3085 results about "Brake control" patented technology

The invention discloses a braking pressure degradation strategy of an electronic mechanical braking system, and belongs to the technical field of vehicle braking control, and the braking pressure degradation strategy of the electronic mechanical braking system comprises the following steps: S1, multi-sensor fusion is carried out to correct a friction coefficient in real time, and a high-precision gridding pavement model is constructed; s2, performing time sequence prediction on braking torque distribution, dynamically constraining a braking pressure threshold value and performing pre-adjustment; s3, reinforcement learning is carried out to generate a prospective degradation sequence, and thermal coupling and pressure fluctuation control are optimized; s4, dynamically encrypting the hierarchical communication architecture, and ensuring that the instruction is complete and consistent with the time sequence through redundancy switching; s5, generating an adversarial network compensation failure signal, and dynamically adjusting the weight of the sensor to resist interference; s6, triggering a man-machine interaction strategy in a grading manner, and dynamically adjusting a safety threshold in combination with a driving behavior; s7, carrying out simulation verification on the digital twin platform, and carrying out fault injection encryption to update full-life-cycle parameters; the method has the beneficial effects that self-adaptive optimization and hierarchical fault tolerance of the brake pressure are realized, and the system safety and response efficiency are improved.

The invention relates to a dynamic load distribution method, device and equipment based on a vehicle body controller and a medium, and the method comprises the steps: collecting the mechanical load, electrical load and thermal load data of a vehicle body in real time through a distributed sensor network, and generating multi-source heterogeneous initial load data; performing standardization processing on the initial load data, and constructing a three-dimensional data cube type standard load data set; comprehensive characterization features are extracted through feature space mapping, and a fusion load feature set containing a threshold range is dynamically generated in combination with historical data; constructing a load correlation model based on the fusion features, and mapping to generate a steering and braking control parameter combination; and according to the real-time load threshold cross-border state, dynamically adjusting the task priority, allocating real-time calculation core resources to the chassis system, and generating an optimal allocation scheme. According to the method, the problems of multi-source load data fusion failure, resource allocation rigidity and safety task response delay in the prior art are solved, and dynamic load optimization of the vehicle body control system under complex working conditions is realized.

The invention discloses an intelligent automobile electro-hydraulic composite braking system integrating driver intention, and belongs to the field of intelligent automobile braking control. The system comprises a vehicle environment fusion sensing module, a braking intention identification module, a multi-target braking force distribution module, a regenerative braking torque constraint module and an optimal distribution coefficient decision module. When a driver brakes, the vehicle environment fusion sensing module is used for acquiring vehicle driving state information, road adhesion coefficient information, driving environment information and driver state information; the braking intention identification module adopts a neural network algorithm to accurately identify the braking intention of the driver; the multi-target braking force distribution module optimizes the required braking torque by using an NSGA-II multi-target optimization algorithm; the regenerative braking torque constraint module dynamically corrects the calculation result of the regenerative braking torque through a comprehensive constraint condition; and the optimal distribution coefficient decision module screens out the optimal braking distribution coefficient under the current working condition from the Pareto solution set through dynamic weighting.

The invention relates to a vehicle braking method, a braking controller, a storage medium and a vehicle, and relates to the technical field of vehicle control, the method comprises the steps that braking data of the vehicle are obtained, the braking data comprise braking strength data and braking torque parameters, the braking strength data comprise actual deceleration and target deceleration, and the braking torque parameters comprise running resistance; the method comprises the following steps: acquiring braking strength data of a vehicle, determining pre-control dynamic torque according to running resistance and target deceleration, acquiring target braking torque according to actual deceleration, the target deceleration and the pre-control dynamic torque under the condition that the braking strength data meets a torque correction condition, and finally performing braking control on the vehicle according to the target braking torque. According to the method, the pre-control kinetic torque can be corrected under the condition that the braking strength is large, so that the braking effect is improved.

The invention provides a brake-by-wire method and system based on personalized feature learning and intention evolution prediction and a vehicle. The invention discloses a brake-by-wire method based on personalized feature learning and intention evolution prediction. The brake-by-wire method comprises the following steps: acquiring real-time braking operation information of a driver, current state information of a vehicle and driving environment information of the vehicle; personalized braking characteristic parameters of the driver are obtained or updated; predicting a current braking intention type of the driver by utilizing a preset driving intention recognition model integrated with an attention mechanism; predicting the evolution trend of the current braking intention in a preset future time window; determining a group of target braking characteristic parameters according to the predicted current braking intention type and evolution trend in combination with the current state information of the vehicle and the driving environment information of the vehicle; and a brake control instruction of the brake-by-wire system is dynamically adjusted. According to the invention, more intelligent, smoother and predictable line control brake is realized.

