Vehicle redundant braking system, control method thereof and vehicle

Abstract

The invention discloses a vehicle redundant braking system and a control method thereof and a vehicle, the system comprises a motor controller and a plurality of motors, the motor controller is respectively connected with the plurality of motors, and the motor controller is used for controlling the plurality of motors to perform regenerative braking based on a motor regenerative braking instruction. According to the vehicle redundant braking system, the control method thereof and the vehicle, the motor controller and the multiple motors are included, the multiple motors are controlled to conduct regenerative braking to conduct wheel anti-lock control through the motor controller based on the motor regenerative braking instruction, additional hardware does not need to be added, and the control cost is reduced. And an electronic parking braking system (EPB) does not need to be combined for wheel anti-lock control, so that the difficulty of redundant braking anti-lock control is reduced, and the safety and efficiency of redundant braking of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to a vehicle redundant braking system and a control method thereof, and a vehicle. Background Art

[0002] With the development of automobile technology, automobiles are gradually moving towards electrification and intelligence, and the automatic driving of new energy vehicles is an important development direction. Automatic driving requires the braking system to have a redundant backup system to ensure that when the brake actuator fails, the automatic driving function can work normally and ensure driving safety. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] The present invention provides a vehicle redundant braking system, comprising a motor controller and a plurality of motors, wherein the motor controller is connected to the plurality of motors respectively, wherein:

[0005] The motor controller is used to control the multiple motors to perform feedback braking based on the motor feedback braking instruction.

[0006] Exemplarily, the vehicle redundant braking system further includes a vehicle controller, which is connected to the motor controller, and is used to receive redundant braking instructions, and issue the motor feedback braking instructions to the motor controller based on the redundant braking instructions.

[0007] Exemplarily, the vehicle redundant braking system also includes an intelligent driving controller and a braking controller, the intelligent driving controller is connected to the braking controller and the vehicle controller respectively, the braking controller is used to send braking fault information to the intelligent driving controller, and the intelligent driving controller is used to send the redundant braking instruction to the vehicle controller based on the braking fault information.

[0008] Exemplarily, the vehicle redundant braking system also includes an engine controller and a battery controller. The vehicle controller is also used to issue an engine shutdown command to the engine controller and a charging restriction release command to the battery controller. The engine shutdown command is used to instruct the engine controller to shut down the engine, and the charging restriction release command is used to instruct the battery controller to release the battery's feedback power limit.

[0009] Exemplarily, the vehicle controller is also used to determine whether the current redundant braking capacity is normal based on the vehicle speed and battery information, and send a redundant braking capacity normal flag or a redundant braking fault flag to the intelligent driving controller.

[0010] Exemplarily, the vehicle controller is further configured to determine whether the wheel is tending to be locked based on the slip rate of the wheel and the deceleration of the vehicle:

[0011] When the wheel is in a locked state, the vehicle controller outputs the motor feedback braking instruction, and the motor feedback braking instruction includes a motor feedback braking torque adjustment instruction.

[0012] The present invention also provides a control method for a vehicle redundant braking system, the vehicle redundant braking system comprising a motor controller and a plurality of motors, the motor controller being connected to the plurality of motors respectively, the control method comprising:

[0013] The motor controller receives a motor feedback braking instruction;

[0014] The motor controller controls the plurality of motors to perform regenerative braking based on the motor regenerative braking instruction.

[0015] Exemplarily, the vehicle redundant braking system further includes a vehicle controller, the vehicle controller is connected to the motor controller, and the control method further includes:

[0016] The vehicle controller receives a redundant braking instruction, and sends the motor feedback braking instruction to the motor controller based on the redundant braking instruction.

[0017] Exemplarily, the vehicle redundant braking system further includes an intelligent driving controller and a braking controller, the intelligent driving controller is connected to the braking controller and the vehicle controller respectively, and the control method further includes:

[0018] The brake controller sends brake fault information to the intelligent driving controller;

[0019] The intelligent driving controller sends the redundant braking instruction to the vehicle controller based on the braking fault information.

[0020] The present invention also provides a vehicle, comprising the above-mentioned vehicle redundant braking system.

