Vehicle redundancy braking system and control method thereof, vehicle

Abstract

The application discloses a vehicle redundancy braking system, a control method thereof and a vehicle, the system comprises a motor controller and a plurality of motors, the motor controller is connected with the plurality of motors respectively, wherein: the motor controller is used for controlling the plurality of motors to perform feedback braking based on a motor feedback braking instruction. According to the vehicle redundancy braking system, the control method thereof and the vehicle, the motor controller is used for controlling the plurality of motors to perform feedback braking based on a motor feedback braking instruction, wheel anti-lock control is performed, additional hardware is not needed, and the wheel anti-lock control is not needed to be combined with an electronic parking brake system (EPB), the difficulty of redundancy braking anti-lock control is reduced, and the safety and efficiency of vehicle redundancy braking are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, and more specifically to a vehicle redundant braking system and its control method, and a vehicle. Background Technology

[0002] With the development of automotive technology, automobiles are gradually moving towards electrification and intelligence, and autonomous driving in new energy vehicles is an important development direction. Autonomous driving requires the braking system to have a redundant backup system to ensure that the autonomous driving function can continue to operate normally and ensure driving safety when the braking actuator fails. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] This invention provides a vehicle redundant braking system, including a motor controller and multiple motors, wherein the motor controller is connected to each of the multiple motors, wherein:

[0005] The motor controller is used to control the plurality of motors to perform regenerative braking based on the motor regenerative braking command.

[0006] For example, the vehicle redundant braking system further includes a vehicle controller, which is connected to the motor controller. The vehicle controller is used to receive redundant braking commands and, based on the redundant braking commands, issue the motor regenerative braking command to the motor controller.

[0007] For example, the vehicle redundant braking system further includes an intelligent driving controller and a brake controller. The intelligent driving controller is connected to the brake controller and the vehicle controller, respectively. The brake 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 command to the vehicle controller based on the braking fault information.

[0008] For example, the vehicle redundant braking system further 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 charge limit release command to the battery controller. The engine shutdown command is used to instruct the engine controller to shut down the engine, and the charge limit release command is used to instruct the battery controller to release the battery's feedback power limit.

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

[0010] For example, the vehicle controller is also used to determine whether the wheels are tending to lock up based on the wheel slip ratio and the vehicle deceleration:

[0011] When the wheels are about to lock up, the vehicle controller outputs the regenerative braking command, which includes a regenerative braking torque adjustment command.

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

[0013] The motor controller receives the motor feedback braking command.

[0014] The motor controller controls the multiple motors to perform regenerative braking based on the motor regenerative braking command.

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

[0016] The vehicle controller receives redundant braking commands and, based on these redundant braking commands, issues the motor regenerative braking command to the motor controller.

[0017] For example, the vehicle redundant braking system further includes an intelligent driving controller and a brake controller, the intelligent driving controller being connected to the brake controller and the vehicle controller respectively, and the control method further includes:

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

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

[0020] The present invention also provides a vehicle including the aforementioned vehicle redundant braking system.

[0021] The vehicle redundant braking system and its control method provided by the present invention, and the vehicle, include a motor controller and multiple motors. The motor controller controls the multiple motors to perform regenerative braking for wheel anti-lock braking based on the motor regenerative braking command. This eliminates the need for additional hardware and the need to combine it with the electronic parking brake (EPB) system for wheel anti-lock braking, reducing the difficulty of redundant braking anti-lock control and improving the safety and efficiency of vehicle redundant braking. Attached Figure Description

[0022] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0023] In the attached image:

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

[0025] Figure 2 A flowchart of a control method for a vehicle redundant braking system according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of redundant braking anti-lock braking control according to an embodiment of the present invention. Detailed Implementation

[0027] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0028] It should be understood that the invention can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, for clarity, the dimensions and relative dimensions of layers and regions may be exaggerated. The same reference numerals denote the same elements throughout.

[0029] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0030] To fully understand this invention, detailed steps and structures will be presented in the following description to illustrate the technical solution proposed by this invention. Preferred embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0031] This invention provides a vehicle redundant braking system, such as Figure 1 As shown, the device includes a motor controller (MCU) 110 and multiple motors. The motor controller is connected to the multiple motors respectively. The motor controller 110 is used to control the multiple motors to perform regenerative braking based on the motor regenerative braking command.

