Vehicle, and integrated driving-braking control apparatus and method for vehicle

Abstract

Provided in the present application are a vehicle, and an integrated driving-braking control apparatus and method for a vehicle, which are used for reducing driving and braking costs and the difficulty of arrangement in the vehicle. The vehicle comprises: a first electric motor brake and a second electric motor brake, which are arranged on a first side of the vehicle; a driving system, which is arranged on a second side of the vehicle and has an energy recovery function; and a control apparatus. The control apparatus is configured to control a left wheel of first-side wheels of the vehicle to be braked only by using the first electric motor brake, and control a right wheel of the first-side wheels of the vehicle to be braked only by using the second electric motor brake. The control apparatus is also configured to control a left wheel and a right wheel of second-side wheels of the vehicle to be braked only by using the driving system. The first side and the second side are a front side and a rear side, respectively.

Description

Vehicle, driving and braking fusion control device and method for vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on August 28, 2023, with application number 202311094406.6 and application name “A vehicle, a drive and brake fusion control device and method for a vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of automobile drive technology, and in particular to a vehicle, and a drive-brake fusion control device and method for the vehicle. Background Art

[0004] The electric motor brake (EMB) is an electric braking device that uses a motor to drive a mechanical piston to brake the wheels. Compared to traditional hydraulic brakes, the EMB has the advantages of fast response, high precision, and no risk of fluid leakage. Therefore, it is widely used in vehicle brakes. Currently, vehicles generally use a drive system to achieve driving functions and a brake to achieve braking functions. The drive system and brakes are completely decoupled. Specifically, the EMB is set at each wheel of the vehicle, and a drive motor is set at each wheel. Although this design can ensure the braking safety of the vehicle, it will make the layout of the drive brake more difficult and the cost of the drive brake higher.

[0005] Summary of the Invention

[0006] The present application provides a vehicle, a drive-brake fusion control device and method for the vehicle, for reducing the drive-brake cost and the difficulty of layout in the vehicle.

[0007] In a first aspect, the present application provides a vehicle comprising: a first motor brake and a second 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 configured to control the left wheel on the first side of the vehicle to be braked only by the first motor brake and the right wheel on the first side of the vehicle to be braked only by the second motor brake, and the control device is further configured to control the left and right wheels on the second side of the vehicle to be braked only by the drive system.

[0008] It should be pointed out that, in the above description of the present 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, and 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, the present application can be applied to electric vehicles or hybrid vehicles whose rear wheels or rear axles have driving capabilities and energy recovery functions. Alternatively, the first motor brake and the second motor brake are respectively arranged on the two rear wheels of the vehicle, and used to brake the rear wheels of the vehicle, and 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, the present application can be applied to electric vehicles or hybrid vehicles whose front wheels or front axles have driving capabilities and energy recovery functions.

[0009] In this application, the brake energy recovery function of the drive system can better integrate the drive and brake system, reducing the cost of drive and brake and the difficulty of vehicle layout. The braking force of the wheels on the first side of the vehicle is provided only by two motor brakes, while the braking force of the wheels on the second side of the vehicle is provided only by the drive system. This can supplement the insufficient braking force of the wheels on the first side, solving the problem of insufficient braking force and providing the vehicle with higher braking safety.

[0010] In some embodiments of the present application, 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 motor brake from braking the right wheel on the first side, and control the drive system to brake the left and right wheels on the second side. In response to the failure of the second motor brake, disable the first motor brake from braking the left wheel on the first side, and control the drive system to brake the left and right wheels on the second side.

[0011] In some embodiments of the present 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 a braking energy recovery function. 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 can be two hub motors respectively arranged in the second side wheel of the vehicle, or the two drive motors can also be two wheel-side motors respectively arranged at the edges of the second side wheel of the vehicle, or the two drive motors can also be two ordinary drive motors arranged on the chassis of the vehicle and transmitting drive torque through an axle. In the event of a failure, the control device is used 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 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 to brake the left wheel of the second side wheels, and the second drive motor is controlled to brake the right wheel of the second side wheels and the first motor brake is controlled to brake the left wheel of the first side wheels, or the first motor brake is disabled to brake the left wheel of the first side wheels, and the first drive motor and the second drive motor are controlled to brake the left wheel and right wheel of the second side wheels respectively.

