Vehicle, drive-brake fusion control device and method for vehicle

Abstract

The application provides a vehicle, a drive-brake fusion control device and method for the vehicle, so as to reduce the drive-brake cost and the arrangement difficulty of the vehicle. The vehicle comprises a first electric machine brake and a second electric machine brake arranged on a first side of the vehicle, a drive system arranged on a second side of the vehicle and having an energy recovery function, and a control device. The control device is used for controlling the left wheel of the first side wheel of the vehicle to brake only by the first electric machine brake and the right wheel of the first side wheel of the vehicle to brake only by the second electric machine brake; and the control device is also used for controlling the left wheel and the right wheel of the second side wheel of the vehicle to brake only by the drive system, wherein the first side and the second side are the front side and the rear side respectively.

Description

Technical Field

[0001] This application relates to the field of automotive drive technology, and in particular to a vehicle, a drive-braking fusion control device and method for a vehicle. Background Technology

[0002] An electric motor brake (EMB) is an electric braking device that uses an electric motor to drive a mechanical piston to brake the wheels. Compared to traditional hydraulic brakes, EMBs offer advantages such as faster response, higher precision, and no risk of fluid leakage, making them widely used in vehicle brakes. Currently, vehicles generally use a drive system for propulsion and brakes for braking, with the drive system and brakes being completely decoupled. Specifically, EMBs are placed at each wheel of the vehicle, with separate drive motors at each wheel. While this design ensures vehicle braking safety, it increases the complexity of the drive brake placement and the cost of the drive brakes. Summary of the Invention

[0003] This application provides a vehicle, a drive-brake fusion control device and method for the vehicle, to reduce drive-brake costs and the difficulty of vehicle layout.

[0004] In a first aspect, this application provides a vehicle, including: a first electric motor brake and a second electric motor brake disposed on a first side of the vehicle, a drive system disposed on a second side of the vehicle and having a cooperative regenerative brake (CRB) function, and a control device. The control device is used to control the left wheel of the first side of the vehicle to be braked only by the first electric motor brake and the right wheel of the first side of the vehicle to be braked only by the second electric motor brake. The control device is also used to control the left and right wheels of the second side of the vehicle to be braked only by the drive system.

[0005] It should be noted that in the above description of the first side and the second side in this application, one side is the front side and the other side is the rear side. Specifically, the first motor brake and the second motor brake can be respectively arranged on the two front wheels of the vehicle and used to brake the front wheels of the vehicle. The drive system can be arranged on the two rear wheels or the rear axle of the vehicle and used to drive or brake the rear wheels of the vehicle. That is, this application can be applied to electric vehicles or hybrid vehicles with driving capability on the rear wheels or the rear axle and with energy recovery function. Alternatively, the first motor brake and the second motor brake can be respectively arranged on the two rear wheels of the vehicle and used to brake the rear wheels of the vehicle. The drive system can be arranged on the two front wheels or the front axle of the vehicle and used to drive or brake the front wheels of the vehicle. That is, this application can be applied to electric vehicles or hybrid vehicles with driving capability on the front wheels or the front axle and with energy recovery function.

[0006] In this application, the regenerative braking function of the drive system can better integrate the drive and braking systems, reducing drive and braking costs and the difficulty of vehicle layout. The first wheel of the vehicle is braked by only two electric motor brakes, while the second wheel is braked by only the drive system. This can supplement the insufficient braking force of the first wheel, solving the problem of insufficient braking force and giving the vehicle a higher level of braking safety.

[0007] In some embodiments of this application, in the event of a failure, the control device is configured to: disable the second motor brake from braking the right wheel of the first side wheel in response to a failure of the first motor brake, and control the drive system to brake the left and right wheels of the second side wheel. In response to a failure of the second motor brake, disable the first motor brake from braking the left wheel of the first side wheel, and control the drive system to brake the left and right wheels of the second side wheel.

[0008] In some embodiments of this application, the drive system may include two drive motors, namely a first drive motor and a second drive motor, and both the first drive motor and the second drive motor must have regenerative braking functionality. The first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle. Specifically, the two drive motors may be two hub motors respectively arranged in the second side wheel of the vehicle, or the two drive motors may be two wheel-side motors respectively arranged on the edge of the second side wheel of the vehicle, or the two drive motors may be two ordinary drive motors arranged on the chassis of the vehicle and transmitting driving torque through an axle. In the event of a failure, the control device is configured to: in response to the failure of the first motor brake, disable the second drive motor from braking the right wheel of the second side wheel, and control the first drive motor to brake the left wheel of the second side wheel and the second motor brake to brake the right wheel of the first side wheel; or, disable the second motor brake from braking the right wheel of the first side wheel, and control the first drive motor and the second drive motor to brake the left and right wheels of the second side wheel respectively. In response to the failure of the second motor brake, the first drive motor is disabled from braking the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel; or, the first motor brake is disabled from braking the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left and right wheels of the second side wheel respectively.

[0009] In some embodiments of this application, when the drive system includes two drive motors, in the event of a failure, the control device is configured to: in response to a failure of the first drive motor, disable the second drive motor from braking the right wheel of the second side wheel, and control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheel respectively. In response to a failure of the second drive motor, disable the first drive motor from braking the left wheel of the second side wheel, and control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheel respectively.

[0010] In some embodiments of this application, in the event of a failure, the control device is configured to: in response to the failure of any one of the first motor brake, the second motor brake, and the drive system, the control device provides a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0011] In some embodiments of this application, when the braking force demand is different, the control device is used to: control the drive system to brake the left and right wheels of the second side wheel in response to the braking force demand indicated by the braking signal being less than a first threshold.

