Braking failure control method and system for vehicle, and electronic device and medium

Abstract

Provided in the present application are a braking failure control method and system for a vehicle, and an electronic device and a medium. By means of performing detection on a brake-by-wire system, a vehicle braking failure is identified; on the basis of different wheel braking failures, different braking forces are controlled; for a wheel with a braking failure, braking is performed by means of performing braking energy recovery control by a wheel-side / hub driving electric motor; and when a braking request of a driver is responded to the greatest extent and the stability of a vehicle is also taken into consideration, an insufficient electric motor braking torque for a wheel with a braking failure is transferred to a wheel with normal braking, and a braking force for the wheel with a braking failure is redistributed to a wheel without braking failure, so as to realize braking failure control for the vehicle. By means of the present application, the safety and stability of vehicle traveling are ensured while ensuring that braking requirements of a driver are met; in addition, since braking is performed by using an electric motor to perform energy recovery, the economy of vehicle driving is improved.

Description

[Rule 26 correction 25.12.2024] Brake failure control method, system, electronic device and medium for automobile [Rule 26 correction 25.12.2024] Cross-reference of related applications

[0001] [Rule 26 correction 25.12.2024] This application claims priority to Chinese patent application No. 202410988654.3 filed on July 23, 2024, the entire contents of which are incorporated herein by reference. [Rule 26 correction 25.12.2024] TECHNICAL FIELD

[0002] [Rule 26 correction 25.12.2024] The present application belongs to the field of automobile engineering technology, and relates to a brake failure control method, system, electronic device and medium. [Rule 26 correction 25.12.2024] BACKGROUND

[0003] [Rule 26 correction 25.12.2024] The electronic mechanical brake system of an automobile is a system that obtains vehicle braking force by electrically driving a brake caliper. Since the electronic mechanical brake system controls the brake caliper through electrical driving, when a brake caliper of one or more wheels fails or a wheel speed sensor fails, resulting in brake failure, the brake failure wheel loses braking and can only rely on the normally braking wheels to brake, which affects the braking force, so that the electronic mechanical brake system cannot meet the braking demand of the driver, and even causes vehicle instability, causing serious driving safety problems. [Rule 26 correction 25.12.2024] SUMMARY

[0004] [Rule 26 correction 25.12.2024] To solve the problem of brake failure of an automobile in the background art that cannot meet the braking demand of the driver, causes vehicle instability and affects driving safety, the present application proposes a brake failure control method, system, electronic device and medium for an automobile.

[0005] [Rule 26 correction 25.12.2024] The method of the present application comprises the following steps:

[0006] [Rule 26 correction 25.12.2024] The brake caliper controller communication signal and / or wheel speed signal and / or brake caliper fault signal of the automobile line control brake system are detected by an electronic control unit to identify the brake failure signal of each wheel of the automobile;

[0007] [Amended according to Rule 26, 25.12.2024] The vehicle brake failure is classified into different failure modes according to the brake failure signals of different wheels, the failure modes including single-wheel brake failure mode, two-wheel brake failure mode, three-wheel brake failure mode, four-wheel brake failure mode;

[0008] [Amended according to Rule 26, 25.12.2024] According to the failure mode, the brake energy recovery of the brake failure wheel is controlled by the motor brake of the wheel edge / hub drive motor, the torque of the brake failure wheel motor is transferred to the brake normal wheel, and the brake failure of the vehicle is controlled.

[0009] [Amended according to Rule 26, 25.12.2024] Further, in the process of controlling the brake failure of the vehicle, when the brake wheel fails, the brake force of the brake failure wheel is compensated or redistributed to the brake normal wheel by the electric brake force as soon as possible to ensure that the total brake force expected by the driver is met, and the brake torque of each wheel after redistribution is taken as the four-wheel target brake torque of the wheel;

[0010] [Amended according to Rule 26, 25.12.2024] The torque applied to the brake failure wheel is transferred to the drive motor of the brake failure wheel, and the brake energy recovery is controlled by the motor brake;

[0011] [Amended according to Rule 26, 25.12.2024] When the torque applied to the drive motor of the wheel is greater than the maximum motor torque of the motor, the insufficient torque is transferred to the brake normal wheel, the insufficient torque = the required torque applied to the brake failure wheel - the required motor brake torque of the brake failure wheel; if the brake normal wheel exceeds the maximum brake force of the brake normal wheel after torque transfer, the excess part is controlled by the motor brake energy recovery of the brake normal wheel, the brake recovery torque is equal to the torque of the excess part, and the brake recovery torque is not greater than the maximum torque of the motor;

[0012] [Amended according to Rule 26, 25.12.2024] The size of torque transfer is limited according to the actual yaw rate and the expected yaw rate;

[0013] [Amended according to Rule 26, 25.12.2024] The force transferred to the brake normal wheel cannot be greater than the maximum caliper brake force of the wheel;

[0014] [Amended according to Rule 26, 25.12.2024] The brake force applied to each wheel does not exceed the maximum wheel edge adhesion.

[0015] [Amended according to Rule 26, 25.12.2024] Further, the expected total brake force is:

[0016] [Amended according to Rule 26 on 25.12.2024] ,

[0017] [Amended according to Rule 26 on 25.12.2024] in which, is the vehicle mass, is the vehicle vertical load; is the braking intensity; is the desired vehicle longitudinal deceleration, ;

[0018] [Amended according to Rule 26 on 25.12.2024] The four-wheel target braking torque of the vehicle is:

[0019] [Amended according to Rule 26 on 25.12.2024] ,

[0020] [Amended according to Rule 26 on 25.12.2024] ,

[0021] [Amended according to Rule 26 on 25.12.2024] ,

[0022] [Amended according to Rule 26 on 25.12.2024] ,

[0023] [Amended according to Rule 26 on 25.12.2024] in which, is the front left wheel target braking torque, is the front right wheel target braking torque, is the rear right wheel target braking torque, is the rear right wheel target braking torque; is the front left wheel load, is the front right wheel load, is the rear left wheel load, is the rear right wheel load, is the wheel radius;

[0024] [Amended according to Rule 26 on 25.12.2024] When the vehicle is turning left and braking, the tire load calculation formula is as follows:

[0025] [Amended according to Rule 26 on 25.12.2024] ,

[0026] [Amended according to Rule 26 on 25.12.2024] ,

[0027] [Corrected according to Rule 26 25.12.2024] ,

[0028] [Corrected according to Rule 26 25.12.2024] ,

[0029] [Corrected according to Rule 26 25.12.2024] When the vehicle is turning right and braking, the tire load calculation formula is as follows:

[0030] [Corrected according to Rule 26 25.12.2024] ,

[0031] [Corrected according to Rule 26 25.12.2024] ,

[0032] [Corrected according to Rule 26 25.12.2024] ,

[0033] [Corrected according to Rule 26 25.12.2024] ,

[0034] [Corrected according to Rule 26 25.12.2024] When the vehicle is straight and braking, the tire load calculation formula is as follows:

[0035] [Corrected according to Rule 26 25.12.2024] ,

[0036] [Corrected according to Rule 26 25.12.2024] ,

[0037] [Corrected according to Rule 26 25.12.2024] ,

[0038] [Corrected according to Rule 26 25.12.2024] ,

[0039] [Corrected according to Rule 26 25.12.2024] In the formula, is the longitudinal acceleration, is the lateral acceleration, is the distance from the front axle to the center of mass, is the distance from the rear axle to the center of mass, is the distance from the front axle to the rear axle, is the height of the center of mass, is the wheelbase.