[0012] In some embodiments of the present application, when the drive system includes two drive motors, in the event of a failure, the control device is configured to: in response to the failure of the first drive motor, disable the second drive motor from braking the right wheel of the second-side wheels, and control the first motor brake and the second motor brake to brake the left and right wheels of the first-side wheels, respectively. In response to the failure of the second drive motor, disable the first drive motor from braking the left wheel of the second-side wheels, and control the first motor brake and the second motor brake to brake the left and right wheels of the first-side wheels, respectively.

[0013] In some embodiments of the present application, in the event of a failure, the control device is used 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.

[0014] In some embodiments of the present application, when the braking force requirements are different, the control device is used to: in response to the braking force requirement indicated by the braking signal being less than a first threshold, control the drive system to brake the left and right wheels of the second side wheels.

[0015] In some embodiments of the present application, when the braking force requirements are different, the control device is used to: in response to the braking force requirement indicated by the braking signal being greater than a first threshold and less than a second threshold, control the first motor brake and the second motor brake to brake the left and right wheels of the first side wheels.

[0016] In some embodiments of the present application, when the braking force requirements are different, the control device is used to: in response to the braking force requirement indicated by the braking signal being greater than a second threshold, control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and control the drive system to brake the left wheel and the right wheel of the second side wheel.

[0017] In some embodiments of the present application, when the braking force requirements are different, the control device is configured to: in response to the braking force requirement indicated by the brake signal being greater than a second threshold value and less than a third threshold value, control the first motor brake and the second motor brake to brake the left and right wheels on the first side, and control the drive system to brake the left and right wheels on the second side through energy recovery. In response to the braking force requirement indicated by the brake signal being greater than the third threshold value, control the first motor brake and the second motor brake to brake the left and right wheels on the first side, and control the drive system to reversely brake the left and right wheels on the second side.

[0018] In a second aspect, the present application provides a drive-brake fusion control device for a vehicle, wherein the vehicle includes a first motor brake, a second motor brake, and a drive system with an energy recovery function, wherein the drive system includes a first drive motor and a second drive motor. The first motor brake is used to brake the left wheel of the first side of the vehicle, and the second motor brake is used to brake the right wheel of the first side of the vehicle; the first drive motor is used to drive or brake the left wheel of the second side of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side 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:

[0019] 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.

[0020] In some embodiments of the present application, in the event of a failure, the control device can 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.

[0021] In some embodiments of the present application, when the braking force requirements are different, the control device can be used to: in response to the braking force requirement indicated by the braking signal being greater than a second threshold, control the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and control the drive system to brake the left wheel and the right wheel of the second side wheel.

[0022] In some embodiments of the present application, when the braking force requirements are different, the control device may be configured to: in response to the braking force requirement indicated by the brake signal being greater than a second threshold value and less than a third threshold value, control the first motor brake and the second motor brake to brake the left and right wheels on the first side, and control the drive system to brake the left and right wheels on the second side through an energy recovery function. In response to the braking force requirement indicated by the brake signal being greater than the third threshold value, control the first motor brake and the second motor brake to brake the left and right wheels on the first side, and control the drive system to reversely brake the left and right wheels on the second side.

[0023] In a third aspect, the present application also provides a drive-brake fusion control method for a vehicle. The vehicle includes a first motor brake, a second motor brake, and a drive system with energy recovery, wherein 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 the failure of the first motor brake, disabling the second drive motor from braking the right wheel on the second side, controlling the first drive motor to brake the left wheel on the second side, and controlling the second motor brake to brake the right wheel on the first side; or, disabling the second motor brake from braking the right wheel on the first side, and controlling the first drive motor and the second drive motor to brake the left and right wheels on the second side, respectively. In response to the failure of the second motor brake, disabling the first drive motor from braking the left wheel on the second side, controlling the second drive motor to brake the right wheel on the second side, and controlling the first motor brake to brake the left wheel on the first side; or, disabling the first motor brake from braking the left wheel on the first side, and controlling the first drive motor and the second drive motor to brake the left and right wheels on the second side, respectively, wherein the first side and the second side are the front and rear sides, respectively.

[0024] In some embodiments of the present 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.

[0025] For the technical effects that can be achieved by any possible design in any of the second to third aspects mentioned above, please refer to the description of the technical effects that can be achieved by any possible design in the first aspect mentioned above, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0027] FIG2 is another schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0028] FIG3 is another schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0029] FIG4 is another schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0030] FIG5a is a schematic diagram of a vehicle providing a first side wheel braking force according to an embodiment of the present application;

[0031] FIG5 b is a schematic diagram of a vehicle according to an embodiment of the present application providing a braking force on a second side wheel;

[0032] FIG6 is a schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0033] FIG7a is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0034] FIG7 b is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0035] FIG7c is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0036] FIG7 d is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0037] FIG8a is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0038] FIG8 b is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0039] FIG9a is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0040] FIG9 b is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0041] FIG10a is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0042] FIG10b is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0043] FIG11a is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0044] FIG11b is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application;

[0045] FIG12 is a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of this application clearer, this application will be further described in detail below with reference to the accompanying drawings.