[0021] The vehicle redundant braking system and control method thereof, and the vehicle provided by the present invention include a motor controller and multiple motors. The motor controller controls the multiple motors to perform feedback braking to perform wheel anti-lock control based on motor feedback braking instructions. There is no need to add additional hardware, nor is there a need to combine with an electronic parking brake system (EPB) to perform wheel anti-lock control, which reduces the difficulty of redundant braking anti-lock control and improves the safety and efficiency of vehicle redundant braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following drawings of the present invention are used to understand the present invention as part of the present invention. The embodiments of the present invention are shown in the drawings and the description thereof is used to explain the principle of the present invention.

[0023] In the attached figure:

[0024] Figure 1 is a structural block diagram of a vehicle redundant braking system according to an embodiment of the present invention;

[0025] Figure 2 is a flow chart of a control method of a vehicle redundant braking system according to an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of redundant anti-lock braking control according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0028] It should be understood that the present invention can be implemented in different forms and should not be construed as being limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present invention to those skilled in the art. In the accompanying drawings, the sizes and relative sizes of layers and regions may be exaggerated for clarity. The same reference numerals throughout represent the same elements.

[0029] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present invention. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0030] In order to fully understand the present invention, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution proposed by the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0031] The present invention provides a vehicle redundant braking system, such as Figure 1 As shown, it includes a motor controller (MCU) 110 and multiple motors, and the motor controllers are connected to the multiple motors respectively, wherein: the motor controller 110 is used to control the multiple motors to perform feedback braking based on the motor feedback braking instructions.

[0032] In one embodiment, the plurality of motors include a motor configured for each wheel, and the motor controller 110 may be used to control all the motors, thereby achieving control over each wheel.

[0033] In one embodiment, Figure 1 As shown, the vehicle redundant braking system also includes an intelligent driving controller (ADS) 120, a vehicle control unit (VCU) 130, a brake controller (IPB) 140, an engine controller (ECM) 150, and a battery controller (BMS) 160.

[0034] Exemplarily, the vehicle controller 130 is connected to the motor controller 110 , and the vehicle controller 130 is used to receive a redundant braking instruction, and send the motor feedback braking instruction to the motor controller 110 based on the redundant braking instruction.

[0035] Exemplarily, the intelligent driving controller 120 is connected to the brake controller 140 and the vehicle controller 110 respectively, the brake controller 140 is used to send braking fault information to the intelligent driving controller 120, and the intelligent driving controller 120 is used to send the redundant braking instruction to the vehicle controller 130 based on the braking fault information.

[0036] In one embodiment, when the brake controller 140 sends a brake fault message to the intelligent driving controller 120, or when the intelligent driving controller 120 communicates abnormally with the brake controller 140, the intelligent driving controller 120 sends a redundant braking command and a safe parking command to the vehicle controller 130. Among them, the brake fault information includes an IPB longitudinal control interface fault flag, indicating a hydraulic brake fault. The vehicle controller 130 receives the redundant braking command and sends the motor feedback braking command to the motor controller 110 based on the redundant braking command. Among them, the motor feedback braking command includes a motor feedback braking torque adjustment command for adjusting the torque size.

[0037] Exemplarily, the vehicle controller 130 is also used to send an engine shutdown instruction to the engine controller 150 and a charging restriction release instruction to the battery controller 160, wherein the engine shutdown instruction is used to instruct the engine controller 150 to shut down the engine, and the charging restriction release instruction is used to instruct the battery controller 160 to release the battery's feedback power limit.

[0038] In one embodiment, when the intelligent driving controller 120 issues a redundant braking command to the vehicle controller 130, the vehicle controller 130 will immediately issue a request to the engine controller 150 to shut down the engine to instruct the engine controller 150 to shut down the engine and a request to the battery controller 160 to release the charging limit to instruct the battery controller 160 to release the battery feedback power limit, and then the engine controller 150 feeds back the engine shutdown flag to the vehicle controller 130, and the battery controller 160 feeds back the battery feedback power limit flag to the vehicle controller 130. The battery controller 160 increases the battery charge based on the charge limit release command, thereby improving the redundant braking capability of the vehicle controller 130. Turning off the engine is also conducive to increasing the battery charge, thereby improving the redundant braking capability of the vehicle controller 130.

[0039] In one embodiment, the vehicle redundant braking system may optionally include a supercapacitor controller (not shown), which is used to obtain a charging request instruction from the vehicle controller 130. By charging the supercapacitor, the charge amount of the battery is increased, thereby improving the redundant braking capability of the vehicle controller 130. The capacitor controller may also feedback the charge limit to the vehicle controller 130 to avoid charging the capacitor controller in excess of its capacity limit.