[0032] In one embodiment, the plurality of motors includes a motor configured for each wheel, and a motor controller 110 can be used to control all motors, thereby enabling control of each wheel.

[0033] In one embodiment, such as 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] For example, the vehicle controller 130 is connected to the motor controller 110. The vehicle controller 130 is used to receive redundant braking commands and send the motor regenerative braking command to the motor controller 110 based on the redundant braking commands.

[0035] For example, 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 brake fault information to the intelligent driving controller 120, and the intelligent driving controller 120 is used to send the redundant braking command to the vehicle controller 130 based on the brake fault information.

[0036] In one embodiment, when the brake controller 140 sends a brake fault message to the intelligent driving controller 120, or when communication between the intelligent driving controller 120 and the brake controller 140 is abnormal, the intelligent driving controller 120 sends a redundant braking command and a safe stopping command to the vehicle controller 130. The brake fault message includes an IPB longitudinal control interface fault flag, indicating a hydraulic brake failure. The vehicle controller 130 receives the redundant braking command and, based on the redundant braking command, sends a regenerative braking command to the motor controller 110. The regenerative braking command includes a regenerative braking torque adjustment command for adjusting the torque magnitude.

[0037] For example, the vehicle controller 130 is also configured to issue an engine shutdown command to the engine controller 150 and a charge limit release command to the battery controller 160, wherein the engine shutdown command is used to instruct the engine controller 150 to shut down the engine, and the charge limit release command 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 immediately issues a command requesting the engine controller 150 to shut down the engine and a command requesting the battery controller 160 to release the charging limit, instructing the battery controller 160 to release the battery's regenerative power limit. Then, the engine controller 150 sends an engine-off flag back to the vehicle controller 130, and the battery controller 160 sends a flag indicating that the battery's regenerative power limit has been released back to the vehicle controller 130. Based on the released charging limit command, the battery controller 160 increases the battery's charge level, thereby improving the redundant braking capability of the vehicle controller 130. Shutting down the engine also helps increase the battery's charge level, further 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) for obtaining a charging request command from the vehicle controller 130. By charging the supercapacitor, the amount of battery charge can be increased, thereby improving the redundant braking capability of the vehicle controller 130. The supercapacitor controller can also feed back a rechargeable limit to the vehicle controller 130 to prevent the amount of charge to the supercapacitor controller from exceeding its capacity limit.

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

[0041] For example, the vehicle controller 130 is further configured to determine whether the wheels are tending to lock up based on the wheel slip ratio and the vehicle deceleration: when the wheels are tending to lock up, the vehicle controller 130 outputs the regenerative braking command, which includes a regenerative braking torque adjustment command. The wheel slip ratio and the vehicle deceleration can be obtained from speed sensors and acceleration sensors installed on the vehicle.

[0042] In one embodiment, the vehicle controller 130 executes step one (based on the vehicle speed and information from the battery controller 160, comprehensively judges whether the current redundant braking capability is normal, and sends a redundancy braking capability normal / abnormal flag to the ADS controller). Simultaneously, the vehicle controller 130 executes step two (real-time monitoring of ADS deceleration requests and redundant braking status to determine if the redundant braking function can be activated normally) and step three (real-time monitoring of wheel slip ratios and wheel acceleration / deceleration to determine if the wheels are approaching lock-up; if the wheels are approaching lock-up, the hydraulic braking torque is zero, and only the motor regenerative braking torque is adjusted to prevent wheel lock-up. If the vehicle is about to stop, a request is made to shift to P gear.)

[0043] For example, 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 communication between the intelligent driving controller 120 and the brake controller 140 is abnormal, then the intelligent driving controller 120 sends a second deceleration request to the vehicle controller 130, wherein the second deceleration is greater than the first deceleration.

[0044] In one embodiment, reference is made to Figure 3 As shown. The normal response is 6 m / s from the intelligent driving controller 120. 2 The target deceleration request is 4 m / s², which is normally allocated by the vehicle controller 130 for regenerative braking. 2 The hydraulic braking deceleration is 2 m / s². 2 If the IPB longitudinal control interface fails, the intelligent driving controller 120 will issue a safe stop command to the vehicle controller 130, aiming to achieve a speed of 8 m / s. 2 The vehicle controller 130 first executes steps one and two above (determining whether the current redundant braking capability is normal and whether the redundant braking function is activated). If the redundant braking capability is normal and the redundant braking function is activated, the hydraulic braking torque is zero, and the motor regenerative braking torque is 8 m / s. 2 If the redundant braking capability is abnormal, a redundant braking fault sign will be sent to the body controller. Then, step three above will be executed (controlling the motor to regenerate braking torque to prevent wheel lock-up. If the vehicle speed is low, request to shift to P gear).

