 2 In some embodiments of the present invention, the “determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state” includes:

[0050] Obtain vehicle speed information, which is the vehicle speed signal and can provide feedback on the vehicle's current speed;

[0051] When the vehicle is in a light braking state and the vehicle speed is greater than the first threshold, the electromagnetic brake mechanism is controlled to work to brake the vehicle electromagnetically; when the vehicle is in a light braking state, the vehicle can be braked only by using the electromagnetic brake mechanism, and the electromagnetic brake mechanism is a non-contact brake, which can avoid the wear of the brake disc or the generation of harmful dust at high speeds, and avoid the generation of loud noise during the braking process. Moreover, the magnetic flux changes greatly during the electromagnetic braking process at high speeds, which can provide a better braking effect.

[0052] Among them, when the brake pedal stroke is less than or equal to the first distance, and the brake pedal change rate is less than or equal to the first acceleration value, it is determined that the vehicle is in a light braking state. At this time, the brake pedal stroke is small, and the brake pedal change rate is small, so it can be determined that the vehicle is in a normal driving state of deceleration. At this time, the electromagnetic brake can better realize the driver's driving intention, and can also take into account the stability and comfort of vehicle operation.

[0053] In addition, the present invention may also have a contact brake mechanism (friction brake mechanism), which can achieve stable braking of the vehicle through friction braking to improve the safety of vehicle operation. Therefore, when the vehicle speed is less than or equal to the first threshold, the friction brake mechanism is controlled to work to perform friction braking on the vehicle. Due to the engagement of friction braking, the electromagnetic brake can be engaged or not at this time. In other words, when the vehicle is frictionally braked at a low speed, the electromagnetic brake mechanism can still be in a braking state to optimize the braking effect; the electromagnetic brake mechanism can also be turned off according to actual needs to save energy, etc.

[0054] like Figure 2 As shown, in some embodiments of the present invention, the “determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state” also includes:

[0055] Obtain vehicle speed information, which is the vehicle speed signal and can provide feedback on the vehicle's current speed;

[0056] When the vehicle is in a moderate braking state and the vehicle speed is greater than the first threshold, the electromagnetic braking mechanism and the motor are controlled to work so as to perform electromagnetic braking and motor feedback braking on the vehicle; when the vehicle is in a moderate braking state, the electromagnetic braking mechanism can be used to brake the vehicle, and the electromagnetic braking mechanism is a non-contact braking method, which can avoid the wear of the brake disc or the generation of harmful dust at high speeds, and avoid the generation of large noise during braking. Moreover, the magnetic flux changes greatly during the electromagnetic braking process at high speeds, which can provide a better braking effect. Moreover, in a moderate braking state, the driver's demand for braking is higher than that in a light braking state. At this time, the braking torque is provided by motor feedback braking, and the braking effect is optimized by a combination of motor feedback braking and electromagnetic braking. At the same time, motor feedback braking can realize energy recovery during braking, which can improve the braking effect while playing the role of extending the vehicle range and improving energy utilization.

[0057] Among them, when the brake pedal stroke is greater than the first distance and less than the second distance, and the brake pedal change rate is greater than the first acceleration value and less than the second acceleration value, it is determined that the vehicle is in a moderate braking state. At this time, the brake pedal stroke is larger than that in a light braking state, and the brake pedal change rate is larger than that in a light braking state. At this time, the combination of electromagnetic braking and motor feedback braking can better realize the driver's driving intention, and can also take into account the stability and comfort of vehicle operation, and is also conducive to energy recovery.

[0058] In addition, when the vehicle speed is less than or equal to the first threshold, the friction brake mechanism is controlled to work. Due to the engagement of the friction brake, the electromagnetic brake can be engaged or not engaged at this time. That is to say, when the vehicle is frictionally braked at a low speed, the electromagnetic brake mechanism can still be in the braking state to optimize the braking effect; or the electromagnetic brake mechanism can be turned off according to actual needs to save energy, etc.

[0059] like Figure 2 In some embodiments of the present invention, the “determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state” also includes:

[0060] When the vehicle is in an emergency braking state, the electromagnetic brake mechanism, motor and friction brake mechanism are controlled to work to perform electromagnetic braking, motor feedback braking and friction braking on the vehicle. When the vehicle is in an emergency braking state, the vehicle is in an emergency state, such as the emergency braking of the vehicle in front, and the vehicle needs to be braked quickly to improve the safety of the vehicle. At this time, a combination of multiple braking methods is used to provide a greater braking effect for the vehicle to improve the safety of vehicle operation.

[0061] When the brake pedal forms a distance greater than or equal to the second distance, and the brake pedal change rate is greater than or equal to the second acceleration value, it is determined that the vehicle is in an emergency braking state. At this time, the brake pedal stroke is large, and the brake pedal change rate is large, so it can be determined that the vehicle is in a situation where emergency braking is required. At this time, the combination of electromagnetic braking, motor feedback braking and friction braking can achieve rapid braking of the vehicle, which can better realize the driver's driving intention and improve the safety of vehicle operation.