[0040] Exemplarily, the vehicle controller 130 is also used to determine whether the current redundant braking capacity is normal based on the acquired vehicle speed and the released feedback limit flag obtained from the battery controller 160, and send a redundant braking capacity normal flag or a redundant braking fault flag to the intelligent driving controller 120.

[0041] Exemplarily, the vehicle controller 130 is further used to determine whether the wheel is in a state of tending to lock based on the slip rate of the wheel and the deceleration of the vehicle: when the wheel is in a state of tending to lock, the vehicle controller 130 outputs the motor feedback braking instruction, and the motor feedback braking instruction includes a motor feedback braking torque adjustment instruction. The slip rate of the wheel and the deceleration of the vehicle can be obtained from a speed sensor and an acceleration sensor installed on the vehicle.

[0042] In one embodiment, the vehicle controller 130 will execute step 1 (comprehensively determine whether the current redundant braking capacity is normal based on the vehicle speed and the information sent by the battery controller 160, and send a redundant braking capacity normal / abnormal flag to the ADS controller), and at the same time, the vehicle controller 130 will execute step 2 (real-time monitoring of the ADS deceleration request and the redundant braking state to determine whether the redundant braking function can be activated normally) and step 3 (real-time monitoring of the slip rate and wheel acceleration and deceleration of each wheel to determine whether the wheel tends to be locked. If the wheel tends to be locked, the hydraulic braking torque is zero, and only the motor feedback braking torque is adjusted to prevent the wheel from locking. If the vehicle is about to stop, it is requested to switch to P gear.)

[0043] Exemplarily, when the intelligent driving controller 120 sends a first deceleration request to the vehicle controller 130, if the brake controller 140 sends a brake fault message to the intelligent driving controller 120 or the intelligent driving controller 120 communicates abnormally with the brake controller 140, the intelligent driving controller 120 sends a second deceleration request to the vehicle controller 130, and the second deceleration is greater than the first deceleration.

[0044] In one embodiment, referring to Figure 3 As shown. Normal response to the 6m / s signal from the intelligent driving controller 120 2 The target deceleration request, the motor feedback braking deceleration normally allocated by the vehicle controller 130 is 4m / s 2 , hydraulic brake deceleration is 2m / s 2 If the IPB longitudinal control interface fails, the intelligent driving controller 120 sends a safe parking command to the vehicle controller 130, and the expected speed is 8m / s 2 The vehicle controller 130 first executes the above steps 1 and 2 (determines whether the current redundant braking capacity is normal and whether the redundant braking function is activated. If the redundant braking capacity is normal and the redundant braking function is activated, the hydraulic braking torque is zero and the motor feedback braking torque is 8m / s 2 ; If the redundant braking capacity is abnormal, a redundant braking fault flag is sent to the body controller. ), then execute the above step 3 (control the motor to feedback the braking torque to prevent the wheels from locking. If the vehicle speed is low, request to switch to P gear.).

[0045] In one embodiment, the body controller (BCM) 170 is used to receive a brake light lighting instruction from the vehicle controller 130 to light the brake lights; it is also used to receive a redundant braking fault flag from the intelligent driving controller 120 to indicate that the deceleration request issued by the intelligent driving controller 120 to the vehicle controller 130 exceeds the redundant braking capacity limit.

[0046] The vehicle redundant braking system provided by the present invention includes a motor controller and multiple motors. The motor controller controls the multiple motors to perform feedback braking to perform wheel anti-lock control based on motor feedback braking instructions. There is no need to add additional hardware, nor is there a need to combine with an electronic parking brake system (EPB) to perform wheel anti-lock control, thereby reducing the difficulty of redundant braking anti-lock control. In addition, redundant braking also coordinates the engine controller and the battery controller to meet deceleration requirements, thereby improving the safety and efficiency of vehicle redundant braking.

[0047] The present invention also provides a control method based on the above-mentioned vehicle redundant braking system, wherein the vehicle redundant braking system comprises a motor controller and a plurality of motors, wherein the motor controller is connected to the plurality of motors respectively. Figure 2 As shown, the control method comprises the following steps:

[0048] Step S210, the motor controller receives a motor feedback braking instruction;

[0049] In step S220 , the motor controller controls the plurality of motors to perform regenerative braking based on the motor regenerative braking instruction.