[0040] [Corrected according to Rule 26 on 25.12.2024] Further, the brake failure control method of the automobile single-wheel brake failure mode is:

[0041] [Corrected according to Rule 26 on 25.12.2024] The brake energy recovery control brake of the brake failure wheel is carried out by the wheel edge / hub drive motor, the reverse drag torque is implemented by the power motor, and then the wheel brake is realized. The demand motor brake torque is equal to the brake failure wheel caliper brake torque. If the demand motor brake torque is greater than the maximum allowable torque of the motor, the demand motor brake torque of the brake failure wheel is equal to the maximum torque of the motor;

[0042] [Corrected according to Rule 26 on 25.12.2024] In order to maximize the response to the driver's brake request, the torque deficiency of the brake failure wheel motor brake is transferred to the same shaft brake normal wheel for braking. The deficiency torque = the demand torque applied to the brake failure wheel - the demand motor brake torque of the brake failure wheel. If the brake normal wheel exceeds the maximum brake force of the wheel caliper after torque transfer, the excess part is braked by the motor of the brake normal wheel through the brake energy recovery control brake. The brake recovery torque is equal to the excess torque, and the brake recovery torque is not greater than the maximum torque of the motor;

[0043] [Corrected according to Rule 26 on 25.12.2024] In order to avoid vehicle instability caused by vehicle yaw torque, and maximize the response to the driver's brake request, the brake torque requested by the diagonal wheel is adjusted, i.e. the diagonal wheel caliper brake torque is equal to the brake failure wheel electric brake torque, and the original target caliper brake torque of the diagonal wheel is subtracted from the brake failure wheel electric brake torque as a transfer torque, which is transferred to the caliper brake torque of the other wheel coaxial with the diagonal wheel. The transferred torque cannot be greater than the maximum brake torque of the wheel caliper. If the transferred torque is greater than the maximum brake torque of the wheel, the excess part is braked by the motor, and cannot be greater than the maximum torque of the motor;

[0044] [Corrected according to Rule 26 on 25.12.2024] The brake force applied to each wheel, including the caliper brake torque and the motor brake torque applied to the wheel edge, does not exceed the maximum wheel edge adhesion of the corresponding wheel.

[0045] [Corrected according to Rule 26 on 25.12.2024] Further, the brake failure control method of the automobile two-wheel brake failure mode is:

[0046] [Corrected according to Rule 26 25.12.2024] For the same side two wheel brake failure mode: the brake failure wheel is braked by the wheel edge / hub drive motor through the brake energy recovery control, and the reverse drag torque is implemented through the power motor, so as to realize the braking of the wheel, the demand motor braking torque is equal to the brake failure wheel caliper braking torque, if the demand motor braking torque is greater than the maximum allowable torque of the motor, the demand motor braking torque of the brake failure wheel is equal to the maximum torque of the motor;

[0047] [Corrected according to Rule 26 25.12.2024] For the maximum response to the driver's braking request, the insufficient torque of the brake failure wheel motor braking is transferred to the corresponding same side brake normal wheel to brake, the insufficient torque = the demand torque applied to the brake failure wheel - the demand motor braking torque of the brake failure wheel, if the brake normal wheel exceeds the maximum brake force of the wheel caliper after torque transfer, the excess part is braked by the motor of the brake normal wheel through the brake energy recovery control, the brake recovery torque is equal to the torque of the excess part, and the brake recovery torque is not greater than the maximum torque of the motor;

[0048] [Corrected according to Rule 26 25.12.2024] The brake force applied to each wheel does not exceed the maximum wheel edge adhesion force of the corresponding wheel, and the brake force applied to each wheel includes the brake force applied to the wheel edge by the caliper braking torque and the motor braking torque together;

[0049] [Corrected according to Rule 26 25.12.2024] For the same side two wheel brake failure mode: the brake failure wheel is braked by the wheel edge / hub drive motor through the brake energy recovery control, and the reverse drag torque is implemented through the power motor, so as to realize the braking of the wheel, the demand motor braking torque is equal to the brake failure wheel caliper braking torque, if the demand motor braking torque is greater than the maximum allowable torque of the motor, the demand motor braking torque of the brake failure wheel is equal to the maximum torque of the motor;

[0050] [Corrected according to Rule 26 25.12.2024] For the maximum response to the driver's braking request, the insufficient torque of the brake failure wheel motor braking is transferred to the corresponding same side brake normal wheel to brake, the insufficient torque = the demand torque applied to the brake failure wheel - the demand motor braking torque of the brake failure wheel, if the brake normal wheel exceeds the maximum brake force of the wheel caliper after torque transfer, the excess part is braked by the motor of the brake normal wheel through the brake energy recovery control, the brake recovery torque is equal to the torque of the excess part, and the brake recovery torque is not greater than the maximum torque of the motor;

[0051] [Corrected according to Rule 26 on 25.12.2024] Because the torque transfer can cause the braking force of the contralateral wheel to be too large, resulting in a large yaw moment, causing the vehicle to lose stability, therefore, in the case of ensuring that the vehicle does not lose stability, as much as possible to transfer the insufficient torque, the braking torque transferred to the two wheels on the opposite side needs to be limited according to the difference between the actual yaw rate and the expected yaw rate, to prevent the vehicle from losing stability;

[0052] [Corrected according to Rule 26 on 25.12.2024] The braking force applied to each wheel, including the caliper braking torque and the motor braking torque applied to the wheel rim, does not exceed the maximum wheel rim adhesion of the corresponding wheel;

[0053] [Corrected according to Rule 26 on 25.12.2024] For the diagonal two-wheel brake failure mode: the brake failure wheel is braked by the wheel rim / hub drive motor brake energy recovery control, and the power motor implements the reverse drag torque, thereby realizing the brake of the wheel, the required motor braking torque is equal to the caliper braking torque of the brake failure wheel, if the required motor braking torque is greater than the maximum allowable torque of the motor, then the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor;

[0054] [Corrected according to Rule 26 on 25.12.2024] To maximize the response to the driver's braking request, the insufficient torque of the brake failure wheel is transferred to the other side of the same shaft to brake the normal wheel, the insufficient torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel, if the braking force of the normal wheel exceeds the maximum caliper braking force of the wheel after torque transfer, then the excess part is braked by the motor of the normal wheel for brake energy recovery control, the brake recovery torque is equal to the excess torque, and the brake recovery torque is not greater than the maximum torque of the motor;

[0055] [Corrected according to Rule 26 on 25.12.2024] The braking force applied to each wheel, including the caliper braking torque and the motor braking torque applied to the wheel rim, does not exceed the maximum wheel rim adhesion of the corresponding wheel.

[0056] [Corrected according to Rule 26 on 25.12.2024] Further, the brake failure control method of the automobile three-wheel brake failure mode is:

[0057] [Corrected according to Rule 26 25.12.2024] The brake energy recovery control is performed on the brake failure wheel through the wheel edge / hub drive motor, the reverse drag torque is implemented through the power motor, and then the brake of the wheel is realized, the demand motor brake torque is equal to the brake failure wheel caliper brake torque, if the demand motor brake torque is greater than the maximum allowable torque of the motor, the demand motor brake torque of the brake failure wheel is equal to the maximum torque of the motor;

[0058] [Corrected according to Rule 26 25.12.2024] In order to maximize the response to the driver's brake request, the torque of the brake failure wheel motor is appropriately transferred to the brake normal wheel to make up for the lost brake torque, the insufficient torque = the demand torque applied to the brake failure wheel - the demand motor brake torque of the brake failure wheel, if the brake normal wheel exceeds the maximum brake force of the wheel caliper after torque transfer, the excess part is braked through the motor of the brake normal wheel, the brake recovery torque is equal to the excess torque, and the brake recovery torque is not greater than the maximum torque of the motor;

[0059] [Corrected according to Rule 26 25.12.2024] Torque transfer may cause large lateral wheel braking force, resulting in large yaw moment, causing vehicle instability; therefore, the torque of the brake normal wheel is limited according to the difference between the actual yaw rate and the expected yaw rate to prevent vehicle instability;

[0060] [Corrected according to Rule 26 25.12.2024] The brake force applied to each wheel does not exceed the maximum wheel edge adhesion of the corresponding wheel, and the brake force applied to each wheel includes the caliper brake torque and the motor brake torque applied to the wheel edge.