[0062] like Figure 2 and Figure 3 In some embodiments of the present invention, the method further includes obtaining gear information, and controlling the electromagnetic brake mechanism to be in a forward braking state or a reverse braking state according to the gear information, wherein the gear information includes a forward gear and a reverse gear. When the vehicle is moving forward or backward, the demand for braking is different. By controlling the braking of the vehicle according to the gear information of the vehicle, the safety and stability of the vehicle during the forward and reverse driving process can be taken into account.

[0063] Combination Figures 4 to 8 , wherein the forward braking state refers to the state in which the vehicle is in the forward state, and the electromagnetic braking mechanism applies a braking force to the vehicle in the backward direction (in the direction opposite to the forward direction of the vehicle) to achieve the braking of the vehicle; the reverse braking state refers to the state in which the vehicle is in the reverse state, and the electromagnetic braking mechanism applies a braking force to the vehicle in the backward direction (in the direction opposite to the backward direction of the vehicle) to achieve the braking of the vehicle. Specifically, in some embodiments of the present invention, when the vehicle is in different gears, different electromagnets 14 are used for electromagnetic braking. For example, the electromagnet 14 includes a first electromagnet 14a and a second electromagnet 14b, and the first electromagnet 14a and the second electromagnet 14b are arranged at intervals along the circumference of the brake disc 11. Optionally, if the gear information is the forward gear, the first electromagnet 14a is controlled to operate the electromagnetic brake; if the gear information is the reverse gear, the second electromagnet 14b is controlled to operate the electromagnetic brake. When the first electromagnet 14a and the second electromagnet 14b are energized, they can have different braking directions, which can meet different braking requirements, thereby achieving stable braking, improving the stability of vehicle operation, and optimizing the driving experience.

[0064] In combination with the above, the present invention mainly relates to a braking device 10 and a braking method, wherein the braking device 10 has multiple braking modes such as friction braking and electromagnetic braking, and can also use the motor 40 for feedback braking. That is to say, the braking system 100 of the present invention belongs to a composite braking system 100, which controls the vehicle by coordinated braking of the electromagnetic braking mechanism, friction braking, and drive motor 40 according to the braking requirements. The non-contact electromagnetic braking mechanism generates current through the change of magnetic flux, and the current generates Ampere force in the magnetic field to provide braking force. Among them, the electromagnetic braking mechanism adopts a non-contact form, and compared with traditional brakes, the device can effectively improve traditional braking NVH problems (such as high and low frequency noise, etc.).

[0065] Combination Figure 4 The present invention provides some braking methods of the braking system 100. The control device 30 may include an ECU 31 (vehicle electronic control unit) and a control switch 32, wherein the control switch 32 may be a normally open electromagnetic switch: when powered on, an electromagnetic force is generated to pull the switch closed, thereby connecting the controlled circuit.

[0066] like Figures 4 to 8 As shown, after ECU31 detects the brake pedal depth signal, gear information, and vehicle speed through the CAN network, when the vehicle speed is ≥ the first threshold a, it is determined that the electromagnetic brake mechanism is in a startable state; at this time, the electromagnetic brake system 100 is started; ECU31 sends a command to the control switch 32, the control switch 32 is turned on, the electromagnet 14 (such as an electromagnet) in the electromagnetic brake mechanism generates an electromagnetic field, the change in the magnetic flux of the brake coil 12 generates a current, and the current generates an Ampere force in the magnetic field to provide a braking force; and the control switch 32 can adjust the current value in the circuit according to the brake pedal depth signal, so that the electromagnetic brake mechanism generates a braking force corresponding to the demand; when the gear information is the forward gear, the electromagnetic device connects the I circuit (such as Figure 5 / Figure 6 ); When the gear information is reverse gear, the electromagnetic device connects the II circuit (such as Figure 7 / Figure 8 ), and the electromagnetic brake mechanism is controlled according to the vehicle state. In addition, the friction brake and the drive motor 40 can be combined to brake the wheels according to the braking requirements to slow down and stop the vehicle. The system adopts a composite braking strategy to achieve energy diversion control; the electromagnetic brake mechanism adopts a non-contact form, and compared with traditional brakes, the device can effectively improve the traditional braking NVH problems (such as high and low frequency noise, etc.).