[0012] In some embodiments of this application, when the braking force demand is different, the control device is used to: control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheel in response to the braking force demand indicated by the braking signal being greater than a first threshold and less than a second threshold.

[0013] In some embodiments of this application, when the braking force demand is different, the control device is used to: control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheel and control the drive system to brake the left and right wheels of the second side wheel in response to the braking force demand indicated by the braking signal being greater than a second threshold.

[0014] In some embodiments of this application, when braking force requirements differ, the control device is configured to: control the first and second electric motor brakes to brake the left and right wheels of the first side wheels in response to a braking force requirement indicated by a braking signal being greater than a second threshold and less than a third threshold, and control the drive system to brake the left and right wheels of the second side wheels through energy recovery function. In response to a braking force requirement indicated by a braking signal being greater than the third threshold, control the first and second electric motor brakes to brake the left and right wheels of the first side wheels, and control the drive system to reverse and brake the left and right wheels of the second side wheels.

[0015] Secondly, this application provides a drive-brake fusion control device for a vehicle. The vehicle includes a first electric motor brake, a second electric motor brake, and a drive system with energy recovery function. The drive system includes a first drive motor and a second drive motor. Specifically: the first electric motor brake is used to brake the left wheel of a first side wheel of the vehicle, and the second electric motor brake is used to brake the right wheel of a first side wheel of the vehicle; the first drive motor is used to drive or brake the left wheel of a second side wheel of the vehicle, and the second drive motor is used to drive or brake the right wheel of a second side wheel of the vehicle, wherein the first side and the second side are the front side and the rear side, respectively. In the event of a failure, the control device is used to:

[0016] In response to a failure of the first motor brake, the second drive motor is disabled from braking the right wheel of the second side wheel, and the first drive motor is controlled to brake the left wheel of the second side wheel while the second motor brake is controlled to brake the right wheel of the first side wheel; or, the second motor brake is disabled from braking the right wheel of the first side wheel while the first drive motor and the second drive motor are controlled to brake the left and right wheels of the second side wheel, respectively. In response to a failure of the second motor brake, the first drive motor is disabled from braking the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel while the first motor brake is controlled to brake the left wheel of the first side wheel; or, the first motor brake is disabled from braking the left wheel of the first side wheel while the first drive motor and the second drive motor are controlled to brake the left and right wheels of the second side wheel, respectively.

[0017] In some embodiments of this application, in the event of a failure, the control device may also be used to: in response to the failure of any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor, provide a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0018] In some embodiments of this application, when the braking force demand is different, the control device can be used to: control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheel and control the drive system to brake the left and right wheels of the second side wheel in response to the braking force demand indicated by the braking signal being greater than a second threshold.

[0019] In some embodiments of this application, when braking force requirements differ, the control device can be used to: control the first and second electric motor brakes to brake the left and right wheels of the first side wheels in response to a braking force requirement indicated by a braking signal being greater than a second threshold and less than a third threshold, and control the drive system to brake the left and right wheels of the second side wheels through energy recovery function. Alternatively, in response to a braking force requirement indicated by a braking signal being greater than the third threshold, control the first and second electric motor brakes to brake the left and right wheels of the first side wheels, and control the drive system to reverse and brake the left and right wheels of the second side wheels.

[0020] Thirdly, this application also provides a drive-braking fusion control method for a vehicle. The vehicle includes a first electric motor brake, a second electric motor brake, and a drive system with energy recovery function. The drive system includes a first drive motor and a second drive motor. In the event of a failure, the control method includes: in response to a failure of the first electric motor brake, disabling the second drive motor from braking the right wheel of the second side wheel, and controlling the first drive motor to brake the left wheel of the second side wheel and the second electric motor brake to brake the right wheel of the first side wheel; or, disabling the second electric motor brake from braking the right wheel of the first side wheel, and controlling the first drive motor and the second drive motor to brake the left and right wheels of the second side wheel respectively. In response to a failure of the second electric motor brake, disabling the first drive motor from braking the left wheel of the second side wheel, and controlling the second drive motor to brake the right wheel of the second side wheel and the first electric motor brake to brake the left wheel of the first side wheel; or, disabling the first electric motor brake from braking the left wheel of the first side wheel, and controlling the first drive motor and the second drive motor to brake the left and right wheels of the second side wheel respectively, wherein the first side and the second side are the front side and the rear side, respectively.

[0021] In some embodiments of this application, in the event of a failure, the control method includes: in response to the failure of any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor, providing a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0022] For the technical effects that any possible design in any of the second to third aspects above can achieve, please refer to the description of the technical effects that any possible design in the first aspect above can achieve, which will not be repeated here. Attached Figure Description

[0023] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of this application;

[0024] Figure 2 Another structural schematic diagram of the vehicle provided in this application embodiment;

[0025] Figure 3 Another structural schematic diagram of the vehicle provided in this application embodiment;

[0026] Figure 4 Another structural schematic diagram of the vehicle provided in this application embodiment;

[0027] Figure 5a A schematic diagram illustrating the braking force of the first side wheel of the vehicle provided in the embodiments of this application;

[0028] Figure 5b A schematic diagram illustrating the braking force of the second side wheel of the vehicle provided in the embodiments of this application;

[0029] Figure 6 A schematic diagram illustrating a vehicle response strategy in a braking failure scenario provided in an embodiment of this application;

[0030] Figure 7a A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0031] Figure 7b A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0032] Figure 7c A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0033] Figure 7d A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0034] Figure 8a A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0035] Figure 8b A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0036] Figure 9a A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0037] Figure 9b A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0038] Figure 10a A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0039] Figure 10bA schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0040] Figure 11a A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0041] Figure 11b A schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application;

[0042] Figure 12 This is a schematic diagram illustrating another response strategy for a vehicle in a braking failure scenario, as provided in an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the application will now be described in further detail with reference to the accompanying drawings.