[0061] [Corrected according to Rule 26 25.12.2024] Further, the brake failure control method of the automobile four-wheel brake failure mode is:

[0062] [Corrected according to Rule 26 25.12.2024] The brake energy recovery control is performed on the brake failure wheel through the wheel edge / hub drive motor, the reverse drag torque is implemented through the power motor, and then the brake of the wheel is realized, the demand motor brake torque is equal to the brake failure wheel caliper brake torque, if the demand motor brake torque is greater than the maximum allowable torque of the motor, the demand motor brake torque of the brake failure wheel is equal to the maximum torque of the motor.

[0063] [Rule 26 corrected 25.12.2024] The application proposes a brake failure control system for a vehicle, comprising a vehicle brake failure identification module, a failure mode classification module, and a vehicle brake failure control module.

[0064] [Rule 26 corrected 25.12.2024] The vehicle brake failure identification module is configured to detect brake caliper controller communication signals and / or wheel speed signals and / or brake caliper fault signals of a vehicle's brake-by-wire system through an electronic control unit, and identify brake failure signals of each wheel of the vehicle. The failure mode classification module is configured to classify the vehicle brake failure into different failure modes according to the brake failure signals of different wheels, wherein the failure modes include single-wheel brake failure mode, two-wheel brake failure mode, three-wheel brake failure mode, and four-wheel brake failure mode. The vehicle brake failure control module is configured to control the brake failure of the vehicle by recovering brake energy through wheel edge / hub drive motors for the brake failure wheels, and transferring the torque of the motor brake deficiency of the brake failure wheels to the normally braking wheels, according to the failure modes.

[0065] [Rule 26 corrected 25.12.2024] The application also proposes an electronic device comprising a memory and a processor, which are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions to implement the above-mentioned vehicle brake failure control method and vehicle brake failure control system.

[0066] [Rule 26 corrected 25.12.2024] The application also proposes a computer-readable storage medium storing a computer program, which is executed by a processor to implement the above-mentioned vehicle brake failure control method and vehicle brake failure control system.

[0067] [Rule 26 corrected 25.12.2024] Compared with the prior art, the application detects the brake-by-wire system, identifies the brake failure of the vehicle, controls the brake force according to the brake failure of different wheels, controls the brake energy recovery of the brake failure wheels through the wheel edge / hub drive motors, maximally responds to the brake request of the driver, and at the same time, considers the stability of the vehicle, transfers the torque of the motor brake deficiency of the brake failure wheels to the normally braking wheels, redistributes the brake force of the brake failure wheels to the non-failure wheels, and realizes the control of the brake failure of the vehicle. The application guarantees to meet the brake demand of the driver, guarantees the safety and stability of the vehicle, and improves the economy of the vehicle driving due to the utilization of motor energy recovery brake. [Rule 26 correction 25.12.2024]BRIEF DESCRIPTION OF DRAWINGS

[0068] [Rule 26 correction 25.12.2024]FIG. 1 is a flowchart of the method of the present application.

[0069] [Rule 26 correction 25.12.2024]FIG. 2 is a system architecture diagram of the present application. [Rule 26 correction 25.12.2024]DETAILED DESCRIPTION

[0070] [Rule 26 correction 25.12.2024]In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear, the present application will be further described in detail below in combination with the drawings and technical solutions. It should be understood that the specific technical solutions described herein are only used to explain the present application and not to limit the present application.

[0071] [Rule 26 correction 25.12.2024]The brake failure control method of the automobile, the flowchart is shown in FIG. 1, and the specific steps are described as follows.

[0072] [Rule 26 correction 25.12.2024]Firstly, the electronic control unit detects the brake caliper controller communication signal and / or wheel speed signal and / or brake caliper fault signal of the automobile line control brake system, and identifies the brake failure signal of each wheel of the automobile.

[0073] [Rule 26 correction 25.12.2024]That is, when the electronic control unit detects that any brake caliper controller communication signal of the line control brake system fails or the wheel speed signal fails or the brake caliper fault fails, the vehicle brake fails.

[0074] [Rule 26 correction 25.12.2024]Then, according to the brake failure signals of different wheels, the vehicle brake failure is classified into different failure modes.

[0075] [Rule 26 correction 25.12.2024]Specifically, the failure mode of the automobile is: single-wheel brake failure mode, two-wheel brake failure mode, three-wheel brake failure mode, four-wheel brake failure mode. Among them, the two-wheel brake failure mode is: coaxial two-wheel brake failure mode, same side two-wheel brake failure mode, diagonal two-wheel brake failure mode.

[0076] [Rule 26 correction 25.12.2024]According to the failure mode, the brake energy recovery of the wheel with brake failure is carried out by the wheel edge / hub drive motor to brake, and the torque of the motor brake of the wheel with brake failure is transferred to the normal brake wheel, so as to control the brake failure of the automobile.

[0077] [Corrected according to Rule 26 25.12.2024] Specifically, when a brake wheel fails, to ensure that the total braking force desired by the driver is met as soon as possible, the braking force of the failed brake wheel is made up or redistributed to the normally braking wheels by electric braking force, and the braking torque to each wheel after redistribution is the four-wheel target braking torque of the wheel.

[0078] [Corrected according to Rule 26 25.12.2024] When a brake wheel fails, the torque applied to the wheel is transferred to the drive motor of the wheel, and braking is performed by brake energy recovery.

[0079] [Corrected according to Rule 26 25.12.2024] When the torque applied to the drive motor of the wheel is greater than the maximum motor torque of the motor, the deficient torque = required torque of the failed brake wheel - required motor braking torque of the failed brake wheel is transferred to the normally braking wheels, and if the braking force of the normally braking wheels exceeds the maximum caliper braking force of the wheel after torque transfer, the excess is controlled by motor braking energy recovery braking of the normally braking wheels, the braking recovery torque is equal to the excess torque, and the braking recovery torque is not greater than the maximum motor torque.

[0080] [Corrected according to Rule 26 25.12.2024] To avoid the generation of an undesirable yaw moment due to torque transfer, the size of the torque transfer is limited according to the actual yaw rate and the desired yaw rate.

[0081] [Corrected according to Rule 26 25.12.2024] The force transferred to the normally braking wheels cannot be greater than the maximum caliper braking force of the wheel.

[0082] [Corrected according to Rule 26 25.12.2024] The braking force applied to each wheel does not exceed the maximum wheel rim adhesion.

[0083] [Corrected according to Rule 26 25.12.2024] More specifically, the brake failure control method for each failure mode is as follows.

[0084] [Corrected according to Rule 26 25.12.2024] (1) Brake failure control method for single-wheel brake failure mode of the vehicle;

[0085] [Corrected according to Rule 26 25.12.2024] First, the failed brake wheel is braked by brake energy recovery control of the wheel edge / hub drive motor, and the reverse drag torque is implemented by the power motor to achieve braking of the wheel, the required motor braking torque is equal to the caliper braking torque of the failed brake wheel, and if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the failed brake wheel is equal to the maximum motor torque.