[0067] like Figure 5As shown, when ECU31 detects the brake pedal depth signal, gear information - forward gear, and vehicle speed through the CAN network, when the vehicle speed ≥ the first threshold a, it is determined that the electromagnetic brake mechanism is in a startable state. At this time, the brake control system is started, and ECU31 sends a command to the control switch 32, the control switch 32 is turned on, the electromagnetic device is connected to the I circuit, and the electromagnet 14 in the non-contact electromagnetic brake mechanism is started to generate an electromagnetic field, and the change of the magnetic flux of the brake coil 12 generates a current, and the current generates an Ampere force in the magnetic field to provide braking force; when it is detected that the vehicle speed is less than the first threshold a, the electromagnetic brake mechanism is closed. At this time, in order to ensure that the vehicle stops smoothly, the brake caliper 13 provides braking force. If the battery of the vehicle is not fully charged in the early braking, the drive motor 40 enters the feedback braking mode. At this time, the electromagnetic braking torque and the feedback torque of the motor 40 act on the wheels to brake and decelerate the car to meet the braking requirements of the vehicle.

[0068] like Figure 6 As shown, when ECU31 detects the brake pedal depth signal, gear information - forward gear, and vehicle speed through the CAN network, and determines that the vehicle needs emergency braking, when the vehicle speed ≥ the first threshold a, it is determined that the electromagnetic brake mechanism is in a startable state. At this time, the brake control system is started, and ECU31 sends a command to the control switch 32, the control switch 32 is turned on, the electromagnetic device is connected to the I circuit, and the electromagnet 14 in the non-contact electromagnetic brake mechanism is started to generate an electromagnetic field. The change in the magnetic flux of the brake coil 12 generates current, and the current generates Ampere force in the magnetic field to provide braking force. In order to meet the braking intensity of the vehicle's emergency braking, the torque generated by the electromagnetic brake device 10, the torque generated by the brake caliper 13 and the feedback braking torque act on the wheel to brake and decelerate the car to meet the emergency braking needs of the vehicle.

[0069] like Figure 7 As shown, when ECU31 detects the brake pedal depth signal, gear information - reverse gear, vehicle speed through the CAN network, and the vehicle speed ≥ the first threshold a, it is determined that the electromagnetic brake mechanism is in a startable state. At this time, the brake control system is started, and ECU31 sends a command to the control switch 32, the control switch 32 is turned on, the electromagnetic device is connected to the II circuit, and the electromagnet 14 in the non-contact electromagnetic brake mechanism is started to generate an electromagnetic field. The change in the magnetic flux of the brake coil 12 generates current, and the current generates Ampere force in the magnetic field to provide braking force; when it is detected that the vehicle speed is less than the first threshold a, the electromagnetic brake mechanism is closed, and the brake caliper 13 provides braking force to ensure that the vehicle stops smoothly. If the battery of the vehicle is not fully charged in the early braking, the drive motor 40 enters the feedback braking mode. At this time, the electromagnetic braking torque and the feedback torque of the motor 40 act on the wheels to brake and decelerate the car to meet the braking requirements of the vehicle.

[0070] like Figure 8As shown, when ECU31 detects the brake pedal depth signal, gear information - reverse gear, vehicle speed through the CAN network, and determines that the vehicle is in emergency braking, and the vehicle speed ≥ the first threshold a, it is determined that the electromagnetic brake mechanism is in a startable state. At this time, the brake control system is started, and ECU31 sends a command to the control switch 32, the control switch 32 is turned on, the electromagnetic device is connected to the II circuit, and the electromagnet 14 in the non-contact electromagnetic brake mechanism is started to generate an electromagnetic field. The change in the magnetic flux of the brake coil 12 generates current, and the current generates Ampere force in the magnetic field to provide braking force. At the same time, the brake caliper 13 works, and the drive motor 40 enters the feedback mode to generate braking torque. At this time, the electromagnetic braking torque, the torque generated by the brake caliper 13 and the feedback braking torque act on the wheels to brake and decelerate the car to meet the emergency braking needs of the vehicle.

[0071] In addition, the present invention also provides a braking device 10 suitable for the above braking method, through which the above braking method can be well implemented. Figures 9 and 10 The braking device 10 according to the embodiment of the present invention includes: a brake disc 11, a brake coil 12 and an electromagnet 14.

[0072] The brake coil 12 is relatively fixedly connected to the brake disc 11. When the brake coil 12 is subjected to force, the force exerted on the brake coil 12 will be transmitted to the brake disc 11, and the rotation of the brake disc 11 will also drive the brake coil 12 to rotate. The electromagnet 14 cooperates with the brake coil 12 to construct an electromagnetic brake mechanism, wherein the electromagnet 14 is configured to selectively cause the brake coil 12 that moves with the brake disc 11 to generate an induced current, and then the brake coil 12 cooperates with the electromagnet 14 to apply a force on the brake disc 11 in the opposite direction of its rotation.