A patient transport apparatus includes a base, a patient support deck, a plurality of wheels, a plurality of brakes, and an electro-mechanical braking system. The electro-mechanical braking system includes a linkage and an electrical braking assembly. The linkage is operatively coupled to the brakes to place the brakes in a braked state, a released state, or other state. The electrical braking assembly includes an actuator assembly that moves the linkage via a driving member. A user interface includes an input control for user engagement. A brake control circuit includes a hold circuit to generate an enable signal with a predetermined voltage in response to the user engagement with the input control, maintain the enable signal for a predetermined period following user disengagement with the input control, and operate the actuator assembly with the enable signal to move the driving member within the predetermined period.

The invention relates to the technical field of automobile brake control, in particular to a self-adaptive brake kinetic energy recovery control method and system based on multi-sensor fusion. Tire wear and road surface feature data are collected through a multi-source sensing fusion unit, and a tire wear coefficient and a road surface friction coefficient are generated through an intelligent decision calculation unit; the method comprises the following steps of: integrating the nonlinear correlation of the multi-source sensing fusion unit and the self-adaptive control execution unit through a rule and data fusion algorithm, outputting a comprehensive friction coefficient, and dynamically adjusting the braking kinetic energy recovery force and response time by the self-adaptive control execution unit according to the comprehensive friction coefficient. The system comprises a multi-source sensing fusion unit, an intelligent decision calculation unit, the self-adaptive control execution unit and a closed-loop feedback calibration unit. The closed-loop unit corrects data deviation through cross validation of the laser radar and the motor torque inversion model, the problems of poor working condition adaptation and unreliable data are solved, and the kinetic energy recovery efficiency, the braking safety and the driving smoothness are improved.

The invention relates to an electronic mechanical braking system control method based on contact point detection and mode management. Comprising the following steps: step 1, designing a clamping force basic control algorithm based on stiffness characteristics and feedforward compensation of Stribeck friction in combination with a proportional-integral-differential control theory; 2, designing a contact point detection algorithm based on position signal identification by analyzing the typical characteristics of the contact points, and identifying the inherent relation between the position stable points and the contact points through experimental calibration; and step 3, designing a mode management system including clearance elimination, clearance keeping and clamping force control, and performing mode switching and keeping by judging a brake signal. The overall function design of contact point detection, mode management and brake control of the electronic mechanical brake system is comprehensively achieved, the control precision and function stability of the system can be remarkably improved, and a set of complete solution is provided for design and development of the brake-by-wire system in the future.

The invention provides a surrounding type numerical control rotary table intelligent braking system based on AI predictive control, and belongs to the technical field of intelligent manufacturing and numerical control. The problems that an existing numerical control rotary table braking system is lagged in response, lacks intelligent prediction and self-adaptive capacity, and is insufficient in control precision and attenuated in long-term performance are solved. The surrounding type numerical control rotary table intelligent brake system based on AI predictive control comprises a state acquisition module, an AI predictive module, a pressure control module, a surrounding type brake execution structure and a feedback correction module, an AI predictive mechanism and a self-correction feedback loop are introduced, intelligence, self-adaption and high responsiveness of brake control are achieved, and the brake control precision is improved. The positioning precision, the braking stability and the overall energy efficiency level of the numerical control rotary table are improved, and the numerical control rotary table has the advantages that the response speed is remarkably increased, the positioning precision is high, the self-adaptive capacity is high, the braking process is stable and the intelligent degree is high.

The invention discloses a vehicle active braking control method based on extended state observation, and the method comprises the steps: estimating unknown parameters of a vehicle through constructing an extended state observer, obtaining the output torque of the vehicle through an accessibility control strategy, obtaining the actual vehicle speed of the vehicle, and determining a vehicle speed estimation error. Calculating a discrete estimation performance index through a discrete estimation performance index function of the extended state observer, iteratively optimizing the extended state observer through a particle swarm optimization algorithm, and iteratively obtaining an optimal solution of a parameter vector of the extended state observer so as to minimize the discrete estimation performance index of the extended state observer. And the unknown parameters of the vehicle are optimally estimated to obtain the optimal output torque of the vehicle, so that the active braking control of the vehicle is realized, and the stable operation of the vehicle under the optimal output torque is ensured. The dynamic behavior can be monitored and adjusted in real time in the running process of the vehicle, and therefore the braking performance and safety of the vehicle are improved.