[0086] [According to Rule 26, correct 25.12.2024] Then, to maximize the response to the driver's braking request, the insufficient torque of the motor braking of the brake failure wheel is transferred to the coaxial brake normal wheel for braking, the insufficient torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel, if the brake normal wheel exceeds the maximum brake force of the wheel caliper after torque transfer, the excess part is controlled by the motor of the brake normal wheel for braking energy recovery, the brake recovery torque is equal to the torque of the excess part, and the brake recovery torque is not greater than the maximum motor torque;

[0087] [According to Rule 26, correct 25.12.2024] Finally, to avoid vehicle yaw torque causing vehicle instability, and maximize the response to the driver's braking request, the braking torque requested by the diagonal wheel is adjusted, that is, the diagonal wheel caliper braking torque is equal to the electric braking torque of the brake failure wheel, and the original target caliper braking torque of the diagonal wheel is subtracted from the electric braking torque of the brake failure wheel as the transfer torque, which is transferred to the caliper braking torque of the other wheel coaxial with the diagonal wheel, and the transferred torque cannot be greater than the maximum brake torque of the wheel caliper; If the transferred torque is greater than the maximum brake torque of the wheel, the excess part is implemented by the motor braking, and cannot be greater than the maximum motor torque;

[0088] [According to Rule 26, correct 25.12.2024] Wherein the braking force applied to each wheel does not exceed the maximum wheel edge adhesion of the corresponding wheel, and the braking force of each wheel includes the caliper braking torque and the motor braking torque applied to the wheel edge together.

[0089] [According to Rule 26, correct 25.12.2024] (2) Brake failure control method for two-wheel brake failure mode of automobile;

[0090] [According to Rule 26, correct 25.12.2024] ① Brake failure control method for coaxial two-wheel brake failure mode;

[0091] [According to Rule 26, correct 25.12.2024] First, the brake failure wheel is braked by the wheel edge / hub drive motor for braking energy recovery control, and the reverse drag torque is implemented by the power motor to realize the braking of the wheel, and the required motor braking torque is equal to the caliper braking torque of the brake failure wheel, if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum motor torque.

[0092] [According to Rule 26, correct 25.12.2024] Then, to maximize the response to the driver's braking request, the torque deficiency of the motor braking of the brake failure wheel is transferred to the corresponding same side brake normal wheel to make up for the lost braking torque. The deficiency torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel. If the brake normal wheel exceeds the maximum brake force of the caliper after torque transfer, the excess part is controlled by the motor braking of the brake normal wheel for braking energy recovery. The braking recovery torque is equal to the excess torque, and the braking recovery torque is not greater than the maximum motor torque.

[0093] [According to Rule 26, correct 25.12.2024] Where the braking force applied to each wheel does not exceed the maximum wheel edge adhesion of the corresponding wheel, and the braking force of each wheel includes the caliper braking torque and the motor braking torque applied to the wheel edge.

[0094] [According to Rule 26, correct 25.12.2024] ② Brake failure control method of same side two wheel brake failure mode;

[0095] [According to Rule 26, correct 25.12.2024] First, the brake failure wheel is braked by the wheel edge / hub drive motor for braking energy recovery control, and the reverse drag torque is implemented by the power motor to realize the braking of the wheel. The required motor braking torque is equal to the caliper braking torque of the brake failure wheel. If the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor.

[0096] [According to Rule 26, correct 25.12.2024] Then, to maximize the response to the driver's braking request, the torque deficiency of the motor braking of the brake failure wheel is transferred to the corresponding same side brake normal wheel to make up for the lost braking torque. The deficiency torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel. If the brake normal wheel exceeds the maximum brake force of the caliper after torque transfer, the excess part is controlled by the motor braking of the brake normal wheel for braking energy recovery. The braking recovery torque is equal to the excess torque, and the braking recovery torque is not greater than the maximum motor torque.

[0097] [According to Rule 26, correct 25.12.2024] Since torque transfer can cause large yaw moments due to large braking forces of opposite side wheels, leading to vehicle instability, the torque deficiency is transferred as much as possible to ensure vehicle stability. The braking torque transferred to the opposite side two wheels is limited according to the difference between the actual yaw rate and the expected yaw rate to prevent vehicle instability.

[0098] [Corrected according to Rule 26 25.12.2024] Wherein the braking force applied to each wheel does not exceed the maximum wheel rim adhesion of the corresponding wheel, the braking force of each wheel including the brake caliper braking torque and the motor braking torque applied together to the wheel rim.

[0099] [Corrected according to Rule 26 25.12.2024] ③ Brake failure control method for diagonal two-wheel brake failure mode;

[0100] [Corrected according to Rule 26 25.12.2024] First, the brake failure wheel is braked by the wheel rim / hub drive motor for brake energy recovery control, and the power motor is implemented to realize the brake of the wheel by implementing the reverse drag torque, and the required motor braking torque is equal to the brake caliper braking torque of the brake failure wheel. If the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor.

[0101] [Corrected according to Rule 26 25.12.2024] Then, in order to maximize the response to the driver's braking request, the insufficient torque of the motor braking of the brake failure wheel is transferred to the other side of the same shaft to brake the normal wheel, and the insufficient torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel. If the braking force of the normal wheel exceeds the maximum brake caliper braking force of the wheel after torque transfer, the excess part is braked by the motor of the normal wheel for brake energy recovery control, and the brake recovery torque is equal to the excess torque, and the brake recovery torque is not greater than the maximum torque of the motor.

[0102] [Corrected according to Rule 26 25.12.2024] Wherein the braking force applied to each wheel does not exceed the maximum wheel rim adhesion of the corresponding wheel, the braking force of each wheel including the brake caliper braking torque and the motor braking torque applied together to the wheel rim.

[0103] [Corrected according to Rule 26 25.12.2024] (3) Brake failure control method for three-wheel brake failure mode of automobile;

[0104] [Corrected according to Rule 26 25.12.2024] First, the brake failure wheel is braked by the wheel rim / hub drive motor for brake energy recovery control, and the power motor is implemented to realize the brake of the wheel by implementing the reverse drag torque, and the required motor braking torque is equal to the brake caliper braking torque of the brake failure wheel. If the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor.

[0105] [Corrected according to Rule 26 on 25.12.2024] Then, in order to maximize the response to the driver's braking request, the torque of the motor braking of the brake failure wheel is appropriately transferred to the brake normal wheel to make up for the lost braking torque, and the insufficient torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel. If the brake normal wheel exceeds the maximum brake force of the wheel caliper after torque transfer, the excess part will be controlled by the motor braking energy recovery of the brake normal wheel, and the brake recovery torque is equal to the excess torque, and the brake recovery torque is not greater than the maximum motor torque.

[0106] [Corrected according to Rule 26 on 25.12.2024] Because torque transfer can cause large lateral wheel braking force, resulting in large yaw moment, causing the vehicle to lose stability; therefore, in order to transfer the insufficient torque as much as possible under the condition of ensuring the stability of the vehicle, the braking torque transferred to the brake normal wheel needs to be limited according to the difference between the actual yaw rate and the expected yaw rate, in order to prevent the vehicle from losing stability.

[0107] [Corrected according to Rule 26 on 25.12.2024] Wherein the braking force applied to each wheel does not exceed the maximum wheel edge adhesion of the corresponding wheel, and the braking force of each wheel includes the braking force applied to the wheel edge by the caliper braking torque and the motor braking torque.

[0108] [Corrected according to Rule 26 on 25.12.2024] (4) A brake failure control method for four-wheel brake failure mode of an automobile;

[0109] [Corrected according to Rule 26 on 25.12.2024] The brake failure wheel is braked by the wheel edge / hub drive motor braking energy recovery control, and the reverse drag torque is implemented by the power motor to realize the braking of the wheel, and the required motor braking torque is equal to the caliper braking torque of the brake failure wheel. If the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor.