[0073] Specifically, after the electromagnet 14 is energized, it can generate a magnetic field. When the brake coil 12 rotates with the brake disc 11, the relative position between the brake coil 12 and the electromagnet 14 changes, and the relative position between the brake coil 12 and the electromagnet 14 changes, causing the coil to cut the magnetic flux lines generated by the electromagnet 14, thereby causing the brake coil 12 to generate an induced current. Since the coil cuts the magnetic flux lines generated by the electromagnet 14, the charged coil will be acted upon by a force in the magnetic field, and the force on the brake coil 12 is opposite to the rotation direction of the brake disc 11, thereby generating a braking effect. Since the electromagnet 14 applies force to the brake coil 12 through the action of the induced magnetic field and the induced electric field, and the brake coil 12 and the brake disc 11 are relatively fixed, the force applied by the electromagnet 14 to the brake coil 12 will be transmitted to the brake disc 11, so the electromagnet 14 does not need to contact the brake coil 12 or the brake disc 11 to achieve braking of the brake disc 11, thereby forming a non-contact braking effect.

[0074] The braking device 10 according to the embodiment of the present invention can realize non-contact braking through the electromagnetic braking mechanism. The non-contact braking can reduce the wear on the brake disc 11 and the heat generated by friction during braking, thereby improving the service life and stability of the brake disc 11, providing a stable braking effect, facilitating stable braking of the vehicle, and reducing noise during braking.

[0075] It should be noted that the electromagnet 14 of the present invention can be configured to generate a constant magnetic field after being energized, or can be configured to generate a gradually changing magnetic field after being energized.

[0076] Optionally, the brake coil 12 includes a plurality of brake coils 12, and the plurality of brake coils 12 are arranged along the circumference of the brake disc 11, and the brake coil 12 is configured as a closed-loop coil. The combination of the plurality of brake coils 12 can be configured as a closed-loop coil, or each brake coil 12 can be configured as a closed-loop coil. In this way, when the brake disc 11 rotates, the plurality of brake coils 12 can respectively generate electromagnetic induction with the electromagnet 14, thereby providing a continuous and stable electromagnetic braking force for the brake disc 11, wherein the plurality of brake coils 12 can be evenly spaced and arranged in the circumference of the brake disc 11, that is, each two adjacent brake coils 12 are spaced the same distance apart.

[0077] Combination Figure 11 to Figure 12 , a through hole 102 is provided on the brake disc 11, and the brake coil 12 is a closed-loop coil passing through the through hole 102. Thus, the brake coil 12 is installed on the brake disc 11. The brake coil 12 can be set as a rigid part or an elastic part, that is, the brake coil 12 can be easily deformed by force (elastic part), or it can be set to be not easily deformed by force (rigid part). Preferably, the brake coil 12 can be set as a rigid part. In addition, the brake coil 12 and the brake disc 11 can be fixedly connected, and the brake coil 12 is a rigid part, so that the force applied by the electromagnet 14 to the brake coil 12 can be stable. Of course, the brake coil 12 can also be set to be deformable or rotatable within a predetermined angle range, and the effect of electromagnetic braking can still be achieved.

[0078] Among them, Figures 11 to 14 The through hole 102 is non-circular, and the brake coil 12 has an embedded portion 121, which is arranged corresponding to the through hole 102. Therefore, the installation of the brake coil 12 is achieved through the through hole, which can ensure the stability of the connection between the brake coil 12 and the brake disc 11 and prevent the brake coil 12 from deflecting on the brake disc 11. Among them, the through hole 102 can be set to an elliptical shape, an oblong shape, a quadrilateral shape, a triangle shape, etc.

[0079] The embedded portion 121 may be adapted to the shape of the through hole 102. Optionally, the brake coil 12 is interference fit with the through hole 102. This further improves the stability of the connection between the brake coil 12 and the brake disc 11, so that the force applied by the electromagnet 14 to the brake coil 12 is stable.

[0080] Optionally, there is a gap between the brake coil 12 and the brake disc 11. In other words, the brake coil 12 is spaced apart from the brake disc 11, so that the magnetic flux of the electromagnet 14 can pass through the inner side of the coil to improve the force effect on the coil. Preferably, except for the embedded portion 121, the rest of the brake coil 12 is spaced apart from the brake disc 11.

[0081] Optionally, the brake coil 12 surrounds the periphery of the brake disc 11 , so that when the brake coil 12 approaches or moves away from the electromagnet 14 , more magnetic flux lines can pass through the coil, thereby improving the force effect on the brake coil 12 .

[0082] Optionally, the electromagnet 14 and the electromagnetic coil 12 are opposite to each other in the radial direction of the brake disc 11, so as to improve the electromagnetic induction effect between the electromagnet 14 and the brake disc 11. Of course, the electromagnet 14 can also be arranged in a form opposite to the brake disc 11 in the axial direction of the brake disc 11. Optionally, the electromagnet 14 extends along the circumferential direction of the brake disc 11.

[0083] In some embodiments of the present invention, the braking device also includes a brake caliper 13, which cooperates with the brake disc 11 to form a friction braking mechanism. When the brake caliper 13 is needed to brake the brake disc 11, the friction force between the brake caliper 13 and the brake disc 11 can consume the kinetic energy of the brake disc 11, thereby achieving friction braking of the brake disc 11.