[0044] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more” unless the context clearly indicates otherwise.

[0045] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0046] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0047] The vehicle's drive system and braking system, as core components, directly determine the vehicle's performance.

[0048] Figure 1 An exemplary schematic diagram of a vehicle provided in an embodiment of this application is shown.

[0049] Reference Figure 1The vehicle provided in this application embodiment may specifically include: a first electric motor brake 11 (EMB) for braking the left wheel of the first side wheel of the vehicle, a second electric motor brake 12 for braking the right wheel of the first side wheel of the vehicle, a drive system 2 for driving the second side wheel of the vehicle, and a control device 3 for controlling the first electric motor brake 11, the second electric motor brake 12, and the drive system 2. The first electric motor brake 11 and the second electric motor brake 12 are located on the first side of the vehicle, and the first electric motor brake 11 and the second electric motor brake 12 are electric braking devices that use a motor to drive a mechanical piston to brake the corresponding wheel. The drive system 2 is located on the second side of the vehicle and has a cooperative regenerative brake (CRB) function. The control device 3 can control the left wheel of the first side wheel of the vehicle to be braked only by the first electric motor brake 11, and control the right wheel of the first side wheel of the vehicle to be braked only by the second electric motor brake 12. The control device 3 can also control the left and right wheels of the second side wheel of the vehicle to be braked only by the drive system 2.

[0050] In this embodiment, the vehicle is applied to a two-axle automobile, which includes two front wheels and two rear wheels. The two front wheels are a front left (FL) wheel and a front right (FR) wheel, and the two rear wheels are a rear left (RL) wheel and a rear right (RR) wheel. It should be noted that in the above description of the first and second sides in this application, one side is the front side and the other side is the rear side. Specifically, refer to... Figure 1 The first electric motor brake 11 and the second electric motor brake 12 can be respectively arranged on the two front wheels of the vehicle and used to brake the front wheels of the vehicle. The drive system 2 can be arranged on the two rear wheels or the rear axle of the vehicle and used to drive or brake the rear wheels of the vehicle. That is, this application can be applied to electric vehicles or hybrid vehicles with driving capability on the rear wheels or the rear axle and with energy recovery function. Alternatively, the first electric motor brake 11 and the second electric motor brake 12 can be respectively arranged on the two rear wheels of the vehicle and used to brake the rear wheels of the vehicle. The drive system 2 can be arranged on the two front wheels or the front axle of the vehicle and used to drive or brake the front wheels of the vehicle. That is, this application can be applied to electric vehicles or hybrid vehicles with driving capability on the front wheels or the front axle and with energy recovery function.

[0051] In this application, the regenerative braking function of the drive system 2 can better integrate the drive braking system, reducing drive braking costs and the difficulty of vehicle layout. The first wheel of the vehicle is braked by only two electric motor brakes, while the second wheel of the vehicle is braked by only the drive system. This can supplement the insufficient braking force of the first wheel, solving the problem of insufficient braking force and giving the vehicle a higher level of braking safety.

[0052] Figure 2 An exemplary schematic diagram of another vehicle structure provided in an embodiment of this application is shown.

[0053] Reference Figure 2 In some embodiments of this application, the drive system 2 may include two drive motors, namely a first drive motor 21 and a second drive motor 22, and both the first drive motor 21 and the second drive motor 22 must have regenerative braking function. The first drive motor 21 is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor 22 is used to drive or brake the right wheel of the second side wheel of the vehicle. Specifically, the two drive motors may be two hub motors respectively arranged in the second side wheel of the vehicle, or the two drive motors may be two wheel-side motors respectively arranged on the edge of the second side wheel of the vehicle, or the two drive motors may be two ordinary drive motors arranged on the chassis of the vehicle and transmitting driving torque through an axle.

[0054] Figure 3 An exemplary schematic diagram of another vehicle structure provided in an embodiment of this application is shown.

[0055] Reference Figure 3 In other embodiments of this application, the drive system 2 may also be a drive motor, namely a third drive motor 23, and the third drive motor 23 has a braking energy recovery function. The third drive motor 23 is used to simultaneously drive or brake the left and right wheels of the second side wheels of the vehicle. Specifically, the third drive motor 23 may be a conventional drive motor arranged on the chassis and transmitting driving torque through the shaft and differential.

[0056] Figure 4 An exemplary schematic diagram of another vehicle structure provided in an embodiment of this application is shown.