[0047] The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and appended claims of this application, the singular expressions "a", "an", "said", "above", "the", and "this" are intended to also include expressions such as "one or more", unless the context clearly indicates otherwise.

[0048] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in 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 "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0050] The vehicle's drive system and braking system are core components that directly determine the vehicle's performance.

[0051] FIG1 exemplarily shows a structural diagram of a vehicle provided in an embodiment of the present application.

[0052] Referring to Figure 1, a vehicle provided in an embodiment of the present application may specifically include: a first electric motor brake 11 (EMB) for braking the left wheel on a first side of the vehicle; a second electric motor brake 12 for braking the right wheel on the first side of the vehicle; a drive system 2 for driving the wheels on the second side of the vehicle; and a control device 3 for controlling the first and second electric motor brakes 11, 12, and the drive system 2. The first and second electric motor brakes 11, 12 are located on the first side of the vehicle. The first and second electric motor brakes 11, 12 are electric brakes that use motors to drive mechanical pistons to brake the corresponding wheels. 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 on the first side of the vehicle to be braked only by the first electric motor brake 11, and control the right wheel on the first side 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 on the second side of the vehicle to be braked only by the drive system 2.

[0053] In an embodiment of the present application, the vehicle is applied to a two-axle vehicle, and the two-axle vehicle includes two front wheels and two rear wheels, wherein the two front wheels are respectively a left front (front left, FL) wheel and a right front (front right, FR) wheel, and the two rear wheels are respectively a left rear (rear left, RL) wheel and a right rear (rear right, RR) wheel. It should be pointed out that, in the first side and the second side in the above description of the present application, one side is the front side and the other side is the rear side. Specifically, with reference to Figure 1, the first motor brake 11 and the second 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, and 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, the present application can be applied to electric vehicles or hybrid vehicles whose rear wheels or rear axles have driving capabilities and energy recovery functions. Alternatively, the first motor brake 11 and the second motor brake 12 are respectively arranged at the two rear wheels of the vehicle and are used to brake the rear wheels of the vehicle. The drive system 2 can be arranged at the two front wheels or the front axle of the vehicle and is used to drive or brake the front wheels of the vehicle. That is, the present application can be applied to electric vehicles or hybrid vehicles whose front wheels or front axles have driving capabilities and energy recovery functions.

[0054] In this application, the brake energy recovery function of drive system 2 can better integrate the drive and brake systems, reducing drive and brake costs and the difficulty of vehicle layout. The braking force of the wheels on the first side of the vehicle is provided only by the two motor brakes, while the braking force of the wheels on the second side of the vehicle is provided only by the drive system. This can supplement the insufficient braking force of the wheels on the first side, solving the problem of insufficient braking force and providing the vehicle with higher braking safety.

[0055] FIG2 exemplarily shows another structural diagram of a vehicle provided in an embodiment of the present application.

[0056] 2 , in some embodiments of the present 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 need to have a braking energy recovery 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 also be two wheel-side motors respectively arranged at the edges of the second side wheel of the vehicle, or the two drive motors may also be two ordinary drive motors arranged on the chassis of the vehicle and transmitting the driving torque through the shaft.

[0057] FIG3 exemplarily shows another structural diagram of a vehicle provided in an embodiment of the present application.

[0058] Referring to FIG. 3 , in some other embodiments of the present application, the drive system 2 may also include a single drive motor, namely a third drive motor 23. The third drive motor 23 may have a braking energy recovery function and be used to simultaneously drive or brake the left and right wheels on the second side of the vehicle. Specifically, the third drive motor 23 may be a conventional drive motor disposed on the chassis and transmitting drive torque via an axle and a differential.

[0059] FIG4 exemplarily shows another structural diagram of a vehicle provided in an embodiment of the present application.