[0084] In addition, friction braking or electromagnetic braking can be selected according to the rotation speed of the brake disc 11 or the vehicle speed. Among them, since the vehicle speed (or the rotation speed of the brake disc 11) is relatively high, if the brake caliper 13 is used for braking, the wear between the brake caliper 13 and the brake disc 11 will be greater (relative to the case of a lower vehicle speed), and it is easy to produce grinding and noise, etc. Therefore, the braking method can be selected according to the vehicle speed in the present invention. When the vehicle speed is relatively high, electromagnetic braking is used. At this time, since the rotation speed of the brake disc 11 is relatively high, that is, the coil will cut the magnetic flux generated by the electromagnet 14 at a higher speed, the braking force generated at this time is more stable, which can effectively improve the braking effect, and at the same time can also reduce the wear of the brake caliper 13 or the brake disc 11; when the vehicle speed is relatively low, the braking by the brake caliper 13 can ensure the stability of the braking and improve the braking effect. Therefore, selecting the braking method according to the vehicle speed can better brake. Of course, selecting the braking effect according to the vehicle speed in the present invention is only an embodiment of the present invention, and is not a limitation of the protection scope of the present invention. In the present invention, friction braking or electromagnetic braking can also be used to achieve the braking of the brake disc 11 at any speed. When friction braking and electromagnetic braking are used simultaneously, the emergency braking effect of the vehicle can be effectively improved and the braking distance of the vehicle can be reduced.

[0085] Among the present invention, because electromagnetic braking adopts non-contact braking mode, and brake caliper 13 adopts contact braking mode, electromagnetic braking and friction braking can be realized on the same disk. Of course, friction braking and electromagnetic braking can also be applied to the same disk.

[0086] like Fig.10 In some embodiments of the present invention, the brake disc 11 includes a friction disc 111 and a coil disc 112, the friction disc 111 is fixedly connected to the coil disc 112, the brake caliper 13 cooperates with the friction disc 111, and the brake coil 12 is arranged on the coil disc 112. The friction disc 111 cooperates with the brake caliper 13 to construct a friction brake mechanism, and the coil disc 112, the brake coil 12 and the electromagnet 14 cooperate to construct an electromagnetic brake mechanism. In this way, the two brake mechanisms act on the friction disc 111 and the coil disc 112 respectively, which can facilitate the assembly of the brake device 10 and improve the stability of the brake.

[0087] Among them, the friction disc 111 and the coil disc 112 can be in the form of separate parts and then assembled, which can facilitate the production of the brake disc 11, and when either the friction disc 111 or the coil disc 112 is damaged, there is no need to replace the entire brake disc 11, thereby reducing maintenance costs and improving the stability of the braking system 100.

[0088] like Fig.10As shown, the friction disc 111 may include a disc body 1111, the disc body 1111 may be in a ring shape, an annular plate 1112 is provided on the inner periphery of the disc body 1111, one end periphery of the annular plate 1112 is connected to the inner periphery of the disc body 1111, and the annular plate 1112 extends in a direction perpendicular to the disc body 1111, and a flange 1113 may be provided on the other end periphery of the annular plate 1112, and the flange 1113 extends toward the inner side of the annular plate 1112, the coil disc 112 is provided at the other end of the annular plate 1112, and may be fixedly connected to the flange 1113, a recess 101 may be provided on the coil disc 112, and the other end of the annular plate 1112 is embedded in the recess 101, wherein the outer periphery of the disc body 1111 may cooperate with the brake caliper 13, for example, the periphery of the disc body 1111 may be embedded in the brake caliper 13. In addition, the structures of the friction disc 111 and the coil disc 112 may be interchangeable.

[0089] Optionally, the friction disk 111 and the coil disk 112 are arranged side by side, so as to improve the stability of the brake system 100. Specifically, the friction disk 111 and the coil disk 112 can be arranged in parallel with each other.

[0090] Combination Fig. 9 and Fig.10 The brake caliper 13 and the electromagnet 14 can be integrated together to simplify the assembly and production of the brake device 10, improve the efficiency of production, assembly and maintenance of the brake device 10 and reduce costs.

[0091] like Fig.10 As shown, the brake caliper 13 includes a caliper body 131, a mounting seat 132 is provided on the caliper body 131, and the electromagnet is mounted on the mounting seat 132, so that the electromagnet and the brake caliper are integrated together through the mounting seat 132, which simplifies the structure of the brake device and facilitates assembly and maintenance.