[0045] In one embodiment, the Body Controller (BCM) 170 is configured to receive a brake light ignition command from the Vehicle Controller 130 to illuminate the brake lights; and 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 regenerative braking for wheel anti-lock braking based on the motor regenerative braking command. This eliminates the need for additional hardware and the need to combine it with the electronic parking brake (EPB) system for wheel anti-lock braking, thus reducing the difficulty of redundant braking anti-lock control. In addition, redundant braking also coordinates the engine controller and battery controller to meet deceleration requirements, 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 includes a motor controller and multiple motors, and the motor controller is connected to the multiple motors respectively, such as... Figure 2 As shown, the control method includes the following steps:

[0048] Step S210: The motor controller receives a motor regenerative braking command;

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

[0050] For example, the vehicle redundant braking system further includes a vehicle controller connected to the motor controller, and the control method further includes: the vehicle controller receiving a redundant braking command and issuing a motor regenerative braking command to the motor controller based on the redundant braking command.

[0051] For example, the vehicle redundant braking system further includes an intelligent driving controller and a brake controller, the intelligent driving controller being connected to the brake controller and the vehicle controller respectively, and the control method further includes: the brake controller sending braking fault information to the intelligent driving controller; and the intelligent driving controller sending the redundant braking command 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 communication between the intelligent driving controller 120 and the brake controller 140 is abnormal, the intelligent driving controller 120 sends a redundant braking command and a safe stopping command to the vehicle controller 130. The brake fault message includes an IPB longitudinal control interface fault flag, indicating a hydraulic brake fault. The vehicle controller 130 receives the redundant braking command and, based on the redundant braking command, sends a regenerative braking command to the motor controller 110. The regenerative braking command includes a regenerative braking torque adjustment command for adjusting the torque magnitude.

[0053] In one embodiment, when the intelligent driving controller 120 issues a redundant braking command to the vehicle controller 130, the vehicle controller 130 immediately issues a command requesting the engine controller 150 to shut down the engine and a command requesting the battery controller 160 to release the charging limit, instructing the battery controller 160 to release the battery's regenerative power limit. Then, the engine controller 150 sends an engine-off flag back to the vehicle controller 130, and the battery controller 160 sends a flag indicating that the battery's regenerative power limit has been released back to the vehicle controller 130. Based on the released charging limit command, the battery controller 160 increases the battery's charge level, thereby improving the redundant braking capability of the vehicle controller 130. Shutting down the engine also helps increase the battery's charge level, further 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 immediately issues a charging request command to the supercapacitor controller. By charging the supercapacitor, the battery charge amount is increased, thereby improving the redundant braking capability of the vehicle controller 130. The supercapacitor controller can also feed back the rechargeable limit to the vehicle controller 130 to prevent the charge amount to the supercapacitor controller from exceeding its capacity limit.

[0055] Next, the vehicle controller 130 will execute step one (based on the vehicle speed and information from the battery controller 160, comprehensively determine whether the current redundant braking capability is normal, and send a redundancy braking capability normal / abnormal flag to the ADS controller). Simultaneously, the vehicle controller 130 will execute steps two (real-time monitoring of ADS deceleration requests and redundant braking status to determine if the redundant braking function can be activated normally) and three (real-time monitoring of wheel slip ratios and wheel acceleration / deceleration to determine if the wheels are approaching lock-up; if the wheels are approaching lock-up, the hydraulic braking torque is zero, and only the motor regenerative braking torque is adjusted to prevent wheel lock-up. If the vehicle is about to stop, it will request to shift to P gear.)

[0056] For example, 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 communication between the intelligent driving controller 120 and the brake controller 140 is abnormal, then the intelligent driving controller 120 sends a second deceleration request to the vehicle controller 130, wherein the second deceleration is greater than the first deceleration.