[0060] Referring to Figure 4 , in some embodiments of the present 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 by a brake pedal 41 . The brake pedal 41 is typically located within the vehicle body and, in response to a driver's pedaling operation, may output a brake signal. The brake signal may include travel information or foot pressure. In some implementations, the brake pedal 41 may include a pedal body and a pedal travel sensor, which detects and outputs travel information of the brake pedal 41 . Furthermore, depending on the driver's pedaling operation (e.g., light, relatively light, relatively heavy, or heavy), the pedal travel sensor detects different travel information of the brake pedal 41 and compares the travel information with different preset thresholds to determine the corresponding pedaling 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 distributed 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 driving current to meet the required braking force. The brake controller 31 can send the corresponding braking instruction to the drive controller 32. The drive controller 32 generates a braking energy recovery instruction according to the corresponding braking instruction, and controls the drive system 2 to generate a power generation current according to the braking energy recovery instruction to meet the required braking force. The drive controller 32 can also receive a driving signal output by the drive pedal 42. The drive pedal 42 is generally also arranged in the vehicle body. In response to the driver's stepping operation, the drive pedal 42 can output a driving signal. When the drive pedal 42 generates a driving signal, it will be transmitted to the drive controller 32. The drive controller 32 calculates the driving current required by the drive system 2 and generates a corresponding driving instruction. The drive system 2 can generate a corresponding driving torque according to the driving instruction to generate a driving force.

[0061] The brake signal generated by the brake pedal 41 is generated in manual driving mode. In autonomous driving mode, the brake controller 31 can also receive a brake signal from a higher-level controller and perform corresponding operations based on the brake signal. Similarly, the drive signal generated by the drive pedal 42 is generated in manual driving mode. In autonomous driving mode, the drive controller 32 can also receive a drive signal from a higher-level controller and perform corresponding operations based on the drive signal.

[0062] FIG5a is a schematic diagram showing, by way of example, a vehicle according to an embodiment of the present application providing braking force to a wheel on a first side; FIG5b is a schematic diagram showing, by way of example, a vehicle according to an embodiment of the present application providing braking force to a wheel on a second side.

[0063] The vehicle provided by the embodiment of the present application can perform driving and braking operations according to the driving intention. Specifically, the driving force can be provided by the drive system 2 in the normal driving state. In the braking scenario, referring to Figure 5a, the first side wheel can be provided with braking force by two motor brakes. Referring to Figure 5b, the second side wheel can be provided with braking force by the braking energy recovery function of the drive system 2 first, and the insufficient braking force is supplemented by the reverse (negative) torque of the drive system 2. In addition, the present application can set corresponding braking response modes according to different braking scenarios to ensure that sufficient braking energy recovery can be performed in conventional braking scenarios and sufficient braking force can be provided in emergency braking scenarios.

[0064] In some embodiments of the present application, in response to a braking signal indicating a braking force requirement less than a first threshold, the control device 3 may control the drive system 2 to brake the left and right wheels on the second side to meet the braking requirement. Specifically, when the driver lightly depresses the brake pedal 41, the pedal travel sensor of the brake pedal 41 detects the travel information of the brake pedal 41. The brake pedal 41 may 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 may receive a braking signal from a higher-level controller indicating that the braking force requirement is less than the first threshold. Based on this braking signal, the brake controller 31 determines that the braking energy recovery function of the drive system 2 can meet the braking requirement. Based on this braking signal, the brake controller 31 may generate a first braking command and transmit the first braking command to the drive controller 32. Based on the first braking command, the drive controller 32 may control the drive system 2 to provide braking force through the braking energy recovery function.

[0065] In some embodiments of the present application, in response to a braking signal indicating a braking force requirement greater than a first threshold and less than a second threshold, the control device 3 may control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels on the first side to meet the braking requirement. Specifically, when the driver lightly depresses 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 may generate a braking signal indicating that the braking force requirement is greater than the first threshold and less than the second threshold, and transmit the signal to the brake controller 31. Alternatively, in autonomous driving mode, the brake controller 31 may receive a braking signal from a higher-level controller indicating that the braking force requirement 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 requirement. Based on this braking signal, the brake controller 31 may directly control the first motor brake 11 and the second motor brake 12 to increase the motor drive current to increase the braking force at the wheel ends.

[0066] In some embodiments of the present application, in response to the braking force requirement 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 wheel and the right wheel of the second side wheel, and at the same time control the first motor brake 11 and the second motor brake 12 to brake the left wheel and the right wheel of the first side wheel to meet the braking requirement.