[0057] Reference Figure 4In some embodiments of this application, the control device 3 may include a brake controller 31 and a drive controller 32. The brake controller 31 may receive a brake signal output from the brake pedal 41. The brake pedal 41 is generally located inside the vehicle body and can output a brake signal in response to the driver's pedal operation. The brake signal includes travel information or pedal force. In some implementations, the brake pedal 41 may include a pedal body and a pedal travel sensor, which is used to detect and output the travel information of the brake pedal 41. Furthermore, depending on the driver's pedal operation, such as light, moderately light, moderately heavy, and heavy pedal operations, the pedal travel sensor detects different travel information of the brake pedal 41 and can compare the travel information with different set thresholds to determine the corresponding pedal operation, thereby generating a corresponding brake signal. When the brake pedal 41 generates a brake signal, it is transmitted to the brake controller 31, which calculates the braking force required to be allocated to the drive system 2 and the braking force required to be generated by the first motor brake 11 and the second motor brake 12, and generates a corresponding braking command. The brake controller 31 can directly control the first motor brake 11 and the second motor brake 12 to generate corresponding drive currents to meet the required braking force. The brake controller 31 can send corresponding braking commands to the drive controller 32. The drive controller 32, based on the corresponding braking commands, generates a regenerative braking command and controls the drive system 2 to generate a current to meet the required braking force. The drive controller 32 can also receive drive signals output from the drive pedal 42. The drive pedal 42 is generally also located inside the vehicle body and can output drive signals in response to the driver's pedal operation. When the drive pedal 42 generates a drive signal, it is transmitted to the drive controller 32, which calculates the required drive current for the drive system 2 and generates corresponding drive commands. The drive system 2 can then generate corresponding drive torque to produce driving force based on the drive commands.

[0058] The braking signal generated by the brake pedal 41 is generated in manual driving mode. In automatic driving mode, the brake controller 31 can also receive braking signals from the upper-level controller, and the brake controller 31 can perform corresponding operations based on these braking signals. Similarly, the drive signal generated by the drive pedal 42 is generated in manual driving mode. In automatic driving mode, the drive controller 32 can also receive drive signals from the upper-level controller, and the drive controller 32 can perform corresponding operations based on these drive signals.

[0059] Figure 5a An exemplary diagram illustrating the provision of braking force on the first side wheel of a vehicle according to an embodiment of this application is shown; Figure 5bAn exemplary schematic diagram of a vehicle providing braking force to the second side wheel is shown in an embodiment of this application.

[0060] The vehicle provided in this application embodiment can perform driving and braking operations according to driving intentions. Specifically, under normal driving conditions, the driving system 2 can provide driving force, and under braking scenarios, refer to... Figure 5a The first wheel can be braked by two electric motor brakes, see reference. Figure 5b The second wheel can preferentially receive braking force from the regenerative braking function of drive system 2, with any insufficient braking force supplemented by the reverse (negative) torque of drive system 2. Furthermore, this application can set corresponding braking response modes according to different braking scenarios to ensure sufficient regenerative braking in normal braking scenarios and adequate braking force in emergency braking scenarios.

[0061] In some embodiments of this application, in response to a braking force requirement indicated by a braking signal being less than a first threshold, the control device 3 can control the drive system 2 to brake the left and right wheels of the second side wheels to meet the braking requirement. Specifically, when the driver lightly presses the brake pedal 41, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a braking signal indicating that the braking force requirement is less than the first threshold and transmit it to the brake controller 31. Alternatively, in autonomous driving mode, the brake controller 31 can receive a braking signal indicating that the braking force requirement is less than the first threshold sent from the upper-level controller. The brake controller 31 determines that the braking energy recovery function of the drive system 2 can meet the braking requirement based on the braking signal, and can then generate a first braking command based on the braking signal and send the first braking command to the drive controller 32. The drive controller 32 can control the drive system 2 to provide braking force through the braking energy recovery function according to the first braking command.

[0062] In some embodiments of this application, in response to a braking force demand indicated by a braking signal that is greater than a first threshold and less than a second threshold, the control device 3 can control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side wheel to meet the braking demand. Specifically, when the driver lightly presses the brake pedal 41, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a braking signal indicating that the braking force demand is greater than the first threshold and less than the second threshold and transmit it to the brake controller 31. Alternatively, in autonomous driving mode, the brake controller 31 can receive a braking signal from the upper-level controller indicating that the braking force demand is greater than the first threshold and less than the second threshold. Based on this braking signal, the brake controller 31 determines that the first motor brake 11 and the second motor brake 12 can meet the braking demand, and can then directly control the first motor brake 11 and the second motor brake 12 to increase the drive current of the motors to increase the braking force at the wheel ends.

[0063] In some embodiments of this application, in response to the braking force demand indicated by the braking signal being greater than a second threshold, the control device 3 can control the drive system 2 to brake the left and right wheels of the second side wheel, and simultaneously control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side wheel to meet the braking demand.

[0064] Specifically, in some embodiments of this application, in response to a braking force demand indicated by a braking signal that is greater than a second threshold and less than a third threshold, the control device 3 can control the drive system 2 to brake the left and right wheels of the second side wheels through energy recovery function, while simultaneously controlling the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side wheels to meet the braking demand. For example, when the driver presses the brake pedal 41 more heavily, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a braking signal indicating a braking force demand greater than the second threshold and less than the third threshold, and transmit it to the brake controller 31. Alternatively, in autonomous driving mode, the brake controller 31 can receive a braking signal from the upper-level controller indicating a braking force demand greater than the second threshold and less than the third threshold. After calculating the braking force required for the regenerative braking function of the drive system 2 and the braking force required for the first motor brake 11 and the second motor brake 12 based on the braking signal, the brake controller 31 can directly control the first motor brake 11 and the second motor brake 12 to increase the drive current of the motors to increase the braking force at the wheel ends. Simultaneously, the brake controller 31 needs to generate a second braking command and send it to the drive controller 32. The drive controller 32, based on the second braking command, controls the drive system 2 to generate a current through the regenerative braking function to simultaneously provide the corresponding braking force.