[0110] [Corrected according to Rule 26 on 25.12.2024] The application also provides a brake failure control system for an automobile, and a schematic diagram is shown in FIG. 2, which comprises an automobile brake failure identification module, a failure mode classification module and a vehicle brake failure control module.

[0111] [Corrected according to Rule 26 on 25.12.2024] The automobile brake failure identification module is used for detecting the communication signal of the brake caliper controller or the wheel speed signal or the brake caliper fault of the automobile brake-by-wire system through the electronic control unit, and identifying the automobile brake failure.

[0112] [Amended according to Rule 26 on 25.12.2024] A failure mode classification module for classifying vehicle brake failure into different failure modes according to brake failure of different wheels, the failure modes including single-wheel brake failure mode, two-wheel brake failure mode, three-wheel brake failure mode, and four-wheel brake failure mode.

[0113] [Amended according to Rule 26 on 25.12.2024] A brake failure control module of the vehicle for controlling brake energy recovery of the brake failure wheel through the wheel hub motor according to the failure mode, transferring the torque of the motor brake of the brake failure wheel to the brake normal wheel, redistributing the brake force of the brake failure wheel to the brake non-failure wheel, and realizing the brake failure control of the vehicle.

[0114] [Amended according to Rule 26 on 25.12.2024] The specific implementation of each module in the system is consistent with the method described in the present application, which will not be repeated here.

[0115] [Amended according to Rule 26 on 25.12.2024] The present application also proposes an electronic device comprising a memory and a processor, which are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to realize the above-mentioned brake failure control method and brake failure control system of the vehicle.

[0116] [Amended according to Rule 26 on 25.12.2024] The present application also proposes a computer readable storage medium storing a computer program, which is executed by a processor to realize the above-mentioned brake failure control method and brake failure control system of the vehicle.

[0117] [Amended according to Rule 26 on 25.12.2024] The content of the present application will be further described below in combination with specific technical solutions. In the specific technical solutions, each wheel of the vehicle is configured with a drive motor and a drive motor brake, so that is the requested motor brake torque, is the current target brake torque of the wheel, is the requested caliper brake torque of the vehicle, is the maximum allowed torque of the motor, is the maximum caliper brake force of the wheel, is the maximum wheel adhesion force, wherein i represents the front axle f or the rear axle r, and j represents the left side l or the right side r; is the wheel radius.

[0118] [Amended according to Rule 26 on 25.12.2024] Technical solution 1

[0119] [Amended according to Rule 26 25.12.2024] This technical solution takes the left front wheel brake failure as an example;

[0120] [Amended according to Rule 26 25.12.2024] If the current brake failure wheel brake torque is less than the maximum allowable torque of the motor, the requested caliper brake torque of the front left wheel is =0, the requested motor brake torque of the front left wheel is , and the motor brake torque of the remaining wheels is 0, and the caliper brake torque of the remaining wheels is equal to the target caliper brake torque of each wheel.

[0121] [Amended according to Rule 26 25.12.2024] If the current brake failure wheel brake torque is greater than or equal to the maximum allowable torque of the motor, the requested caliper brake torque of the front left wheel is =0, the requested brake torque of the front left motor is = , and the target torque that needs to be transferred by the front left motor is:

[0122] [Amended according to Rule 26 25.12.2024] .

[0123] [Amended according to Rule 26 25.12.2024] The transferred brake torque is transferred to the front right wheel, and the transferred torque cannot be greater than the maximum brake torque of the wheel, and the requested caliper brake torque of the front right wheel is:

[0124] [Amended according to Rule 26 25.12.2024] .

[0125] [Amended according to Rule 26 25.12.2024] The requested motor brake torque of the front right wheel is ; if the transferred torque is greater than the maximum caliper brake torque of the wheel, the excess part is implemented by the motor brake of the wheel, and cannot be greater than the maximum torque of the motor, that is:

[0126] [Amended according to Rule 26 25.12.2024]

[0127] [Amended according to Rule 26 25.12.2024] And the total brake force of the wheel is not greater than the maximum wheel adhesion of the wheel, that is:

[0128] [Amended according to Rule 26 25.12.2024] .

[0129] [Corrected according to Rule 26 on 25.12.2024] To avoid vehicle yaw torque leading to vehicle instability, the brake torque requested by the diagonal wheels will be adjusted, i.e. the rear right wheel caliper brake torque will be equal to the front left wheel electric brake torque, i.e. = , , and the torque ( ) will be transferred to the rear left wheel caliper brake torque, and the transferred torque cannot be greater than the maximum brake torque of the caliper, i.e. the rear left wheel caliper brake torque is:

[0130] [Corrected according to Rule 26 on 25.12.2024] .

[0131] [Corrected according to Rule 26 on 25.12.2024] If the transferred torque is greater than the maximum brake torque of the wheel, the excess will be implemented by the electric motor brake of the wheel, and cannot be greater than the maximum torque of the electric motor, i.e.:

[0132] [Corrected according to Rule 26 on 25.12.2024]

[0133] [Corrected according to Rule 26 on 25.12.2024] And the total brake force of the wheel cannot be greater than the maximum wheel rim adhesion of the wheel, i.e.:

[0134] [Corrected according to Rule 26 on 25.12.2024] .

[0135] [Corrected according to Rule 26 on 25.12.2024] Technical solution 2

[0136] [Corrected according to Rule 26 on 25.12.2024] This technical solution takes the front axle two-wheel brake failure as an example;

[0137] [Corrected according to Rule 26 on 25.12.2024] If the brake torque of the brake failure wheel is less than the maximum allowable torque of the electric motor, the requested caliper brake torque of the front left wheel is =0, the electric motor brake torque of the front left wheel is , the requested caliper brake torque of the front right wheel is =0, the electric motor brake torque of the front left wheel is , the electric motor brake torque of the remaining rear axle wheels is 0, and the caliper brake torque of the remaining rear axle wheels is equal to the target caliper brake torque of each wheel.

[0138] [Corrected according to Rule 26 on 25.12.2024] If the brake torque of the brake failure wheel is greater than or equal to the maximum allowable torque of the electric motor, the requested caliper brake torque of the front left wheel is =0, the requested brake torque of the front left electric motor is = 0, the requested brake torque of the front right motor is = 0, the requested brake torque of the front right motor is = 0, the requested brake torque of the front right motor is = 0, the requested brake torque of the front right motor is = 0, the requested brake torque of the front right motor is = 0, the requested brake torque of the front right motor is .

[0139] [According to Rule 26 correction 25.12.2024] The brake torque required to be transferred by the two front wheels is transferred to the corresponding two rear wheels, and the transferred torque cannot be greater than the maximum caliper brake torque of the corresponding wheels, the requested caliper brake torque of the rear left wheel is , the requested motor brake torque of the rear left wheel is ; if the transferred torque is greater than the maximum caliper brake torque of the wheel, the excess part is implemented by the motor brake of the wheel, and cannot be greater than the maximum motor torque, that is,

[0140] [According to Rule 26 correction 25.12.2024] , and the total braking force of the wheel is not greater than the maximum wheel adhesion of the wheel, that is,

[0141] [According to Rule 26 correction 25.12.2024] .

[0142] [According to Rule 26 correction 25.12.2024] Similarly, the requested caliper brake torque and the requested motor brake torque of the rear right wheel can be obtained, which is not described here.

[0143] [According to Rule 26 correction 25.12.2024] Technical solution 3

[0144] [According to Rule 26 correction 25.12.2024] This technical solution takes the braking failure of the front left wheel and the rear right wheel as an example.

[0145] [According to Rule 26 correction 25.12.2024] If the brake torque of the brake failure wheel is less than the maximum allowable torque of the motor, the requested caliper brake torque of the front left wheel is = 0, the motor brake torque of the front left wheel is , the requested caliper brake torque of the rear right wheel is = 0, the motor brake torque of the rear right wheel is , the motor brake torque of the remaining rear wheels is 0, and the caliper brake torque of the remaining wheels is equal to the target caliper brake torque of each wheel.