[0050] Exemplarily, the vehicle redundant braking system also includes a vehicle controller, which is connected to the motor controller. The control method also includes: the vehicle controller receives a redundant braking instruction, and issues the motor feedback braking instruction to the motor controller based on the redundant braking instruction.

[0051] Exemplarily, the vehicle redundant braking system also includes an intelligent driving controller and a braking controller, and the intelligent driving controller is connected to the braking controller and the vehicle controller respectively. The control method also includes: the braking controller sends braking fault information to the intelligent driving controller; and the intelligent driving controller sends the redundant braking instruction to the vehicle controller based on the braking fault information.

[0052] In one embodiment, before step S210, when the brake controller 140 sends a brake fault message to the intelligent driving controller 120, or when the intelligent driving controller 120 communicates abnormally with the brake controller 140, the intelligent driving controller 120 sends a redundant braking instruction and a safe parking instruction to the vehicle controller 130. Among them, the brake fault information includes an IPB longitudinal control interface fault flag, indicating a hydraulic brake fault. The vehicle controller 130 receives the redundant braking instruction and sends the motor feedback braking instruction to the motor controller 110 based on the redundant braking instruction. Among them, the motor feedback braking instruction includes a motor feedback braking torque adjustment instruction for adjusting the torque size.

[0053] In one embodiment, when the intelligent driving controller 120 issues a redundant braking command to the vehicle controller 130, the vehicle controller 130 will immediately issue a request to the engine controller 150 to shut down the engine to instruct the engine controller 150 to shut down the engine and a request to the battery controller 160 to release the charging limit to instruct the battery controller 160 to release the battery feedback power limit, and then the engine controller 150 feeds back the engine shutdown flag to the vehicle controller 130, and the battery controller 160 feeds back the battery feedback power limit flag to the vehicle controller 130. The battery controller 160 increases the battery charge based on the charge limit release command, thereby improving the redundant braking capability of the vehicle controller 130. Turning off the engine is also conducive to increasing the battery charge, thereby improving the redundant braking capability of the vehicle controller 130.

[0054] In one embodiment, the vehicle redundant braking system may optionally include a supercapacitor controller (not shown). When the intelligent driving controller 120 issues a redundant braking command to the vehicle controller 130, the vehicle controller 130 will immediately issue a charging request command to the supercapacitor controller. Charging the supercapacitor is helpful to increase the charge amount of the battery, thereby improving the redundant braking capability of the vehicle controller 130. The capacitor controller may also feedback the charge limit to the vehicle controller 130 to avoid charging the capacitor controller in excess of its capability limit.

[0055] Next, the vehicle controller 130 will execute step 1 (comprehensively determine whether the current redundant braking capacity is normal based on the vehicle speed and the information sent by the battery controller 160, and send a redundant braking capacity normal / abnormal flag to the ADS controller), and at the same time, the vehicle controller 130 will execute step 2 (real-time monitoring of the ADS deceleration request and redundant braking status to determine whether the redundant braking function can be activated normally) and step 3 (real-time monitoring of the slip rate and wheel acceleration and deceleration of each wheel to determine whether the wheel tends to be locked. If the wheel tends to be locked, the hydraulic braking torque is zero, and only the motor feedback braking torque is adjusted to prevent the wheel from locking. If the vehicle is about to stop, it is requested to switch to P gear.)

[0056] Exemplarily, when the intelligent driving controller 120 sends a first deceleration request to the vehicle controller 130, if the brake controller 140 sends a brake longitudinal control interface fault flag to the intelligent driving controller 120 or the intelligent driving controller 120 communicates abnormally with the brake controller 140, the intelligent driving controller 120 sends a second deceleration request to the vehicle controller 130, and the second deceleration is greater than the first deceleration.

[0057] In one embodiment, referring to Figure 3 As shown. Normal response to the 6m / s signal from the intelligent driving controller 120 2 The target deceleration request, the motor feedback braking deceleration normally allocated by the vehicle controller 130 is 4m / s 2 , hydraulic brake deceleration is 2m / s 2 If the IPB longitudinal control interface fails, the intelligent driving controller 120 sends a safe parking command to the vehicle controller 130, and the expected speed is 8m / s 2 The vehicle controller 130 first executes the above steps 1 and 2 (determines whether the current redundant braking capacity is normal and whether the redundant braking function is activated. If the redundant braking capacity is normal and the redundant braking function is activated, the hydraulic braking torque is zero and the motor feedback braking torque is 8m / s 2 ; If the redundant braking capacity is abnormal, a redundant braking fault flag is sent to the body controller. ), then execute the above step 3 (control the motor to feedback the braking torque to prevent the wheels from locking. If the vehicle speed is low, request to switch to P gear.).