[0065] Specifically, in some embodiments of this application, in response to a braking force demand indicated by a braking signal exceeding a third threshold, the control device 3 can control the drive system 2 to reverse the braking of the left and right wheels of the second side wheels, and control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side wheels to meet the braking demand. For example, when the driver presses the brake pedal 41 hard, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41, and the brake pedal 41 can generate a braking signal indicating a braking force demand exceeding the third threshold and transmit it to the brake controller 31. Alternatively, in autonomous driving mode, the brake controller 31 can receive a braking signal indicating a braking force demand exceeding the third threshold sent from the upper-level controller. After calculating the required braking force to be allocated to the drive system 2 and the required braking force to be generated by the first motor brake 11 and the second motor brake 12 based on the braking signal, the brake controller 31 can directly control the first motor brake 11 and the second motor brake 12 to increase the drive current of the motors to increase the braking force at the wheel ends. At the same time, the brake controller 31 needs to generate a third braking command and send the third braking command to the drive controller 32. The drive controller 32 controls the drive system 2 to generate a power generation current based on the third braking command to reverse the torque, so as to provide a greater reverse braking force.

[0066] It is worth noting that the specific values ​​of the first threshold, the second threshold, and the third threshold mentioned above can be set according to actual needs. Generally, the first threshold is less than the second threshold, and the second threshold is less than the third threshold.

[0067] This application can also set corresponding response strategies according to different braking failure scenarios to ensure smooth vehicle braking.

[0068] Figure 6 An exemplary diagram illustrates a response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application.

[0069] Reference Figure 6 In some embodiments of this application, when the first motor brake 11 and the second motor brake 12 fail simultaneously, the drive system 2 can be controlled to provide braking force. That is, when the left and right wheels of the first side wheels fail simultaneously, the left and right wheels of the second side wheels can be controlled to perform the same deceleration process. Furthermore, when the braking force generated by the drive system 2 is insufficient to meet the deceleration requirement corresponding to the braking signal generated by the brake pedal 41, the vehicle can also be decelerated through redundant braking or an electronic parking brake (EPB) system.

[0070] When a single-sided motor brake fails, different coping strategies can be adopted for different drive system architectures.

[0071] Figure 7a An exemplary diagram illustrates another response strategy for a vehicle in a braking failure scenario provided by an embodiment of this application; Figure 7b An exemplary diagram illustrates another response strategy for a vehicle in a braking failure scenario provided by an embodiment of this application; Figure 7c An exemplary diagram illustrates another response strategy for a vehicle in a braking failure scenario provided by an embodiment of this application; Figure 7d An exemplary schematic diagram illustrates another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application.

[0072] In some embodiments of this application, when the drive system 2 includes two drive motors, namely a first drive motor 21 and a second drive motor 22, if the brake on one side of the motor fails, the diagonally opposite drive motor can be controlled to stop working in order to ensure smooth braking of the vehicle. (Refer to...) Figure 7a When the first motor brake 11 fails, the control device 3 can disable the second drive motor 22 from braking the right wheel of the second side wheel, and use the second motor brake 12 and the first drive motor 21 to provide the same braking force. That is, when the left wheel of the first side wheel fails to brake, the control device 3 can stop the braking of the right wheel of the second side wheel, control the first drive motor 21 to brake the left wheel of the second side wheel and the second motor brake 12 to brake the right wheel of the first side wheel, thus decelerating the right wheel of the first side wheel and the left wheel of the second side wheel. (Refer to...) Figure 7b When the second motor brake 12 fails, the control device 3 can disable the first drive motor 21 from braking the left wheel of the second side wheel, and use the first motor brake 11 and the second drive motor 22 to provide braking force. That is, when the braking of the right wheel of the first side wheel fails, the control device 3 can control the braking of the left wheel of the second side wheel to stop, control the first motor brake 11 to brake the left wheel of the first side wheel and the second drive motor 22 to brake the right wheel of the second side wheel, thereby decelerating the left wheel of the first side wheel and the right wheel of the second side wheel.

[0073] In other embodiments of this application, when the drive system 2 includes two drive motors, namely a first drive motor 21 and a second drive motor 22, if the brake on one side of the motor fails, in order to brake the vehicle smoothly, the control device of the motor on the same side can be controlled to stop working, and the first drive motor 21 and the second drive motor 22 can provide the same braking force. (Refer to...) Figure 7cWhen the first motor brake 11 fails, the control device 3 can disable the second motor brake 12 from braking the right wheel of the first side wheel, and the first drive motor 21 and the second drive motor 22 will each provide the same braking force. That is, when the left wheel of the first side wheel fails to brake, the control device 3 can stop the braking of the right wheel of the first side wheel, control the first drive motor 21 to brake the left wheel of the second side wheel and the second drive motor 22 to brake the right wheel of the second side wheel, thus decelerating the left and right wheels of the second side wheel. (Refer to...) Figure 7d When the second motor brake 12 fails, the control device 3 can disable the first motor brake 11 from braking the left wheel of the first side wheel, and use the first drive motor 21 and the second drive motor 22 to provide the same braking force through the brake energy recovery function. That is, when the brake of the right wheel of the first side wheel fails, the braking of the left wheel of the first side wheel can be stopped, and the first drive motor 21 can be controlled to brake the left wheel of the second side wheel and the second drive motor 22 can be controlled to brake the right wheel of the second side wheel, thereby decelerating the left and right wheels of the second side wheel.

[0074] Figure 8a An exemplary diagram illustrates another response strategy for a vehicle in a braking failure scenario provided by an embodiment of this application; Figure 8b An exemplary schematic diagram illustrates another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application.