[0092] Preferably, at least a portion of the brake coils 12 is directly opposite to the electromagnet 14 along the magnetic field direction of the electromagnet 14. Specifically, a portion of the multiple brake coils 12 may be directly opposite to the electromagnet 14 along the magnetic field direction of the electromagnet 14, and among the brake coils 12 directly opposite to the electromagnet 14 along the magnetic field direction of the electromagnet 14, the entire brake coil 12 may be directly opposite to the electromagnet 14 along the magnetic field direction of the electromagnet 14, or part of the brake coil 12 may be directly opposite to the electromagnet 14 along the magnetic field direction of the electromagnet 14. The magnetic field direction of the electromagnet 14 may be the magnetic field direction determined according to the right-hand screw rule, and directly opposite to the electromagnet 14 along the magnetic field direction of the electromagnet 14 includes but is not limited to: the magnetic field direction of the electromagnet 14 is from the electromagnet 14 to the brake coil 12; or the magnetic field direction of the electromagnet 14 is from the brake coil 12 to the electromagnet 14. Through this arrangement, during the rotation of the brake disc, the position of the corresponding brake coil 12 can have a larger magnetic flux and a larger rate of change of magnetic flux, so as to improve a better braking effect. In the process that the brake coil 12 rotates following the brake disc, as the brake disc rotates, different brake coils will successively face the electromagnet 14 .

[0093] In addition, the electromagnet 14 may include a first electromagnet 14a and a second electromagnet 14b, wherein the first electromagnet 14a and the second electromagnet 14b are arranged opposite to each other, and at least a part of the brake coil is arranged between the first electromagnet 14a and the second electromagnet 14b to improve the braking effect. Optionally, during forward braking or reverse braking, the brake coil located between the first electromagnet 14a and the second electromagnet 14b rotates toward one of the first electromagnet 14a and the second electromagnet 14b, wherein the one can cooperate with the brake coil to provide braking force for the brake disc. Of course, the other of the first electromagnet 14a and the second electromagnet 14b can also cooperate with the brake coil to provide braking force for the brake disc; or the first electromagnet 14a and the second electromagnet 14b can cooperate with the brake coil to provide braking force for the brake disc.

[0094] The mounting seat 132 may be provided with an end cover 133, the mounting seat 132 is provided with a mounting cavity 103 with an opening, and the electromagnet 14 is embedded in the mounting cavity 103; the end cover 133 is fixedly connected to the mounting seat 132, and the end cover 133 covers the opening to position the electromagnet 14. Thus, the electromagnet 14 and the brake caliper 13 can be assembled into one body, thereby realizing the integration of the electromagnet 14 and the brake caliper 13.

[0095] The mounting seat 132 may be configured to be open on a side away from the clamp body 131, so that the electromagnet 14 can be installed in the mounting cavity 103, and the mounting seat 132 can be conveniently covered by the end cover 133 to position the electromagnet 14. In addition, the side wall of the mounting seat 132 may also be configured to be open, so as to avoid the electromagnet 14 being unable to be installed due to manufacturing errors, so as to facilitate the installation of the electromagnet 14, and the end cover 133 may be provided with a baffle 134, and when the end cover 133 is covered on the side of the mounting seat 132 away from the clamp body 131, the baffle 134 covers the opening on the side wall of the mounting seat 132.

[0096] Combination Figures 9 and 10 The brake device 10 includes two electromagnets 14, and two spaced apart mounting seats 132 are provided on the caliper body 131. The two electromagnets 14 are mounted in the two mounting seats 132 respectively.

[0097] In addition, the two mounting seats 132 can be open in opposite side walls and open at the ends away from the clamp body 131, and two baffles 134 are provided on the end plates, which are fixedly connected to the side of the mounting seats 132 away from the clamp body 131, and the two baffles 134 respectively cover the side wall openings of the corresponding mounting seats 132.

[0098] Optionally, the electromagnet 14 may include a plurality of electromagnets 14, and the plurality of electromagnets 14 may be arranged at intervals along the circumference of the brake disc 11. The plurality of electromagnets 14 may form a redundant arrangement to improve the stability of the brake device 10. Meanwhile, in the present invention, when the vehicle having the brake device 10 is in the forward gear and the reverse gear, the same electromagnet 14 may be used for electromagnetic braking, or different electromagnets 14 may be used for electromagnetic braking when the vehicle is in the forward gear and the reverse gear.

[0099] like Figures 9 to 16 As shown, the brake device 10 mainly includes a brake caliper 13, an electromagnet 14, a friction disc 111, a brake coil 12, a coil disc 112, etc., wherein a mounting seat 132 and a cover plate are provided on the brake caliper 13, and a mounting cavity 103 is constructed in the mounting seat 132 and the cover plate, and the electromagnet 14 is installed in the mounting cavity 103. The brake coil 12 is fixedly connected to the coil disc 112 by interference fit, and it is ensured that the brake coil 12 is connected end to end to form a closed annular structure. In order to prevent the brake coil 12 from deflecting itself when subjected to the Ampere force, the cross-section of the brake coil 12 is designed to be an elliptical structure (such as Fig.14 As shown) or other derivative structures that prevent the brake coil 12 from deflecting itself when subjected to the Ampere force.