[0067] Specifically, in some embodiments of the present application, in response to a braking force requirement indicated by a brake signal being greater than a second threshold and less than a third threshold, the control device 3 may control the drive system 2 to brake the left and right wheels of the second side wheels through the 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 requirement. For example, when the driver steps heavily on 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 may generate a braking signal indicating that the braking force requirement is 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 may receive a braking signal from an upper-level controller indicating that the braking force requirement is greater than the second threshold and less than the third threshold. After the brake controller 31 calculates the braking force required to be allocated to the brake energy recovery function of the drive system 2 and the braking force required to be generated by the first motor brake 11 and the second motor brake 12 based on the brake signal, the brake controller 31 can directly control the first motor brake 11 and the second motor brake 12 to increase the motor drive current to increase the braking force at the wheel end. At the same time, the brake controller 31 needs to generate a second braking command and send the second braking command to the drive controller 32. The drive controller 32 controls the drive system 2 to generate a generated current through the brake energy recovery function to simultaneously provide the corresponding braking force based on the second braking command.

[0068] Specifically, in some embodiments of the present application, in response to a braking signal indicating a braking force requirement greater than a third threshold, the control device 3 may control the drive system 2 to reverse brake the left and right wheels on the second side, and control the first motor brake 11 and the second motor brake 12 to brake the left and right wheels on the first side to meet the braking requirement. For example, when the driver depresses 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 may generate a braking signal indicating a braking force requirement greater than the third threshold and transmit it to the brake controller 31. Alternatively, in autonomous driving mode, the brake controller 31 may receive a braking signal indicating a braking force requirement greater than the third threshold from a higher-level controller. Based on this braking signal, the brake controller 31 calculates 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. The brake controller 31 may then directly control the first motor brake 11 and the second motor brake 12 to increase the motor drive current to increase the wheel-end braking force. Simultaneously, the brake controller 31 may generate a third braking command and transmit it to the drive controller 32. The drive controller 32 controls the drive system 2 to generate reverse torque and power generation current according to the third braking instruction, so as to provide a greater reverse braking force.

[0069] 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 smaller than the second threshold, and the second threshold is smaller than the third threshold.

[0070] This application can also set corresponding response strategies according to different brake failure scenarios to ensure smooth braking of the vehicle.

[0071] FIG6 exemplarily shows a schematic diagram of a response strategy for a vehicle in a brake failure scenario provided by an embodiment of the present application.

[0072] Referring to Figure 6 , in some embodiments of the present 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. Specifically, when the left and right wheels on the first side of the vehicle fail simultaneously, the left and right wheels on the second side of the vehicle can be controlled to perform the same deceleration process. Furthermore, if the braking force generated by the drive system 2 is insufficient to meet the deceleration requirement corresponding to the brake signal generated by the brake pedal 41, the vehicle can be decelerated using redundant braking or the electric park brake (EPB).

[0073] When the unilateral motor brake fails, different response strategies can be adopted for different drive system 2 architectures.

[0074] Figure 7a exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application; Figure 7b exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application; Figure 7c exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application; Figure 7d exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application.

[0075] In some embodiments of the present application, when the drive system 2 includes two drive motors, namely a first drive motor 21 and a second drive motor 22, when a single motor brake fails, the diagonal drive motor can be controlled to stop operating to ensure smooth vehicle braking. Referring 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 on the second side, and use the second motor brake 12 and the first drive motor 21 to provide the same braking force. Specifically, when the left wheel brake on the first side fails, the right wheel brake on the second side can be controlled to stop operating, with the first drive motor 21 controlling the left wheel on the second side and the second motor brake 12 controlling the right wheel on the first side, thereby decelerating the right wheel on the first side and the left wheel on the second side. Referring 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 on the second side, and use the first motor brake 11 and the second drive motor 22 to provide the braking force. That is, when the brakes on the right wheel of the first side wheel fail, the brakes on the left wheel of the second side wheel can be controlled to stop working, and the first motor brake 11 can be controlled to brake the left wheel of the first side wheel and the second drive motor 22 can be controlled to brake the right wheel of the second side wheel, so as to decelerate the left wheel of the first side wheel and the right wheel of the second side wheel.