The invention provides a regenerative braking-based dynamic energy distribution method for a new energy automobile, which belongs to the technical field of braking systems and comprises the following steps: step 1, determining the total braking force currently required by the automobile, and further determining the distribution proportion of mechanical braking and regenerative braking; 2, evaluating the current acceptable charging power of the battery and the feedback power range of the motor, and further determining limit data of regenerative braking energy distribution; 3, the optimal regenerative braking force and mechanical braking force distribution proportion under the current working condition is determined; 4, the optimal regenerative braking force distribution proportion is converted into a regenerative braking force instruction, then a motor is controlled to generate corresponding regenerative braking torque based on the regenerative braking force instruction, the vehicle is braked, and energy is recycled; and 5, the mechanical braking force distribution proportion is converted into a mechanical braking force instruction, and then a mechanical braking device is controlled to generate corresponding braking force based on the mechanical braking force instruction. And more accurate brake control and energy management are realized.

The invention relates to a commercial vehicle integrated brake control and sensor system. The system comprises a multi-source sensor module used for acquiring sensor signals of operation of the commercial vehicle brake control system. The feature extraction module carries out filtering processing on sensor signals and extracts key feature parameters to construct a feature parameter matrix. In the braking decision execution module, a front and rear axle control unit calculates a front and rear axle braking force distribution coefficient based on the characteristic parameter matrix and generates an intelligent braking instruction; and the braking execution unit dynamically adjusts single-wheel braking force distribution according to the intelligent braking instruction to obtain braking execution parameters. And the evaluation optimization module judges the stability of the braking system according to the braking execution parameters and the operation real-time feedback data, and adjusts the braking force distribution parameters of each wheel to generate an optimized braking control strategy. By adopting the system, the multi-source data fusion precision, the dynamic adaptability of braking force distribution and the communication stability under complex working conditions in the braking process of the commercial vehicle can be improved, and the safety and reliability of the braking system are enhanced.

The invention discloses a vehicle braking control method, system and device based on multi-mode perception and a medium. The method comprises the steps that the power battery charge state, the vehicle speed, the current braking strength and real-time road condition information of a target vehicle are obtained; performing data fusion on the charge state of the power battery, the vehicle speed, the current braking strength and the real-time road condition information to obtain multi-mode sensing time sequence data; inputting the multi-modal sensing time sequence data into a pre-trained braking force distribution prediction model to obtain a braking force distribution result; and a target braking mode is determined according to the braking force distribution result, and braking control is conducted on the target vehicle according to the target braking mode. According to the embodiment of the invention, the corresponding braking mode can be adaptively switched according to the real-time driving scene and the energy demand, the braking performance of the vehicle and the energy recovery efficiency are improved, more flexible braking control is realized, the driving experience of a user is improved, and the method can be widely applied to the technical field of vehicle control.

The invention discloses a hybrid crawler tractor for hills and mountains and a control method. The hybrid crawler tractor comprises a power system, a transmission system, an energy storage system, a driving system and a control system, the power system comprises an engine, a generator and a clutch; the transmission system comprises a mechanical coupling device, a gearbox, a power output shaft and the like; the energy storage system comprises a photovoltaic power generation panel and an energy storage device; the driving system comprises a driving system input shaft, left and right traction motors, left and right planet rows, driving wheels and the like; the control system comprises a whole vehicle controller, an energy storage device controller, a motor controller, an engine controller, a vehicle information sensor, a clutch control unit, a brake control unit and the like. According to the crawler tractor, a double-engine and motor mixed connection double-power flow structure is adopted, operation and running under various complex working conditions in hills and mountains are met, rich solar resources in the region are fully utilized, the advantages of a traditional crawler tractor and a new energy tractor are considered, and long-time operation in busy farming seasons is guaranteed.