[0058] Then, the motor controller controls the plurality of motors to perform regenerative braking based on the motor regenerative braking instruction.

[0059] The present invention also provides a vehicle, comprising the vehicle redundant braking system as described above.

[0060] The vehicle redundant braking system and control method thereof, and the vehicle provided by the present invention include a motor controller and multiple motors. The motor controller controls the multiple motors to perform feedback braking to perform wheel anti-lock control based on motor feedback braking instructions. There is no need to add additional hardware, nor is there a need to combine with an electronic parking brake system (EPB) to perform wheel anti-lock control, thereby reducing the difficulty of redundant braking anti-lock control. In addition, redundant braking also coordinates the engine controller and the battery controller to meet deceleration requirements, thereby improving the safety and efficiency of vehicle redundant braking.

[0061] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0062] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0063] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0064] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0065] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0066] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0067] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0068] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0069] It should be noted that the above embodiments illustrate rather than limit the present application, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0070] The above is only a specific implementation method or an explanation of a specific implementation method of the present application, and the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle redundant braking system, characterized in that: It includes a motor controller and a plurality of motors, wherein the motor controller is connected to the plurality of motors respectively, wherein: The motor controller is used to control the multiple motors to perform feedback braking based on the motor feedback braking instruction.

2. The vehicle redundant braking system according to claim 1, characterized in that: It also includes a vehicle controller, which is connected to the motor controller. The vehicle controller is used to receive redundant braking instructions and send the motor feedback braking instructions to the motor controller based on the redundant braking instructions.

3. The vehicle redundant braking system according to claim 2, characterized in that: It also includes an intelligent driving controller and a braking controller, wherein the intelligent driving controller is connected to the braking controller and the vehicle controller respectively, the braking controller is used to send braking fault information to the intelligent driving controller, and the intelligent driving controller is used to send the redundant braking instruction to the vehicle controller based on the braking fault information.

4. The vehicle redundant braking system according to claim 1, characterized in that: It also includes an engine controller and a battery controller. The vehicle controller is also used to send an engine shutdown command to the engine controller and a charging restriction release command to the battery controller. The engine shutdown command is used to instruct the engine controller to shut down the engine, and the charging restriction release command is used to instruct the battery controller to release the battery's feedback power limit.

5. The vehicle redundant braking system according to claim 3, characterized in that: The vehicle controller is also used to determine whether the current redundant braking capacity is normal based on the vehicle speed and battery information, and send a redundant braking capacity normal flag or a redundant braking fault flag to the intelligent driving controller.

6. The vehicle redundant braking system according to claim 1, characterized in that: The vehicle controller is also used to determine whether the wheel is in a locked state based on the slip rate of the wheel and the deceleration of the vehicle: When the wheel is in a locked state, the vehicle controller outputs the motor feedback braking instruction, and the motor feedback braking instruction includes a motor feedback braking torque adjustment instruction.

7. A control method for a vehicle redundant braking system, characterized in that: The vehicle redundant braking system includes a motor controller and a plurality of motors, wherein the motor controller is connected to the plurality of motors respectively, and the control method includes: The motor controller receives a motor feedback braking instruction; The motor controller controls the plurality of motors to perform regenerative braking based on the motor regenerative braking instruction.

8. The control method according to claim 7, characterized in that: The vehicle redundant braking system further includes a vehicle controller, which is connected to the motor controller. The control method further includes: The vehicle controller receives a redundant braking instruction, and sends the motor feedback braking instruction to the motor controller based on the redundant braking instruction.

9. The control method according to claim 7, characterized in that: The vehicle redundant braking system further includes an intelligent driving controller and a braking controller, wherein the intelligent driving controller is connected to the braking controller and the vehicle controller respectively, and the control method further includes: The brake controller sends brake fault information to the intelligent driving controller; The intelligent driving controller sends the redundant braking instruction to the vehicle controller based on the braking fault information.

10. A vehicle, characterized in that: A vehicle redundant braking system comprising any one of claims 1-6.

Images