[0076] In other embodiments of the present 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 vehicle fails, the motor control device on that side can be controlled to stop operating to ensure smooth vehicle braking, and the first drive motor 21 and the second drive motor 22 can be used to provide equal braking force. Referring to Figure 7c, when the first motor brake 11 fails, the control device 3 can disable the second motor brake 12 to brake the right wheel on the first side, and the first drive motor 21 and the second drive motor 22 can each provide equal braking force. Specifically, when the brake on the left wheel on the first side fails, the brake on the right wheel on the first side can be controlled to stop operating, and the first drive motor 21 can be controlled to brake the left wheel on the second side, and the second drive motor 22 can be controlled to brake the right wheel on the second side, thereby decelerating the left and right wheels on the second side. Referring to Figure 7d, when the second motor brake 12 fails, the control device 3 can disable the first motor brake 11 to brake the left wheel on the first side, and the first drive motor 21 and the second drive motor 22 can each provide equal braking force through brake energy recovery. That is, when the brake of the right wheel of the first side wheel fails, the brake of the left wheel of the first side wheel can be controlled to stop working, 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, so as to decelerate the left and right wheels of the second side wheel.

[0077] FIG8a exemplarily shows another response strategy diagram of a vehicle in a brake failure scenario provided by an embodiment of the present application; FIG8b exemplarily shows another response strategy diagram of a vehicle in a brake failure scenario provided by an embodiment of the present application.

[0078] In some embodiments of the present application, when the drive system 2 comprises a single drive motor, namely the third drive motor 23, if the brake on one side of the vehicle fails, the motor control device on that side can be controlled to stop functioning to ensure smooth vehicle braking. The brake energy recovery function of the third drive motor 23 can be used to provide equal braking force to both the left and right wheels on the second side. Referring to FIG8a , when the first motor brake 11 fails, the control device 3 can disable the second motor brake 12 from braking the right wheel on the first side, and use the third drive motor 23 to provide braking force. Specifically, when the brake on the left wheel on the first side fails, the brake on the right wheel on the first side can be controlled to stop functioning, and the drive system 2 can be controlled to brake both the left and right wheels on the second side, performing equal deceleration on both wheels. Referring to FIG8b , when the second motor brake 12 fails, the control device 3 can disable the first motor brake 11 from braking the left wheel on the first side, 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 brake of the left wheel of the first side wheel can be controlled to stop working, and the drive system 2 can be controlled to brake the left and right wheels of the second side wheel, and the same deceleration treatment is performed on the left and right wheels of the second side wheel.

[0079] Figure 9a exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application; Figure 9b exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application.

[0080] In other embodiments of the present application, when a single motor brake fails, the steering system can also be used to increase the steering angle to achieve smooth vehicle braking. Referring to 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 control the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the first motor brake 11. Specifically, when the left wheel brake on the first side fails, the right wheel on the first side and the left and right wheels on the second side can be decelerated, and the steering angle of the steering wheel can be increased. Referring 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 control the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the second motor brake 12. Specifically, when the right wheel brake on the first side fails, the left wheel on the first side and the left and right wheels on the second side can be decelerated, and the steering angle of the steering wheel can be increased.

[0081] Figure 10a exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application; Figure 10b exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application.

[0082] In some embodiments of the present application, when the drive system 2 includes two drive motors, namely a first drive motor 21 and a second drive motor 22, when one drive motor on one side fails, the other drive motor can be controlled to stop working to ensure smooth braking of the vehicle. Referring 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, using the first motor brake 11 and the second motor brake 12 to provide the same braking force. That is, when the left wheel brake of the second side wheel fails, the brake of the right wheel of the second side wheel can be controlled to stop working, 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, to decelerate the left and right wheels of the first side wheel. Referring to Figure 10b, when 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, using the first motor brake 11 and the second motor brake 12 to provide the same braking force. That is, when the brake of the right wheel of the second side wheel fails, the brake of the left wheel of the second side wheel can be controlled to stop working, and the first motor brake 11 and the second motor brake 12 can be controlled to brake the left wheel and the right wheel of the first side wheel respectively, so as to decelerate the left wheel and the right wheel of the first side wheel.

[0083] FIG11a exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application; FIG11b exemplarily shows a schematic diagram of another response strategy of a vehicle in a brake failure scenario provided by an embodiment of the present application.

[0084] In some embodiments of the present 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 also be used to increase the steering angle to achieve smooth vehicle braking. Referring 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 control the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the first drive motor 21. Specifically, when the left wheel brake on the second side fails, the right wheel on the second side, the left wheel, and the right wheel on the first side can be decelerated, and the steering angle of the steering wheel can be increased. Referring 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 control the steering wheel to increase the steering angle to compensate for the torque generated by the failure of the second drive motor 22. That is, when the brakes of the right wheel on the second side fail, the left wheel on the second side and the left and right wheels on the first side can be decelerated, and the steering angle of the steering wheel can be increased.