The invention discloses a brake control method of a vehicle and electronic equipment. The mode relates to the field of vehicle braking control, and the method comprises the steps that in the vehicle running process, in response to a received braking signal, the current vehicle speed parameter of a vehicle is compared with a preset vehicle speed threshold value, and a target comparison result is obtained; under the condition that the target comparison result is that the current vehicle speed parameter is smaller than or equal to the preset vehicle speed threshold value, the vehicle is braked through a main braking system; and under the condition that the target comparison result is that the current vehicle speed parameter is larger than the preset vehicle speed threshold value, the vehicle is braked through an auxiliary braking mode, and the auxiliary braking mode is used for representing that the auxiliary braking system participates in braking of the vehicle. The technical problems that the intervention time of the main braking system and the auxiliary braking system of the vehicle is not clear, the efficiency of cooperatively braking the vehicle is low, and the abrasion degree of the main braking system is high in the related technology are solved.

An electromechanical brake system (10) includes a first energy supply apparatus (20) and a second energy supply apparatus (21), a first system control device (30) and a second system control device (31), a plurality of electromechanical brake actuator devices (41), and a first plurality and a second plurality of electronic brake control systems (40a, 40b). Each of the electronic brake control systems is set up to control one of the electromechanical brake actuator devices. The first energy supply apparatus is connected to the first system control device and to each of the first electronic brake control systems, and the second energy supply apparatus is connected to the second system control device and to each of the second electronic brake control systems. A further control device (32, 47) may be connected to at least one of the first electronic brake control systems or one of the second electronic brake control systems.

The embodiment of the invention provides a vehicle energy recovery control method and device, a medium and a vehicle, and relates to the technical field of brake control. The method comprises the steps that a braking request of a target vehicle is responded, and current braking judgment parameters of the target vehicle are obtained; under the condition that it is determined that the target vehicle meets the preset energy recovery condition based on the current braking judgment parameters, the vehicle operation parameters are input into an intelligent decision-making model, and a braking force distribution strategy result is obtained; based on the braking force distribution strategy result, braking control is conducted on a motor control system and a braking system; the motor control system is used for providing regenerative braking force and generating recovery energy suitable for supplementing energy to the power battery. According to the embodiment of the invention, the vehicle operation parameters collected in real time are input into the self-adaptive adjustment intelligent decision-making model, and the braking force distribution strategy suitable for the current operation condition can be output, so that the accuracy and adaptability of braking force distribution are effectively improved.

The invention provides a vehicle quick escape method and system, a medium and electronic equipment, and relates to the technical field of vehicle brake control, and the method comprises the steps that the running road surface working condition and motion state parameters of a vehicle are acquired in real time, and the running road surface working condition comprises road surface composition materials and distribution of pits in a road surface; predicting a driving track of the vehicle in a preset time period according to the motion state parameters; based on a Bayesian network model, determining the probability that a target wheel of the vehicle falls into the pit at the target moment according to the driving track and the driving road surface working condition; under the condition that the probability is larger than a threshold value, target braking force needed by the target wheel to break away from the potholes is determined; and according to the target braking force, braking control is conducted on the target wheel at the target moment, so that the vehicle is out of order. According to the invention, the problem in the prior art that a long time is delayed when the wheels of the vehicle sink into the pits until the wheels are separated is solved.

The invention relates to the technical field of aircraft brake, in particular to an aircraft brake servo valve performance monitoring and health management method, which comprises the following steps of: acquiring a servo valve theoretical output current and a servo valve recovery current; according to the theoretical output current of each channel of the servo valve and the recovery current of the servo valve, whether brake current output loops of the two channels are abnormal or not is judged; when one channel of brake current output loop is abnormal, whether the other channel of brake current output loop is abnormal or not is judged according to the actual brake pressure and the theoretical pressure; and when the brake pressure output loop of the other channel is normal, brake control is carried out on the servo valve through the channel. By monitoring the performance of the servo valve in real time, it is guaranteed that dynamic switching can be achieved when the performance of the servo valve drifts in the airplane braking process, the influence of the performance drifting of the servo valve on the airplane braking effect is avoided, and the safety of a braking system is improved.