[0075] In some embodiments of this application, when the drive system 2 is a single drive motor, namely a third drive motor 23, if the brake on one side of the motor fails, in order to ensure smooth braking of the vehicle, the motor control device on the same side can be stopped, and the regenerative braking function of the third drive motor 23 can be used to provide the same braking force to the left and right wheels of the second side wheel. (Refer to...) Figure 8a When the first motor brake 11 fails, the control device 3 can disable the second motor brake 12 from braking the right wheel of the first side wheel, and use the third drive motor 23 to provide braking force. That is, when the left wheel brake of the first side wheel fails, the control device 3 can stop the braking of the right wheel of the first side wheel, and control the drive system 2 to brake the left and right wheels of the second side wheel, applying the same deceleration treatment to the left and right wheels of the second side wheel. (Refer to...) Figure 8b When the second motor brake 12 fails, the control device 3 can disable the first motor brake 11 from braking the left wheel of the first side wheel, and use the third drive motor 23 to provide braking force. That is, when the brake of the right wheel of the first side wheel fails, the control device 3 can control the brake of the left wheel of the first side wheel to stop working, and control the drive system 2 to brake the left and right wheels of the second side wheel, and perform the same deceleration process on the left and right wheels of the second side wheel.

[0076] Figure 9aAn exemplary diagram illustrates another response strategy for a vehicle in a braking failure scenario provided by an embodiment of this application; Figure 9b An exemplary schematic diagram illustrates another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application.

[0077] In other embodiments of this application, when a single-sided motor brake fails, the steering system can be used to increase the steering angle to achieve smooth braking of the vehicle. (See also...) Figure 9a When the first motor brake 11 fails, the control device 3 uses the second motor brake 12 and the drive system 2 to provide braking force. The control device 3 also provides a correction angle signal to the steering system, causing the steering system to increase the steering angle of the steering wheel to compensate for the torque generated by the failure of the first motor brake 11. That is, when the left wheel of the first side wheel fails to brake, the right wheel of the first side wheel, and the left and right wheels of the second side wheel can be decelerated, and the steering angle of the steering wheel can be increased. (Refer to...) Figure 9b When the second motor brake 12 fails, the control device 3 uses the first motor brake 11 and the drive system 2 to provide braking force. The control device 3 also provides a correction angle signal to the steering system, causing the steering system to increase the steering angle of the steering wheel to compensate for the torque generated by the failure of the second motor brake 12. That is, when the right wheel of the first side wheel fails to brake, the left wheel of the first side wheel, the left wheel of the second side wheel, and the right wheel can be decelerated, and the steering angle of the steering wheel can be increased.

[0078] Figure 10a An exemplary diagram illustrates another response strategy for a vehicle in a braking failure scenario provided by an embodiment of this application; Figure 10b An exemplary schematic diagram illustrates another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application.

[0079] In some embodiments of this application, when the drive system 2 includes two drive motors, namely a first drive motor 21 and a second drive motor 22, if one drive motor fails, the other drive motor can be controlled to stop working in order to ensure smooth braking of the vehicle. (Refer to...) Figure 10a When the first drive motor 21 fails, the control device 3 can disable the second drive motor 22 from braking the right wheel of the second side wheel, and use the first motor brake 11 and the second motor brake 12 to provide the same braking force. That is, when the braking of the left wheel of the second side wheel fails, the braking of the right wheel of the second side wheel can be stopped, and the first motor brake 11 and the second motor brake 12 can be controlled to brake the left and right wheels of the first side wheel respectively, thereby decelerating the left and right wheels of the first side wheel. (Refer to...) Figure 10bWhen the second drive motor 22 fails, the control device 3 can disable the first drive motor 21 from braking the left wheel of the second side wheel, and use the first motor brake 11 and the second motor brake 12 to provide the same braking force. That is, when the braking of the right wheel of the second side wheel fails, the braking of the left wheel of the second side wheel can be stopped, and the first motor brake 11 and the second motor brake 12 can be controlled to brake the left and right wheels of the first side wheel respectively, thereby decelerating the left and right wheels of the first side wheel.

[0080] Figure 11a An exemplary diagram illustrates another response strategy for a vehicle in a braking failure scenario provided by an embodiment of this application; Figure 11b An exemplary schematic diagram illustrates another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application.

[0081] In some embodiments of this application, when the drive system 2 includes two drive motors, namely a first drive motor 21 and a second drive motor 22, if one drive motor fails, the steering system can be used to increase the steering angle to enable smooth braking of the vehicle. (Refer to...) Figure 11a When the first drive motor 21 fails, the control device 3 uses the first motor brake 11, the second motor brake 12, and the second drive motor 22 to provide braking force. The control device 3 also provides a correction angle signal to the steering system, causing the steering system to increase the steering angle of the steering wheel to compensate for the torque generated by the failure of the first drive motor 21. That is, when the left wheel of the second side fails to brake, the right wheel of the second side, the left wheel of the first side, and the right wheel can be decelerated, and the steering angle of the steering wheel can be increased. (Refer to...) Figure 11b When the second drive motor 22 fails, the control device 3 uses the first motor brake 11, the second motor brake 12, and the first drive motor 21 to provide braking force. The control device 3 also provides a correction angle signal to the steering system, causing the steering system to increase the steering angle of the steering wheel to compensate for the torque generated by the failure of the second drive motor 22. That is, when the right wheel of the second side wheel fails to brake, the left wheel of the second side wheel, the left wheel of the first side wheel, and the right wheel can be decelerated, and the steering angle of the steering wheel can be increased.

[0082] Figure 12 An exemplary schematic diagram illustrates another response strategy for a vehicle in a braking failure scenario provided in an embodiment of this application.