[0146] [Amended according to Rule 26 on 25.12.2024] If the braking torque of the failed wheel is greater than or equal to the maximum allowable torque of the motor, the requested caliper braking torque of the front left wheel is = 0, the requested braking torque of the front left motor is = , the target torque that the front left motor needs to transfer is: ; the requested caliper braking torque of the rear right wheel is = 0, the requested braking torque of the rear right motor is = , the target torque that the rear right motor needs to transfer is: .

[0147] [Amended according to Rule 26 on 25.12.2024] The braking torque that the front left wheel needs to transfer is transferred to the corresponding front right wheel, and the transferred torque cannot be greater than the maximum caliper braking torque of the corresponding wheel, the requested caliper braking torque of the front right wheel is: , the requested motor braking torque of the front right wheel is ; if the transferred torque is greater than the maximum caliper braking torque of the wheel, the excess part is implemented by the motor braking of the wheel, and cannot be greater than the maximum motor torque, that is:

[0148] [Amended according to Rule 26 on 25.12.2024]

[0149] [Amended according to Rule 26 on 25.12.2024] And the total braking force of the wheel is not greater than the maximum wheel rim adhesion of the wheel, that is:

[0150] [Amended according to Rule 26 on 25.12.2024] .

[0151] [Amended according to Rule 26 on 25.12.2024] Similarly, the requested caliper braking torque and the requested motor braking torque of the rear right wheel and the rear left wheel can be obtained, which is not described here.

[0152] [Amended according to Rule 26 on 25.12.2024] Technical solution 4

[0153] [Amended according to Rule 26 on 25.12.2024] This technical solution takes the braking failure of the two wheels on the left side as an example;

[0154] [Amended according to Rule 26 on 25.12.2024] If the braking torque of the failed wheel is less than the maximum allowable torque of the motor, the requested caliper braking torque of the front left wheel is = 0, the motor braking torque of the front left wheel is , the requested caliper braking torque of the rear left wheel is =0, the front left motor requested brake torque is , the motor brake torque of the remaining wheels is 0, and the caliper brake torque of the remaining wheels is equal to the target caliper brake torque of each wheel.

[0155] [Corrected according to Rule 26, 25.12.2024] If the current brake torque of the failed wheel is greater than or equal to the maximum allowable torque of the motor, the front left wheel requested caliper brake torque is =0, the front left motor requested brake torque is = , the target torque that needs to be transferred by the front left motor is: ; the transferred brake torque is transferred to the front right wheel, and the transferred torque cannot be greater than the maximum brake torque of the wheel, the front right wheel requested caliper brake torque is: , the front right wheel requested motor brake torque is ; if the transferred torque is greater than the maximum caliper brake torque of the wheel, the excess part is implemented by the motor brake of the wheel, and cannot be greater than the maximum torque of the motor, i.e.

[0156] [Corrected according to Rule 26, 25.12.2024]

[0157] [Corrected according to Rule 26, 25.12.2024] And the total brake force of the wheel is not greater than the maximum wheel rim adhesion of the wheel, i.e.

[0158] [Corrected according to Rule 26, 25.12.2024] .

[0159] [Corrected according to Rule 26, 25.12.2024] Similarly, the front left wheel and the rear right wheel requested caliper brake torque and requested motor brake torque can be obtained, which is not described here.

[0160] [Corrected according to Rule 26, 25.12.2024] Since the torque is transferred to the opposite side, the yaw torque is:

[0161] [Corrected according to Rule 26, 25.12.2024]

[0162] [Amended according to Rule 26 on 25.12.2024] In order to avoid vehicle instability due to yaw torque, the yaw torque needs to be adjusted according to the difference between the actual yaw rate and the expected yaw rate and the vehicle speed, avoiding understeering or oversteering. This technical solution constrains the transferred braking torque, and its constraint coefficient K is K=K1*K2, where K1 is the constraint coefficient according to the difference between the actual yaw rate and the expected yaw rate. If the vehicle turns left, if the difference between the actual yaw rate and the expected yaw rate is negative, it means that the left turning is insufficient, and the larger the absolute value is, the more the yaw torque needs to be increased; if the difference between the actual yaw rate and the expected yaw rate is positive, it means that the left turning is excessive, and the larger the value is, the more the yaw torque needs to be reduced. K2 is the constraint coefficient according to the vehicle speed.

[0163] [Amended according to Rule 26 on 25.12.2024] If and the vehicle turns left, or and the vehicle turns right, the K1 of this technical solution is as follows:

[0164] [Amended according to Rule 26 on 25.12.2024]

[0165] [Amended according to Rule 26 on 25.12.2024] If and the vehicle turns left, or and the vehicle turns right, the K1 of this technical solution is as follows:

[0166] [Amended according to Rule 26 on 25.12.2024]

[0167] [Amended according to Rule 26 on 25.12.2024] The K2 of this technical solution is as follows:

[0168] [Amended according to Rule 26 on 25.12.2024]

[0169] [Amended according to Rule 26 on 25.12.2024] The torque required to be transferred by the left wheel after the constraint and before the failure is:

[0170] [Amended according to Rule 26 on 25.12.2024] ,

[0171] [Amended according to Rule 26 on 25.12.2024] ,

[0172] [Amended according to Rule 26 on 25.12.2024] Technical solution 5

[0173] [Amended according to Rule 26 25.12.2024] The technical solution takes the front two-wheel and rear left three-wheel brake failure as an example.

[0174] [Amended according to Rule 26 25.12.2024] If the current brake failure wheel brake torque is less than the maximum allowable torque of the motor, the front left wheel requested caliper brake torque is =0, the front left motor brake torque is , the front right wheel requested caliper brake torque is =0, the front right motor brake torque is , the rear left wheel requested caliper brake torque is =0, the rear left motor brake torque is , the rear right motor brake torque is 0, and the rear right caliper brake torque is equal to the rear right target caliper brake torque.

[0175] [Amended according to Rule 26 25.12.2024] If the current brake failure wheel brake torque is greater than or equal to the maximum allowable torque of the motor, the front left wheel requested caliper brake torque is =0, the front left motor requested brake torque is = , the target torque that the front left motor needs to transfer is:

[0176] [Amended according to Rule 26 25.12.2024] .

[0177] [Amended according to Rule 26 25.12.2024] Similarly, the front right wheel and rear left wheel requested caliper brake torque and requested motor brake torque and the corresponding target torque that needs to be transferred can be obtained, and the total target torque that needs to be transferred by the three brake failure wheels is:

[0178] [Amended according to Rule 26 25.12.2024] .

[0179] [Amended according to Rule 26 25.12.2024] The transferred brake torque is transferred to the rear right wheel, and the transferred torque cannot be greater than the maximum brake torque of the wheel, and the rear right wheel requested caliper brake torque is:

[0180] [Amended according to Rule 26 25.12.2024] .

[0181] [Amended according to Rule 26 25.12.2024] The rear right wheel requested motor brake torque is If the transferred torque is greater than the maximum caliper braking torque of the wheel, the excess part is implemented by the motor braking of the wheel, and cannot be greater than the maximum motor torque, i.e.

[0182] [Corrected according to Rule 26 on 25.12.2024]

[0183] [Corrected according to Rule 26 on 25.12.2024] and the total braking force of the wheel is not greater than the maximum wheel rim adhesion of the wheel, i.e.