The invention relates to the field of rail traffic intelligent control, and discloses a rail obstacle real-time detection and braking system based on multi-sensor redundancy, which comprises at least two groups of sensing modules arranged at the front end and the rear end of a train, and each group of sensing module comprises a laser radar used for collecting three-dimensional point cloud data of a forward or backward rail area of the train; the binocular camera is used for acquiring color image data and depth image data in corresponding directions; and the robot controller is in communication connection with the sensing module and is used for receiving sensing data acquired by the laser radar and the binocular camera and executing obstacle recognition, redundant information fusion and brake control logic. By constructing a multi-sensor redundancy sensing structure based on the laser radar and the binocular camera, high-robustness recognition of a dynamic or static obstacle target in a complex orbit environment is realized, and the effect of remarkably improving the obstacle detection accuracy and the false alarm suppression capability is achieved.

The invention discloses an EPB anti-lock control method and system based on a self-adaptive wheel speed filtering algorithm, and belongs to the field of anti-lock control, and the method comprises the following steps: S1, collecting driving parameters in a vehicle driving process in real time, extracting feature vectors in the driving parameters after preprocessing, inputting the feature vectors into a pre-trained driving condition classification model, and obtaining a driving condition classification model; outputting the current driving condition type; s2, correcting a wheel speed signal based on an extended Kalman filter with determined parameters; s3, calculating a tire pressure deviation ratio based on the corrected wheel speed signal; and S4, when it is detected that the tire pressure deviation ratio exceeds a set threshold value, an EPB anti-lock control system is triggered. By the adoption of the EPB anti-lock control method and system based on the self-adaptive wheel speed filtering algorithm, the wheel speed information can be accurately extracted under the complex road and environment conditions, the calculation precision of the tire pressure deviation ratio is remarkably improved, and therefore a more reliable basis is provided for starting emergency braking.

The invention discloses a vehicle driving early warning and braking control method and system based on visible light and infrared light, and belongs to the field of image processing and vehicle control. The method comprises the following steps: acquiring bimodal data, namely visible light data and infrared data, by using a visible light camera and an infrared thermal imager, and preprocessing the bimodal data; feature fusion is carried out on the preprocessed bimodal data, and a YOLOV5 model is input for training, so that a Yolo-DMFF-object model is obtained; a Yolo-DMFF-object model is used for detecting a target object and measuring the distance; according to the detected target object and distance, the emergency braking module is controlled to give out voice early warning and emergency braking; according to the method, object identification and vehicle early warning braking functions are fused through fusion of identification and distance measurement technologies, function connection from target detection to vehicle control is realized, an efficient and reliable solution is provided for intelligent driving in a complex traffic environment, and driving safety, response speed and driving convenience are improved.

The invention belongs to the technical field of intelligent driving decision, and discloses a no-signal crossroad intelligent vehicle decision method, which comprises the following steps: constructing a no-signal crossroad intelligent vehicle decision model including a strategy network and a value network; each of the strategy network and the value network is composed of an LSTM neural network and a full connection layer; the method comprises the following steps of: forming state parameters by self-vehicle information, traffic participation vehicle information, relative position information of a traffic intersection and a self-vehicle and relative position information of a target task point and the self-vehicle from a # imgabs0 # moment to a # imgabs1 # moment as input variables of a strategy network; using an accelerator control signal, a steering wheel angle control signal and a brake control signal corresponding to the # imgabs2 moment state parameter to form an action parameter as an output variable of the strategy network; optimizing the decision model by adopting a PPO algorithm and taking the minimum loss function of the strategy network and the value network as an optimization target to obtain an optimal decision model; and outputting a vehicle decision by using the optimal decision model.

The invention discloses an electric brake control system and method for an electrically-driven mining dump truck, and the system comprises a vehicle control unit VCU which is connected with an accelerator pedal, a brake pedal, a tilt angle sensor, a weighing sensor, an intelligent brake switch, a motor controller, a power battery and a retarder. The vehicle control unit VCU, the motor controller and the power battery sequentially form a closed loop, and the motor controller is further sequentially connected with the driving motor, the gearbox and the axle. Whether a vehicle is in a downhill state or not at present is analyzed through the vehicle control unit VCU, the slope angle and the vehicle weight are converted, the vehicle speed, the friction coefficient and the like are combined, appropriate electric braking torque of the vehicle is converted to keep the vehicle speed lower than a certain speed for downhill, and a driving motor is preferentially used for generating electricity and feeding back the electricity to a power battery to achieve braking. When the power generation braking force is insufficient, the retarder intervenes to supplement the braking torque, so that the electrically-driven mine truck automatically goes downhill at a stable speed, energy recovery is realized to the greatest extent, the cruising ability of the electrically-driven mine truck is improved, the electric quantity configuration of a power battery is reduced, and the effects of saving energy, reducing emission and reducing cost are achieved.