[0083] Reference Figure 12In some embodiments of this application, when the drive system 2 fails—that is, when the drive system 2 includes two drive motors, namely the first drive motor 21 and the second drive motor 22, both drive motors fail simultaneously, or when the drive system 2 consists of one drive motor, namely the third drive motor 23, the third drive motor 23 fails—then the first motor brake 11 and the second motor brake 12 can be controlled to provide the same braking force, allowing the vehicle to brake smoothly. Specifically, when the braking of the left and right wheels of the second side fails simultaneously, controlling the first motor brake 11 and the second motor brake 12 to brake the left and right wheels of the first side respectively allows the left and right wheels of the first side to undergo the same deceleration process.

[0084] The embodiments of this application propose that the above-described vehicle can be applied to electric vehicles or hybrid vehicles with regenerative braking function.

[0085] Based on the same inventive concept, this application also provides a drive-brake fusion control device for a vehicle. The vehicle being driven and controlled includes a first electric motor brake, a second electric motor brake, and a drive system with energy recovery function. The drive system includes a first drive motor and a second drive motor. Specifically: the first electric motor brake is used to brake the left wheel of the vehicle's first side wheel, and the second electric motor brake is used to brake the right wheel of the vehicle's first side wheel; the first drive motor is used to drive or brake the left wheel of the vehicle's second side wheel, and the second drive motor is used to drive or brake the right wheel of the vehicle's second side wheel, wherein the first side and the second side are the front side and the rear side, respectively.

[0086] In the event of a failure, the control device is used to:

[0087] In response to the failure of the first motor brake, the second drive motor is disabled from braking the right wheel of the second side wheel, and the first drive motor is controlled to brake the left wheel of the second side wheel and the second motor brake is controlled to brake the right wheel of the first side wheel; or, the second motor brake is disabled from braking the right wheel of the first side wheel and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively.

[0088] In response to the failure of the second motor brake, the first drive motor is disabled from braking the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel; or, the first motor brake is disabled from braking the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively.

[0089] In some embodiments of this application, in the event of a failure, the control device may also be used to:

[0090] In response to the failure of any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor, a correction angle signal is provided to the steering system so that the steering system can compensate for the steering angle.

[0091] In some embodiments of this application, the control device can be used to address different braking force requirements:

[0092] In response to a braking force demand exceeding a second threshold indicated by a braking signal, the system controls the first and second motor brakes to brake the left and right wheels of the first side wheel, and controls the drive system to brake the left and right wheels of the second side wheel.

[0093] In some embodiments of this application, the control device can be used to address different braking force requirements:

[0094] In response to a braking force demand indicated by a braking signal exceeding a second threshold and falling below a third threshold, the system controls the first and second electric motor brakes to brake the left and right wheels of the first side wheels, and controls the drive system to brake the left and right wheels of the second side wheels via energy recovery. In response to a braking force demand indicated by a braking signal exceeding the third threshold, the system controls the first and second electric motor brakes to brake the left and right wheels of the first side wheels, and controls the drive system to reverse and brake the left and right wheels of the second side wheels.

[0095] Thirdly, this application also provides a drive-braking fusion control method for a vehicle. The vehicle includes a first electric motor brake, a second electric motor brake, and a drive system with energy recovery function. The drive system includes a first drive motor and a second drive motor.

[0096] In the event of a failure, the control method includes: in response to a failure of the first motor brake, disabling the second drive motor from braking the right wheel of the second side wheel, and controlling the first drive motor to brake the left wheel of the second side wheel and the second motor brake to brake the right wheel of the first side wheel; or disabling the second motor brake from braking the right wheel of the first side wheel and controlling the first drive motor and the second drive motor to brake the left and right wheels of the second side wheel respectively.

[0097] In response to the failure of the second motor brake, the first drive motor is disabled from braking the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel; or, the first motor brake is disabled from braking the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively, wherein the first side and the second side are the front side and the rear side respectively.

[0098] In some embodiments of this application, in the event of a failure, the control method includes: in response to the failure of any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor, providing a correction angle signal to the steering system so that the steering system compensates for the steering angle.

[0099] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of protection of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle, characterized in that, The vehicle includes: a first electric motor brake, a second electric motor brake, a drive system with energy recovery function, and a control device, wherein: The first motor brake and the second motor brake are disposed on the first side of the vehicle. The control device is used to control the left wheel of the first side wheel of the vehicle to be braked only by the first motor brake and the right wheel of the first side wheel of the vehicle to be braked only by the second motor brake. The drive system is located on the second side of the vehicle, and the control device is used to control the left and right wheels of the second side of the vehicle to be braked only by the drive system, wherein the first side and the second side are the front side and the rear side, respectively. The control device is used for: In response to the failure of the first motor brake, the second motor brake is disabled to brake the right wheel of the first side wheel, and the drive system is controlled to brake the left and right wheels of the second side wheel; In response to the failure of the second motor brake, the first motor brake is disabled from braking the left wheel of the first side wheel, and the drive system is controlled to brake the left and right wheels of the second side wheel.

2. The vehicle as described in claim 1, characterized in that, The drive system includes a first drive motor and a second drive motor, wherein: The first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle; The second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle; The control device is used for: In response to the failure of the first motor brake, the second drive motor is disabled from braking the right wheel of the second side wheel, and the first drive motor is controlled to brake the left wheel of the second side wheel and the second motor brake is controlled to brake the right wheel of the first side wheel, or the second motor brake is disabled from braking the right wheel of the first side wheel and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively. In response to the failure of the second motor brake, the first drive motor is disabled from braking the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel, or the first motor brake is disabled from braking the left wheel of the first side wheel and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively.