[0085] FIG12 exemplarily shows another response strategy diagram of a vehicle in a brake failure scenario provided by an embodiment of the present application.

[0086] Referring to FIG. 12 , in some embodiments of the present 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 includes a single drive motor, namely, the third drive motor 23, the third drive motor 23 fails, the first motor brake 11 and the second motor brake 12 can be controlled to provide the same braking force, thereby braking the vehicle smoothly. That is, when the brakes on the left and right wheels on the second side of the vehicle fail simultaneously, the first motor brake 11 and the second motor brake 12 can be controlled to brake the left and right wheels on the first side of the vehicle, respectively, so that the left and right wheels on the first side of the vehicle can be controlled to perform the same deceleration process.

[0087] The embodiments of the present application propose that the above-mentioned vehicle can be applied to electric vehicles or hybrid vehicles with a braking energy recovery function.

[0088] Based on the same inventive concept, the present application also provides a drive-brake fusion control device for a vehicle. The driven and controlled vehicle includes a first motor brake, a second motor brake, and a drive system with an energy recovery function, and the drive system includes a first drive motor and a second drive motor. The first motor brake is used to brake the left wheel of the first side of the vehicle, and the second motor brake is used to brake the right wheel of the first side of the vehicle; the first drive motor is used to drive or brake the left wheel of the second side of the vehicle, and the second drive motor is used to drive or brake the right wheel of the second side of the vehicle, wherein the first side and the second side are the front side and the rear side, respectively.

[0089] In the event of a failure, the control is designed to:

[0090] In response to the failure of the first motor brake, the second drive motor is disabled to brake the right wheel of the second side wheels, and the first drive motor is controlled to brake the left wheel of the second side wheels and the second motor brake is controlled to brake the right wheel of the first side wheels, or the second motor brake is disabled to brake the right wheel of the first side wheels, 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 wheels respectively.

[0091] In response to the failure of the second motor brake, the first drive motor is disabled to brake the left wheel of the second side wheels, and the second drive motor is controlled to brake the right wheel of the second side wheels and the first motor brake is controlled to brake the left wheel of the first side wheels, or the first motor brake is disabled to brake the left wheel of the first side wheels, and the first drive motor and the second drive motor are controlled to brake the left wheel and right wheel of the second side wheels respectively.

[0092] In some embodiments of the present application, in the event of a failure, the control device may also be used to:

[0093] In response to 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 cause the steering system to compensate for the steering angle.

[0094] In some embodiments of the present application, when the braking force requirements are different, the control device can be used to:

[0095] In response to the braking force requirement indicated by the brake signal being greater than a second threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels on the first side, and the drive system is controlled to brake the left and right wheels on the second side.

[0096] In some embodiments of the present application, when the braking force requirements are different, the control device can be used to:

[0097] In response to the braking force requirement indicated by the brake signal being 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 on the first side, and the drive system is controlled to brake the left and right wheels on the second side through an energy recovery function. In response to the braking force requirement indicated by the brake signal being greater than a third threshold, the first motor brake and the second motor brake are controlled to brake the left and right wheels on the first side, and the drive system is controlled to reversely brake the left and right wheels on the second side.

[0098] The present application also provides a driving and braking fusion control method for a vehicle. The vehicle includes a first motor brake, a second motor brake, and a driving system with an energy recovery function, wherein the driving system includes a first driving motor and a second driving motor.

[0099] In the event of a failure, the control method includes: in response to the failure of the first motor brake, disabling the second drive motor to brake the right wheel of the second side wheels, and controlling the first drive motor to brake the left wheel of the second side wheels and the second motor brake to brake the right wheel of the first side wheels, or disabling the second motor brake to brake the right wheel of the first side wheels, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheels respectively.

[0100] 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 wheels, and the second drive motor is controlled to brake the right wheel of the second side wheels and the first motor brake is controlled to brake the left wheel of the first side wheels, or the first motor brake is disabled from braking the left wheel of the first side wheels, 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 wheels respectively, wherein the first side and the second side are the front side and the rear side respectively.

[0101] In some embodiments of the present 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.

[0102] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of protection of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A vehicle, characterized in that: The vehicle comprises: a first motor brake, a second motor brake, a drive system with energy recovery function and a control device, wherein: The first motor brake and the second motor brake are arranged on a first side of the vehicle, and the control device is used to control the left wheel of the first side of the vehicle to be braked only by the first motor brake and the right wheel of the first side of the vehicle to be braked only by the second motor brake; The drive system is arranged on the second side of the vehicle, and the control device is used to control the left wheel and the right wheel of the second side of the vehicle to be braked only by the drive system, wherein the first side and the second side are respectively the front side and the rear side.