[0100] like Fig.15 and Fig.16 As shown in the figure, the principle diagram of the electromagnetic brake mechanism is as follows: Fig.16As shown, it is assumed that when the magnet approaches a closed coil (for example, a circular metal ring) and moves to the right (as shown in FIG. Fig.16 When the electromagnetic brake mechanism in the present invention adopts the same principle, when the electromagnet 14 in the electromagnetic brake mechanism is energized to generate an electromagnetic field, the magnetic flux of the brake coil 12 changes during the process from position 12a to position 12b, and the brake coil 12 generates an induced current i. The induced current generates an Ampere force f in the magnetic field, causing the coil to move to the right (Lenz's law: the magnetic field of the induced current always hinders the change of the magnetic flux that causes the induced current). Fig.15 As shown, the Ampere force f prevents the brake coil 12 from approaching the electromagnet 14. The brake coil 12 is fixedly connected to the coil disk 112. The induced current generates an Ampere force f in the magnetic field, which eventually acts on the tangential direction of the coil disk 112, causing the coil disk 112 to form a torque that hinders the rotation of the disk, and eventually causes the coil disk 112 to slow down and stop.

[0101] In addition, the present invention also provides a braking system 100 according to some embodiments.

[0102] like Figure 4 According to an embodiment of the present invention, the braking system 100 comprises: a power supply 20, a braking device 10 and a control device 30, wherein the power supply 20 can provide power for the braking device 10. The braking device 10 is the aforementioned braking device 10, and the control device 30 is respectively connected to the power supply 20 and the braking device 10, and the control device 30 can use the electromagnetic braking mechanism and / or the friction braking mechanism to brake the brake disc 11 according to the brake pedal depth information. Among them, the control device 30 can connect the electromagnet 14 with the power supply 20 to operate the electromagnetic braking and / or connect the brake caliper 13 with the power supply 20 to operate the friction braking according to the brake pedal depth information and the vehicle speed signal. Therefore, at least one of the friction braking mechanism and the electromagnetic braking mechanism can be selected to operate according to different vehicle speeds, brake pedal depth information, etc., so as to provide a stable braking force for the brake disc 11.

[0103] According to the braking system 100 of the embodiment of the present invention, the aforementioned braking device 10 is used, and non-contact braking can be achieved through the electromagnetic braking mechanism, and contact braking can also be achieved through the cooperation of the brake caliper 13 and the brake disc 11. The use of non-contact braking can reduce the wear of the brake disc 11 and reduce the heat generated by friction during braking, thereby improving the service life and stability of the brake disc 11, and the use of contact braking (or friction braking) between the brake caliper 13 and the brake disc 11 can provide a stable braking effect, which is conducive to the stable braking of the vehicle. At the same time, the present invention can choose how to use friction braking and electromagnetic braking according to the brake pedal depth information and vehicle speed signal, etc., which can further improve the braking effect and improve the stability of the vehicle operation during braking.

[0104] Among them, the power source 20 can be a battery, etc. In addition, in some embodiments of the present invention, the brake pedal depth information includes at least one of a brake pedal depth signal and an intelligent control signal. The brake pedal depth signal is a depth signal of the brake pedal assembly 51, which includes a monitoring signal of the brake pedaling rate, and can obtain and detect the driver's braking intention. This signal can be used to determine whether braking is required, whether it is regular braking, or emergency braking. The intelligent control signal can come from the vehicle or other signal sources, and can automatically determine whether the vehicle needs to brake, how much braking force is required, or what type of braking force is required based on the current driving state of the vehicle, or manually determine through other methods other than the brake pedal, to provide braking control for the vehicle's automatic driving, assisted driving, etc.

[0105] like Figure 4 The power supply 20 in the present invention includes multiple power supplies that are independently arranged. Multiple power supplies 20 can ensure that the braking device 10 has sufficient power during the braking process. Through redundant design, the problem of being unable to brake after the power supply 20 is damaged is avoided, and the stability of vehicle braking is ensured, thereby improving the safety of the vehicle. The multiple power supplies 20 can supply power to the braking device 10 at the same time, or selectively supply power to the braking device 10. For example, when one power supply 20 cannot supply power to the braking device 10, it can quickly switch to another power supply 20 to supply power to the braking device 10.