3. The vehicle as described in claim 2, characterized in that, The control device is used for: In response to the failure of the first drive motor, the second drive motor is disabled from braking the right wheel of the second side wheel, and the first motor brake and the second motor brake are controlled to brake the left wheel and the right wheel of the first side wheel respectively. In response to the failure of the second drive motor, the first drive motor is disabled from braking the left wheel of the second side wheel, and the first motor brake and the second motor brake are controlled to brake the left wheel and the right wheel of the first side wheel respectively.

4. The vehicle as described in any one of claims 1-3, characterized in that, The control device is used for: In response to the failure of any one of the first motor brake, the second motor brake, and the drive system, the control device provides a correction angle signal to the steering system to compensate for the steering angle.

5. The vehicle as described in any one of claims 1-3, characterized in that, The control device is used for: In response to a braking force requirement indicated by a braking signal being less than a first threshold, the drive system is controlled to brake the left and right wheels of the second side wheel.

6. The vehicle as described in any one of claims 1-3, characterized in that, The control device is used for: In response to a braking force demand indicated by a braking signal that is greater than a first threshold and less than a second threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheel.

7. The vehicle as described in any one of claims 1-3, characterized in that, The control device is used for: In response to a braking force demand exceeding a second threshold indicated by a braking signal, the first and second motor brakes are controlled to brake the left and right wheels of the first side wheel, and the drive system is controlled to brake the left and right wheels of the second side wheel.

8. The vehicle as described in any one of claims 1-3, characterized in that, The control device is used for: In response to a braking force demand indicated by a braking signal that is greater than a second threshold and less than a third threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheel, and the drive system is controlled to brake the left and right wheels of the second side wheel through the energy recovery function. In response to a braking force demand exceeding a third threshold indicated by a braking signal, the first and second motor brakes are controlled to brake the left and right wheels of the first side wheel, and the drive system is controlled to reverse and brake the left and right wheels of the second side wheel.

9. A drive-brake fusion control device for a vehicle, characterized in that, The vehicle includes a first electric motor brake, a second electric motor brake, and a drive system with energy recovery function, wherein: The first motor brake is used to brake the left wheel of the first side wheel of the vehicle; The second motor brake is used to brake the right wheel of the first side wheel of the vehicle; The drive system includes a first drive motor and a second drive motor. The first drive motor is used to drive or brake the left wheel of the second side wheel of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side wheel of the vehicle. The first side and the second side are the front side and the rear side, respectively. The control device is used for: In response to the failure of the first motor brake, the second drive motor is disabled from braking the right wheel of the second side wheel, and the first drive motor is controlled to brake the left wheel of the second side wheel and the second motor brake is controlled to brake the right wheel of the first side wheel, or the second motor brake is disabled from braking the right wheel of the first side wheel and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively. In response to the failure of the second motor brake, the first drive motor is disabled from braking the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel, or the first motor brake is disabled from braking the left wheel of the first side wheel and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively.

10. The drive-brake fusion control device for a vehicle as described in claim 9, characterized in that, The control device is used for: In response to the failure of any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor, a correction angle signal is provided to the steering system to compensate for the steering angle.

11. The drive-brake fusion control device for a vehicle as described in claim 9 or 10, characterized in that, The control device is used for: In response to a braking force demand exceeding a second threshold indicated by a braking signal, the first and second motor brakes are controlled to brake the left and right wheels of the first side wheel, and the drive system is controlled to brake the left and right wheels of the second side wheel.

12. The drive-brake fusion control device for a vehicle as described in claim 9 or 10, characterized in that, The control device is used for: In response to a braking force demand indicated by a braking signal that is greater than a second threshold and less than a third threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels of the first side wheel, and the drive system is controlled to brake the left and right wheels of the second side wheel through the energy recovery function. In response to a braking force demand exceeding a third threshold indicated by a braking signal, the first and second motor brakes are controlled to brake the left and right wheels of the first side wheel, and the drive system is controlled to reverse and brake the left and right wheels of the second side wheel.

13. A method for fusion control of drive and braking in a vehicle, characterized in that, The vehicle includes: a first electric motor brake, a second electric motor brake, and a drive system with energy recovery function. The first electric motor brake is used to brake the left wheel of the vehicle's first side wheel, and the second electric motor brake is used to brake the right wheel of the vehicle's first side wheel. The drive system includes a first drive motor and a second drive motor. The first drive motor is used to drive or brake the left wheel of the vehicle's second side wheel, and the second drive motor is used to drive or brake the right wheel of the vehicle's second side wheel. The first side and the second side are the front side and the rear side, respectively. The method includes: In response to the failure of the first motor brake, the second drive motor is disabled from braking the right wheel of the second side wheel, and the first drive motor is controlled to brake the left wheel of the second side wheel and the second motor brake is controlled to brake the right wheel of the first side wheel, or the second motor brake is disabled from braking the right wheel of the first side wheel and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively. In response to the failure of the second motor brake, the first drive motor is disabled from braking the left wheel of the second side wheel, and the second drive motor is controlled to brake the right wheel of the second side wheel and the first motor brake is controlled to brake the left wheel of the first side wheel, or the first motor brake is disabled from braking the left wheel of the first side wheel, and the first drive motor and the second drive motor are controlled to brake the left wheel and the right wheel of the second side wheel respectively, wherein the first side and the second side are the front side and the rear side respectively.

14. The drive-braking fusion control method for a vehicle as described in claim 13, characterized in that, The method includes: In response to the failure of any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor, a correction angle signal is provided to the steering system to compensate for the steering angle.

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