2. The vehicle according to claim 1, characterized in that The control device is used to: In response to the first motor brake failing, disabling the second motor brake from braking the right wheel of the first side wheels, and controlling the drive system to brake the left wheel and the right wheel of the second side wheels; In response to the second motor brake failing, the first motor brake is disabled to brake the left wheel of the first side wheels, and the drive system is controlled to brake the left wheel and the right wheel of the second side wheels.

3. The vehicle according to claim 1 or 2, characterized in that: The drive system comprises 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 to: In response to the first motor brake failing, disabling the second drive motor to brake 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 to brake the right wheel of the first side wheel, and controlling the first drive motor and the second drive motor 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 to brake 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 to brake 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.

4. The vehicle according to claim 3, characterized in that The control device is used to: In response to the failure of the first drive motor, disabling the second drive motor to brake the right wheel of the second side wheels, and controlling the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheels respectively; In response to the failure of the second driving motor, the first driving motor is disabled to brake the left wheel of the second side wheels, 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 wheels respectively.

5. The vehicle according to any one of claims 1 to 4, characterized in that: The control device is used to: In response to 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 a steering angle.

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

7. The vehicle according to any one of claims 1 to 5, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being 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 wheel and the right wheel of the first side wheel.

8. The vehicle according to any one of claims 1 to 5, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being greater 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 wheels, and the drive system is controlled to brake the left and right wheels of the second side wheels.

9. The vehicle according to any one of claims 1 to 5, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being greater than a second threshold and less than a third threshold, controlling the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and controlling the drive system to brake the left wheel and the right wheel of the second side wheel through an energy recovery function; In response to the braking force requirement indicated by the brake signal being greater 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 wheels, and the drive system is controlled to reversely brake the left and right wheels of the second side wheels.

10. A driving and braking fusion control device for a vehicle, characterized in that: The vehicle comprises a first motor brake, a second motor brake and a drive system with an 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 comprises 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, wherein the first side and the second side are respectively the front side and the rear side; The control device is used to: In response to the first motor brake failing, disabling the second drive motor to brake the right wheel of the second side wheels, and controlling the first drive motor to brake the left wheel of the second side wheels and the second motor brake to brake the right wheel of the first side wheels, or disabling the second motor brake to brake the right wheel of the first side wheels, and controlling the first drive motor and the second drive motor to brake the left wheel and the right wheel of the second side wheels respectively; In response to the failure of the second motor brake, the first drive motor is disabled to brake 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 to brake 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.

11. The driving and braking fusion control device for a vehicle according to claim 10, characterized in that: The control device is used to: In response to any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor failing, a correction angle signal is provided to a steering system so that the steering system compensates for a steering angle.

12. The driving and braking fusion control device for a vehicle according to claim 10 or 11, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being greater 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 wheels, and the drive system is controlled to brake the left and right wheels of the second side wheels.

13. The driving and braking fusion control device for a vehicle according to any one of claims 10 to 12, characterized in that: The control device is used to: In response to the braking force requirement indicated by the brake signal being greater than a second threshold and less than a third threshold, controlling the first motor brake and the second motor brake to brake the left wheel and the right wheel of the first side wheel, and controlling the drive system to brake the left wheel and the right wheel of the second side wheel through an energy recovery function; In response to the braking force requirement indicated by the brake signal being greater 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 wheels, and the drive system is controlled to reversely brake the left and right wheels of the second side wheels.

14. A driving and braking fusion control method for a vehicle, characterized in that: The vehicle comprises: a first motor brake, a second motor brake and a drive system with an energy recovery function, the drive system comprises a first drive motor and a second drive motor, wherein the method comprises: In response to the failure of the first motor brake, the second drive motor is disabled to brake the right wheel of the second side wheel, and the The first drive motor brakes the left wheel of the second side wheel and the second motor brake brakes the right wheel of the first side wheel, or the second motor brake is disabled to brake 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 to brake 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 to brake 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.

15. The driving and braking fusion control method for a vehicle according to claim 14, characterized in that: The method comprises: In response to any one of the first motor brake, the second motor brake, the first drive motor, and the second drive motor failing, a correction angle signal is provided to a steering system so that the steering system compensates for a steering angle.

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