A vehicle wheel side slip braking method, system and apparatus

By using the tire lateral braking method of four-wheel independent steering vehicles, braking is achieved by utilizing the lateral force generated by tire steering. This solves the problems of high cost of redundancy schemes and limited motor capacity in brake-by-wire technology, and realizes stable redundancy backup and improved safety of the braking system.

CN122443399APending Publication Date: 2026-07-24TSINGHUA UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
TSINGHUA UNIVERSITY
Filing Date
2025-01-24
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

Existing brake-by-wire technology suffers from high redundancy costs, limited motor capabilities, and insufficient rear-wheel steering control, failing to effectively meet braking demands and resulting in limited braking system functionality in fault conditions.

Method used

By employing feedback control technology, the tires turn inward at a specific angle when braking is required, and the braking function is achieved by using the lateral force generated by the tire steering. The longitudinal braking force is formed through independent steering of the four wheels, avoiding the increase of hardware redundancy and motor dependence.

Benefits of technology

It achieves vehicle braking stability control under fault conditions, reduces costs, overcomes the problem of insufficient braking force, and improves the redundancy backup capability and safety of the braking system.

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Abstract

This disclosure relates to the field of vehicle braking technology, and provides a method, system, and device for wheel lateral braking of a vehicle. The method includes: obtaining the target deceleration of a four-wheel independently steering vehicle, calculating the total desired lateral braking force based on the target deceleration, and applying the front axle vertical load F... z,f and rear axle vertical load F z,r load ratio p fz The total desired lateral braking force is proportionally distributed to the front and rear wheels, yielding the desired lateral braking forces for each wheel, and thus determining the feedforward target steering angle for each of the four tires. Based on the deviation between the target deceleration and the actual deceleration, a steering angle compensation value is calculated. The feedforward target steering angle and the steering angle compensation value are superimposed to obtain the final target steering angle. The four tires are then controlled to rotate forward and towards the centerline, with the rotation angle being the final target steering angle, achieving lateral braking. This invention can suppress the longitudinal movement of the vehicle through the lateral force generated by tire steering, thereby achieving lateral braking.
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