[0106] In addition, the present invention also provides a vehicle, which includes the aforementioned braking system 100.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0111] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A braking device, characterized in that: include: Brake disc (11); A plurality of brake coils (12), wherein the plurality of brake coils (12) are relatively fixedly connected to the brake disc (11), and the plurality of brake coils (12) are arranged along the circumference of the brake disc (11), and the brake coils (12) are configured as closed-loop coils; An electromagnet (14), wherein the electromagnet (14) cooperates with the brake coil (12) to form an electromagnetic brake mechanism. The electromagnet (14) is configured to selectively cause a brake coil that moves along with the brake disc (11) to generate an induced current, so that the brake coil cooperates with the electromagnet to apply a force on the brake disc in the opposite direction of its rotation; the electromagnet comprises a first electromagnet and a second electromagnet, the first electromagnet and the second electromagnet are arranged at intervals along the circumference of the brake disc, and the first electromagnet and the second electromagnet have different braking directions when energized.

2. The braking device according to claim 1, characterized in that: The brake disc (11) is provided with a through hole (102), and the brake coil (12) is a closed-loop coil passing through the through hole (102).

3. The braking device according to claim 2, characterized in that: The brake coil (12) surrounds the circumference of the brake disc (11).

4. The braking device according to claim 2, characterized in that: The through hole (102) is non-circular in shape, the brake coil (12) has an embedded portion (121), and the embedded portion (121) is arranged corresponding to the through hole (102); Wherein, the embedded portion (121) is adapted to the shape of the via hole (102); and / or The brake coil (12) is interference fit with the through hole (102).

5. The braking device according to any one of claims 1 to 4, characterized in that: The electromagnet (14) and the brake coil (12) are opposite to each other in the radial direction or in the axial direction of the brake disc (11).

6. The braking device according to any one of claims 1 to 4, characterized in that: The braking device also includes: A brake caliper (13), wherein the brake caliper (13) cooperates with the brake disc (11) to form a friction brake mechanism.

7. The braking device according to claim 6, characterized in that: The brake disc (11) comprises a friction disc (111) and a coil disc (112); the friction disc (111) is fixedly connected to the coil disc (112); the brake caliper (13) cooperates with the friction disc (111); and the brake coil (12) is arranged on the coil disc (112).

8. The braking device according to claim 6, characterized in that: The brake caliper (13) is integrated with the electromagnet (14).

9. The braking device according to claim 8, characterized in that: The brake caliper (13) comprises: A clamp body (131), wherein a mounting seat (132) is provided on the clamp body (131). The electromagnet is mounted on the mounting seat (132), and at least a portion of the brake coil is directly opposite to the electromagnet along the magnetic field direction of the electromagnet.

10. The braking device according to any one of claims 1 to 4, characterized in that: The electromagnet includes a plurality of electromagnets.

11. A braking method, characterized in that: The braking device of the braking method is configured as a braking device according to any one of claims 1 to 10, and the braking method comprises: Get brake pedal depth information; The braking state of the vehicle is determined according to the brake pedal depth information, and the vehicle is controlled to adopt a corresponding braking strategy to brake the vehicle according to the braking state. Among them, the brake pedal depth information includes brake pedal travel and brake pedal change rate; the braking state includes light braking state, moderate braking state and emergency braking state.

12. The braking method according to claim 11, characterized in that: The “determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state” includes: Get vehicle speed information; When the vehicle is in a light braking state and the vehicle speed is greater than a first threshold, the electromagnetic braking mechanism is controlled to operate to perform electromagnetic braking on the vehicle; When the brake pedal stroke is less than or equal to a first distance and the brake pedal change rate is less than or equal to a first acceleration value, it is determined that the vehicle is in a light braking state.

13. The braking method according to claim 12, characterized in that: When the vehicle speed is less than or equal to the first threshold, the friction brake mechanism is controlled to operate to perform friction braking on the vehicle.

14. The braking method according to claim 11, characterized in that: The “determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state” also includes: Get vehicle speed information. When the vehicle is in a moderate braking state and the vehicle speed is greater than a first threshold, the electromagnetic braking mechanism and the motor are controlled to operate so as to perform electromagnetic braking and motor feedback braking on the vehicle; Among them, when the brake pedal stroke is greater than the first distance and less than the second distance, and the brake pedal change rate is greater than the first acceleration value and less than the second acceleration value, it is determined that the vehicle is in a moderate braking state.

15. The braking method according to claim 14, characterized in that: When the vehicle speed is less than or equal to a first threshold, the friction brake mechanism is controlled to operate.

16. The braking method according to claim 11, characterized in that: The “determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state” also includes: When the vehicle is in an emergency braking state, the electromagnetic brake mechanism, the motor and the friction brake mechanism are controlled to work so as to perform electromagnetic braking, motor feedback braking and friction braking on the vehicle; When the brake pedal forms a distance greater than or equal to the second distance and the brake pedal change rate is greater than or equal to the second acceleration value, it is determined that the vehicle is in an emergency braking state.

17. The braking method according to any one of claims 11 to 16, characterized in that: The method further includes acquiring gear information, and controlling the electromagnetic brake mechanism to be in a forward braking state or a reverse braking state according to the gear information. The gear information includes a forward gear and a reverse gear.

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