[0184] [Corrected according to Rule 26 on 25.12.2024] 。

[0185] [Corrected according to Rule 26 on 25.12.2024] Since the torque is transferred to the opposite side, a yaw torque is generated, and the yaw torque is:

[0186] [Corrected according to Rule 26 on 25.12.2024]

[0187] [Corrected according to Rule 26 on 25.12.2024] In order to avoid vehicle instability due to yaw torque, the yaw torque needs to be adjusted according to the difference between the actual yaw rate and the expected yaw rate and the vehicle speed to avoid understeering or oversteering. The technical solution restricts the transferred braking torque, and the restriction coefficient K is K=K1*K2, wherein K1 is a restriction coefficient according to the difference between the actual yaw rate and the expected yaw rate. If the vehicle turns left, if the difference between the actual yaw rate and the expected yaw rate is negative, it means that the left turning is insufficient, and the greater the absolute value, the greater the yaw torque needed; if the difference between the actual yaw rate and the expected yaw rate is positive, it means that the left turning is excessive, and the greater the value, the less the yaw torque needed. K2 is a restriction coefficient according to the vehicle speed.

[0188] [Corrected according to Rule 26 on 25.12.2024] If and the vehicle turns left, or and the vehicle turns right, the technical solution K1 is as follows:

[0189] [Corrected according to Rule 26 on 25.12.2024]

[0190] [Corrected according to Rule 26 on 25.12.2024] If and the vehicle turns left, or and the vehicle turns right, the technical solution K1 is as follows:

[0191] [Corrected according to Rule 26 on 25.12.2024]

[0192] [Amended according to Rule 26 on 25.12.2024] The technical solution K2 is as follows:

[0193] [Amended according to Rule 26 on 25.12.2024]

[0194] [Amended according to Rule 26 on 25.12.2024] The torque that needs to be transferred after the constraint is:

[0195] [Amended according to Rule 26 on 25.12.2024] 。

[0196] [Amended according to Rule 26 on 25.12.2024] Technical solution 6

[0197] [Amended according to Rule 26 on 25.12.2024] This technical solution takes four-wheel brake failure as an example.

[0198] [Amended according to Rule 26 on 25.12.2024] If the current brake failure wheel brake torque is less than the maximum allowable torque of the motor, the requested caliper brake torque of the front left wheel is =0, the motor brake torque of the front left wheel is , the requested caliper brake torque of the front right wheel is =0, the motor brake torque of the front right wheel is , the requested caliper brake torque of the rear left wheel is =0, the motor brake torque of the rear left wheel is , the requested caliper brake torque of the rear right wheel is =0, the motor brake torque of the rear right wheel is .

[0199] [Amended according to Rule 26 on 25.12.2024] If the current brake failure wheel brake torque is greater than or equal to the maximum allowable torque of the motor, the requested caliper brake torque of the front left wheel is =0, the requested brake torque of the front left motor is = .

[0200] [Amended according to Rule 26 on 25.12.2024] Similarly, the requested caliper brake torque and the requested motor brake torque of the other wheels can be obtained, which is not described here.

[0201] [Rule 26 corrected 25.12.2024] Those skilled in the art will appreciate that the technical solutions of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware technical solution, a completely software technical solution, or a technical solution combining software and hardware aspects. Moreover, the present application can adopt a form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. The technical solutions in the present application can be implemented in various computer languages, such as object-oriented programming languages Java, C++, Python, and the interpreted scripting language JavaScript, etc.

[0202] [Rule 26 corrected 25.12.2024] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the technical solutions of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0203] [Rule 26 corrected 25.12.2024] These computer program instructions can also be stored in a computer readable storage medium capable of guiding a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a manufactured product including instruction devices that implement the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0204] [Rule 26 corrected 25.12.2024] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0205] [Rule 26 correction 25.12.2024] Although preferred embodiments of the application have been described, those skilled in the art will be able to make additional changes and modifications thereto without departing from the scope of the application. Accordingly, the appended claims are intended to encompass all changes and modifications that fall within the scope of the application.

[0206] [Rule 26 correction 25.12.2024] Obviously, many modifications and changes can be made thereto without departing from the spirit and scope of the application. Accordingly, it is intended to embrace all such modifications and changes that fall within the scope of the application.

Claims

1. A brake failure control method for a vehicle, characterized by, The method comprises the following steps: Detecting, by an electronic control unit, a communication signal of a brake caliper controller of a vehicle brake-by-wire system and / or a wheel speed signal and / or a brake caliper fault signal, and identifying a brake failure signal of each wheel of the vehicle; Classifying brake failures of the vehicle into different failure modes according to brake failure signals of different wheels, wherein the failure modes include a single-wheel brake failure mode, a two-wheel brake failure mode, a three-wheel brake failure mode, and a four-wheel brake failure mode; According to the failure modes, braking energy recovery is performed on the brake failure wheel by a wheel-side / hub drive motor to brake the brake failure wheel, and torque insufficient for motor braking of the brake failure wheel is transferred to a normally-braking wheel, so as to control the brake failure of the vehicle.

2. The brake failure control method of a vehicle according to claim 1, characterized by: In the process of controlling the brake failure of the vehicle, when a brake wheel fails, the brake force of the brake failure wheel is compensated by electric braking force or redistributed to the normally-braking wheel as soon as possible to meet the total braking force expected by the driver, and the braking torque of each wheel after the redistribution is taken as four-wheel target braking torque of the wheel; The torque applied to the brake failure wheel is transferred to the drive motor of the brake failure wheel, and braking energy recovery is performed to brake the brake failure wheel; When the torque applied to the drive motor of the brake failure wheel is greater than the maximum motor torque of the motor, the insufficient torque is transferred to the normally-braking wheel, wherein the insufficient torque = required torque applied to the brake failure wheel - required motor braking torque of the brake failure wheel; if the braking force of the normally-braking wheel exceeds the maximum caliper braking force of the wheel after the torque transfer, the excess part is controlled by motor braking energy recovery of the normally-braking wheel, the braking recovery torque is equal to the excess torque, and the braking recovery torque is not greater than the maximum motor torque; The size of the torque transfer is limited according to the actual yaw rate and the expected yaw rate; The force transferred to the normally-braking wheel cannot be greater than the maximum caliper braking force of the wheel; The braking force applied to each wheel does not exceed the maximum wheel-side adhesion force.

3. The brake failure control method of a vehicle according to claim 2, characterized by: the desired total braking force is: ， In the formulae, for the vehicle mass, for vehicle vertical load; for the braking intensity; for a desired vehicle longitudinal deceleration, ； The four-wheel target braking torque of the vehicle is: ， ， ， ， In the formulae, for the front left wheel target braking torque, for the front right wheel target braking torque, for the rear right wheel target braking torque, for the rear right wheel target braking torque; for the front left wheel load, for the front right wheel load, for the left rear wheel load, for the rear right wheel load, is a wheel radius; When the vehicle turns left and brakes, the tire load calculation formula is as follows: ， ， ， ， When the vehicle turns right and brakes, the tire load calculation formula is as follows: ， ， ， ， When the vehicle straightens and brakes, the tire load calculation formula is as follows: ， ， ， ， In the formulae, for longitudinal acceleration, for lateral acceleration, for the distance from the front axle to the center of mass, the distance from the rear axle to the center of mass, for the distance from the front axle to the rear axle, for the centroid height, is an axle track.