[0057] In one embodiment, reference is made to Figure 3 As shown. The normal response is 6 m / s from the intelligent driving controller 120. 2 The target deceleration request is 4 m / s², which is normally allocated by the vehicle controller 130 for regenerative braking. 2 The hydraulic braking deceleration is 2 m / s². 2 If the IPB longitudinal control interface fails, the intelligent driving controller 120 will issue a safe stop command to the vehicle controller 130, aiming to achieve a speed of 8 m / s. 2 The vehicle controller 130 first executes steps one and two above (determining whether the current redundant braking capability is normal and whether the redundant braking function is activated). If the redundant braking capability is normal and the redundant braking function is activated, the hydraulic braking torque is zero, and the motor regenerative braking torque is 8 m / s. 2 If the redundant braking capability is abnormal, a redundant braking fault sign will be sent to the body controller. Then, step three above will be executed (controlling the motor to regenerate braking torque to prevent wheel lock-up. If the vehicle speed is low, request to shift to P gear).

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

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

[0060] The vehicle redundant braking system and its control method provided by the present invention, and the vehicle, include a motor controller and multiple motors. The motor controller controls the multiple motors to perform regenerative braking for wheel anti-lock braking based on the motor regenerative braking command. This eliminates the need for additional hardware and the need to combine it with the electronic parking brake (EPB) system for wheel anti-lock braking, reducing the difficulty of redundant braking anti-lock control. In addition, redundant braking also coordinates the engine controller and battery controller to meet deceleration requirements, improving the safety and efficiency of vehicle redundant braking.

[0061] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0062] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered 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 merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0064] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0065] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0066] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0067] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this 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 this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0069] It should be noted that the above embodiments are illustrative of this application and not limiting of it, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0070] The above description is merely a specific embodiment or illustration of the embodiments of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A vehicle redundant braking system, characterized in that, It includes a motor controller, multiple motors, a vehicle controller, an intelligent driving controller, and a brake controller, wherein the motor controller is connected to each of the multiple motors, and wherein: The motor controller is used to control the plurality of motors to perform regenerative braking based on the motor regenerative braking command; The vehicle controller is connected to the motor controller. The vehicle controller is used to receive redundant braking commands and send the motor regenerative braking command to the motor controller based on the redundant braking commands. The intelligent driving controller is connected to the brake controller and the vehicle controller respectively. The brake controller is used to send brake fault information to the intelligent driving controller, and the intelligent driving controller is used to send the redundant braking command to the vehicle controller based on the brake fault information. The vehicle controller is also used to determine whether the wheels are tending to lock up based on the wheel slip ratio and the vehicle deceleration. When the wheels are tending to lock up, the vehicle controller outputs the motor regenerative braking command, which includes a motor regenerative braking torque adjustment command.

2. The vehicle redundant braking system as described in claim 1, characterized in that, It also includes an engine controller and a battery controller. The vehicle controller is further used to issue an engine shutdown command to the engine controller and a charge limit release command to the battery controller. The engine shutdown command is used to instruct the engine controller to shut down the engine, and the charge limit release command is used to instruct the battery controller to release the battery's feedback power limit.

3. The vehicle redundant braking system as described in claim 1, characterized in that, The vehicle controller is also used to determine whether the current redundant braking capability is normal based on vehicle speed and battery information, and to send a redundancy braking capability normal flag or a redundancy braking fault flag to the intelligent driving controller.

4. A control method for a vehicle redundant braking system, characterized in that, The vehicle redundant braking system includes a motor controller, multiple motors, a vehicle controller, an intelligent driving controller, and a braking controller. The motor controller is connected to each of the multiple motors. The control method includes: The brake controller sends a brake fault message to the intelligent driving controller; The intelligent driving controller sends redundant braking commands to the vehicle controller based on the braking fault information. The vehicle controller receives redundant braking commands and sends motor regenerative braking commands to the motor controller based on the redundant braking commands. The vehicle controller determines whether the wheels are about to lock up based on the wheel slip ratio and the vehicle deceleration. When the wheels are about to lock up, the vehicle controller adjusts the motor feedback braking torque adjustment command. The motor controller receives the motor feedback braking command. The motor controller controls the multiple motors to perform regenerative braking based on the motor regenerative braking command.

5. A vehicle, characterized in that, The vehicle redundant braking system includes any one of claims 1-3.

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