The embodiment of the invention discloses a vehicle control method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring vehicle data, wherein the vehicle data comprises vehicle operation data, driving environment data and operation information of a driver; the vehicle data are input into a pre-trained large model, various vehicle control instructions corresponding to the vehicle data output by the large model are obtained, and the various vehicle control instructions comprise a power output control instruction, a brake control instruction and a suspension control instruction; and controlling the vehicle to execute operations corresponding to the various vehicle control instructions. According to the method, based on the obtained multi-source vehicle data, the pre-trained large model can output the more accurate vehicle control instruction, and therefore more accurate control over the vehicle can be achieved.

The invention provides a vehicle control method, system and device, a medium and a vehicle. The method comprises the following steps: acquiring a first deceleration value, a target deceleration value and an execution braking air pressure value of a target vehicle; in response to the fact that a first difference value between the first deceleration value and the target deceleration value is larger than a preset threshold value, a second deceleration value is determined according to the first deceleration value and vehicle weight information and operation gradient information of the target vehicle; a brake control model is optimized according to the execution brake air pressure value and the second deceleration value, and an optimized brake control model is obtained; and according to the optimized brake control model, the target deceleration value and the vehicle weight information and the operation gradient information of the target vehicle, determining the target brake air pressure of the target vehicle. According to the embodiment of the invention, accurate braking of the automatic driving vehicle can be realized, so that the operation safety is improved.

A system for controlling a wheel brake on an auxiliary axle of a vehicle includes an electro-pneumatic drive axle brake control valve that deliver fluid pressure from a fluid source to a drive axle wheel brake on a drive axle of the vehicle responsive to an electronic control signal. An auxiliary axle brake control valve delivers fluid pressure from the electro-pneumatic drive axle brake control valve to an auxiliary axle wheel brake on the auxiliary axle of the vehicle responsive to a fluid pressure control signal. A fluid control signal generating valve generates the fluid pressure control signal responsive to a command to apply a steer axle wheel brake on a steer axle of the vehicle.

Systems and methods are described for distributed electric park brake control. The vehicle's electronic stability controller (ESC) is configured to monitor the status of an electric parking brake switch and to provide control signals to a motor-on-caliper actuator based on the status of the electric parking brake switch. A secondary brake system controller (for example, a brake pedal “booster” unit) that is configured to control at least one function of the braking system that is not related to the parking brake function is further configured to determine whether the ESC is operating properly and, in response to determining that the ESC is not operating properly, to monitor the status of the electric parking brake switch and provide the control signals to the motor-on-caliper actuator based on the status of the electric parking brake switch.

The invention discloses a rear wheel brake control method, device and equipment and a storage medium, and the method comprises the steps: when it is determined that brake signals of a vehicle intelligent integrated brake control unit and an EPB controller are not all invalid, vehicle brake is controlled preferentially according to the vehicle intelligent integrated brake control unit and the EPB controller; and when it is determined that the brake signals of the intelligent integrated brake control unit and the EPB controller of the vehicle fail, the rotation directions of the rear wheels are controlled through an added rear wheel steering system, so that the rotation directions of the two rear wheels are opposite, and vehicle braking is controlled. Under the extreme condition that the IPB and the EPB fail at the same time, it can be ensured that the vehicle can still be braked emergently, and the driving safety is greatly improved.

The invention discloses a slipping wheel braking control method and device and a vehicle, and is applied to the technical field of vehicle running control, and the method comprises the steps that under the condition that the vehicle is controlled to start a braking torque control function, according to the wheel speed deviation value of a target slipping wheel, the initial braking torque of the target slipping wheel or the brake torque of the vehicle is combined, and the braking torque of the target slipping wheel is controlled; obtaining a candidate braking torque of the target slipping wheel; the candidate braking torque is limited, and the target braking torque of the target slipping wheel is obtained; and according to the target braking torque, braking control is conducted on the target slipping wheel. According to the technical scheme of the embodiment of the invention, the accuracy of the braking torque of the wheel can be effectively improved, so that the braking control precision of the slipping wheel is effectively improved, and the driving safety and the driving stability of the vehicle during slipping are ensured.