4. The brake failure control method of a vehicle according to claim 3, characterized by: The brake failure control method of the single-wheel brake failure mode of the vehicle is: Braking energy recovery control is performed on the brake failure wheel by a wheel-side / hub drive motor to brake the brake failure wheel, and a reverse drag torque is implemented by the power motor to brake the wheel, wherein the required motor braking torque of the brake failure wheel is equal to the caliper braking torque of the brake failure wheel, and if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum motor torque. The torque insufficient for motor braking of the brake failure wheel is transferred to the coaxial normal braking wheel for braking, the insufficient torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel, if the braking force of the normal braking wheel exceeds the maximum braking force of the wheel caliper after torque transfer, the excess part is controlled by motor braking of the normal braking wheel for braking energy recovery, the braking recovery torque is equal to the torque of the excess part, and the braking recovery torque is not greater than the maximum motor torque; The braking torque requested by the diagonal wheel is adjusted, that is, the diagonal wheel caliper braking torque is equal to the electric braking torque of the brake failure wheel, and the original target caliper braking torque of the diagonal wheel is subtracted by the electric braking torque of the brake failure wheel as the transfer torque, which is transferred to the braking torque of the other wheel caliper coaxial to the diagonal wheel, and the transferred torque cannot be greater than the maximum braking torque of the wheel caliper; if the transferred torque is greater than the maximum braking torque of the wheel, the excess part is implemented by motor braking, and cannot be greater than the maximum motor torque; The braking force applied to each wheel does not exceed the maximum wheel rim adhesion of the corresponding wheel, and the braking force of each wheel includes the braking force applied to the wheel rim by the caliper braking torque and the motor braking torque together.

5. The brake failure control method of a vehicle according to claim 3, characterized by: The brake failure control method of the two-wheel brake failure mode of the automobile is: For the coaxial two-wheel brake failure mode: the brake failure wheel is braked by the wheel rim / hub drive motor for braking energy recovery control, and the reverse traction torque is implemented by the power motor to realize the braking of the wheel, the required motor braking torque is equal to the caliper braking torque of the brake failure wheel, and if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum motor torque; The torque insufficient for motor braking of the brake failure wheel is transferred to the corresponding same side normal braking wheel of the other axle for braking, the insufficient torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel, if the braking force of the normal braking wheel exceeds the maximum braking force of the wheel caliper after torque transfer, the excess part is controlled by motor braking of the normal braking wheel for braking energy recovery, the braking recovery torque is equal to the torque of the excess part, and the braking recovery torque is not greater than the maximum motor torque; The braking force applied to each wheel does not exceed the maximum wheel rim adhesion of the corresponding wheel, and the braking force of each wheel includes the braking force applied to the wheel rim by the caliper braking torque and the motor braking torque together. For the same side two-wheel brake failure mode: the brake failure wheel is braked by the wheel rim / hub drive motor for braking energy recovery control, and the reverse traction torque is implemented by the power motor to realize the braking of the wheel, the required motor braking torque is equal to the caliper braking torque of the brake failure wheel, and if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum motor torque; The torque deficiency of the motor braking of the brake failure wheel is appropriately transferred to the braking of the corresponding coaxial normal braking wheel to compensate for the lost braking torque, the torque deficiency = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel, if the braking force of the normal braking wheel exceeds the maximum braking force of the caliper of the normal braking wheel after the torque transfer, the excess part is controlled by the motor braking energy recovery braking of the normal braking wheel, the braking recovery torque is equal to the torque of the excess part, and the braking recovery torque is not greater than the maximum torque of the motor; The torque deficiency is transferred as much as possible under the condition of ensuring that the vehicle does not lose stability, and the braking torque transferred to the two wheels on the opposite side is limited according to the difference between the actual yaw rate and the expected yaw rate to prevent the vehicle from losing stability; The braking force applied to each wheel does not exceed the maximum wheel edge adhesion of the corresponding wheel, and the braking force applied to each wheel includes the braking torque of the caliper and the braking torque of the motor applied to the wheel edge; For the diagonal two-wheel brake failure mode: the brake failure wheel is braked by the motor braking energy recovery control of the wheel edge / hub drive motor, and the reverse drag torque is implemented by the power motor to realize the braking of the wheel, the required motor braking torque is equal to the caliper braking torque of the brake failure wheel, and if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor; The torque deficiency of the motor braking of the brake failure wheel is appropriately transferred to the braking of the corresponding coaxial normal braking wheel to compensate for the lost braking torque, the torque deficiency = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel, if the braking force of the normal braking wheel exceeds the maximum braking force of the caliper of the normal braking wheel after the torque transfer, the excess part is controlled by the motor braking energy recovery braking of the normal braking wheel, the braking recovery torque is equal to the torque of the excess part, and the braking recovery torque is not greater than the maximum torque of the motor; The braking force applied to each wheel does not exceed the maximum wheel edge adhesion of the corresponding wheel, and the braking force applied to each wheel includes the braking torque of the caliper and the braking torque of the motor applied to the wheel edge.

6. The brake failure control method of a vehicle according to claim 3, characterized by: The brake failure control method of the three-wheel brake failure mode of the automobile is: The brake failure wheel is braked by the motor braking energy recovery control of the wheel edge / hub drive motor, and the reverse drag torque is implemented by the power motor to realize the braking of the wheel, the required motor braking torque is equal to the caliper braking torque of the brake failure wheel, and if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor; The torque insufficient for motor braking of the brake failure wheel is appropriately transferred to the normally braked wheel to make up for the lost braking torque, the insufficient torque = the required torque applied to the brake failure wheel - the required motor braking torque of the brake failure wheel, if the braking force of the normally braked wheel exceeds the maximum braking force of the brake caliper of the normally braked wheel after the torque is transferred, the excess part is controlled to be braked by motor energy recovery of the normally braked wheel, the braking recovery torque is equal to the torque of the excess part, and the braking recovery torque is not greater than the maximum torque of the motor; The insufficient torque is transferred to the normally braked wheel as much as possible under the condition that the vehicle is not destabilized, and the braking torque transferred to the normally braked wheel is limited according to the difference between the actual yaw rate and the expected yaw rate to prevent the vehicle from being destabilized; The braking force applied to each wheel does not exceed the maximum wheel edge adhesion of the corresponding wheel, and the braking force applied to the wheel edge of each wheel includes the braking torque of the brake caliper and the braking torque of the motor.

7. The brake failure control method of a vehicle according to claim 3, characterized by: The brake failure control method of the four-wheel brake failure mode of the automobile is: The brake failure wheel is braked by motor energy recovery control of the wheel edge / hub drive motor, and the reverse drag torque is implemented by the power motor to realize braking of the wheel, the required motor braking torque is equal to the brake caliper braking torque of the brake failure wheel, and if the required motor braking torque is greater than the maximum allowable torque of the motor, the required motor braking torque of the brake failure wheel is equal to the maximum torque of the motor.

8. A brake failure control system for a vehicle implementing the method of any one of claims 1 to 7, characterized in that: The automobile brake failure recognition module, the failure mode classification module, and the brake failure control module of the vehicle are included. The automobile brake failure recognition module is used for detecting the brake caliper controller communication signal and / or wheel speed signal and / or brake caliper fault signal of the automobile line control brake system by the electronic control unit, and recognizing the brake failure signal of each wheel of the automobile. The failure mode classification module is used for classifying the brake failure of the vehicle into different failure modes according to the brake failure signals of different wheels, and the failure modes include single-wheel brake failure mode, two-wheel brake failure mode, three-wheel brake failure mode, and four-wheel brake failure mode. The brake failure control module of the vehicle is used for controlling the brake failure of the automobile according to the failure mode, braking the brake failure wheel by motor energy recovery of the wheel edge / hub drive motor, and transferring the torque insufficient for motor braking of the brake failure wheel to the normally braked wheel.

9. An electronic device, comprising: It includes: A memory and a processor, which are communicatively connected with each other, the memory stores computer instructions, and the processor implements the automobile brake failure control method according to any one of claims 1-7 by executing the computer instructions.

10. A computer-readable storage medium, the computer-readable storage medium storing a computer program, characterized in that: The computer program is executed by the processor to implement the automobile brake failure control method according to any one of claims 1-7.

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