1551 results about "Brake torque" 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 belongs to an electromechanical braking system in the technical field of vehicles, and discloses a driving and parking braking torque mutual coupling redundancy electromechanical braking system which comprises a brake assembly, an MGU and shell, a driving braking motor and gear reducing mechanism assembly, a gear system bearing support and an ECU controller assembly. The service braking gear reduction mechanism assembly comprises a service braking first-stage reduction gear train mounting mechanism, a second-stage reduction gear train mounting mechanism and a bearing, and the parking braking gear reduction mechanism assembly comprises a parking first-stage reduction worm and gear mechanism, a second-stage reduction worm and gear mechanism and a mounting bearing. The braking torque of the driving braking and the braking torque of the parking braking are mutually coupled, the two systems can share the braking output gear shaft assembly, the driving braking and the parking braking can be independently operated, and meanwhile the parking braking can assist the driving braking when needed. By means of the design, the safety and reliability of the braking system are improved.

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 relates to an electric vehicle self-adaptive energy recovery method and system fusing driver behaviors, and the method comprises the following steps: analyzing the current driving data and historical driving data of a vehicle, judging a driving style, and predicting the occurrence probability of the driving style; according to the current driving data of the vehicle, the mass of the whole vehicle is estimated, and two values of the gradient are calculated through two different algorithms respectively; setting a weight according to a preset vehicle speed critical value, and weighting the two values to obtain a fusion gradient; according to the current driving data of the vehicle, the whole vehicle mass, the fusion gradient and the driving style occurrence probability, corresponding correction factors are determined respectively, the initial braking torque corresponding to the current motor rotating speed is corrected to obtain a reference braking torque, and the reference braking torque is compared with a preset motor torque range; and the optimal braking torque is obtained, braking is executed, and energy recovery is achieved. According to the method, distribution of regenerative braking energy is effectively optimized, and the energy recovery rate is increased.

An axle assembly comprising a differential carrier, a differential assembly, a drive pinion, and a drive pinion brake. The drive pinion brake is mounted to the differential carrier. The differential carrier supports the differential assembly. The drive pinion brake is operable to apply a brake torque to inhibit rotation of the drive pinion.

The invention discloses a motor-driven tractor-semitrailer driving stability control method which comprises the following steps: firstly, establishing a tractor-semitrailer three-degree-of-freedom dynamic model, and solving yaw velocity expected values and side slip angle expected values of a tractor and a semitrailer according to driver input and actual vehicle states; secondly, according to the deviation between the expected value and the actual value of the vehicle state quantity, an upper-layer controller outputs the expected additional yaw moment, and the adaptive capacity to the parameter change of the semitrailer is achieved; the lower layer controller then outputs a torque on each wheel according to the desired additional yaw moment and the vehicle state, including a driving torque on the driving wheel and a braking torque on all wheels. By the adoption of the method for controlling the running stability of the motor-driven tractor-semitrailer, unstable working conditions such as rollover and folding of the tractor-semitrailer in the running process can be avoided, the running stability is improved, and meanwhile the method has the self-adaptive capacity for load changes of the semitrailer.

The invention provides a tractor semitrailer full-working-condition active stability control system and method, and belongs to the technical field of vehicle engineering. The system comprises a kinetic model module, a reference quantity determination module and an active stability controller module. The dynamic model module constructs a linear three-degree-of-freedom tractor semitrailer model, a hub motor model and a longitudinal driver model. The reference quantity determination module generates an ideal state value according to the steady state condition of the system and corrects the ideal state value in combination with the road attachment condition. The active stability controller module is divided into three layers, an MIMO-IMFAC controller calculates additional yawing moment, a torque optimization controller optimizes tire load distribution through a quadratic programming algorithm, and a driving / braking torque distribution controller preferentially uses regenerative braking and dynamically adjusts braking torque of the semitrailer according to the yawing moment. By adopting the control system and the control method, the stability and the dynamic response capability of the vehicle under complex working conditions are remarkably improved.

The invention discloses a vehicle stability control method, system and device, a medium and a program product, and relates to the technical field of vehicle dynamic control, and the method comprises the steps: calculating a vehicle speed, a pavement friction coefficient, a slip rate, a load transfer rate and a preview path curvature; the vehicle speed, the road friction coefficient, the load transfer rate and the preview path curvature serve as input, the yaw velocity deviation and the slip rate serve as reward signals, and a yaw velocity dynamic threshold value is generated; according to the actual yaw velocity, the expected yaw velocity and the yaw velocity dynamic threshold, obtaining a judgment result that the current vehicle is under-steering or over-steering, and generating a control strategy in combination with a vehicle driving form; and the optimal braking torque adjustment amount is calculated with the minimum yaw velocity deviation and the slip rate as the optimization target, and the front and rear shaft driving torque is obtained according to the deviation between the actual side slip angle and the expected side slip angle. The self-adaptive dynamic environment and the differentiated adaptive driving form are realized, and the safety and the controllability under the complex working condition are improved.

The invention relates to the technical field of vehicle braking control, and discloses a vehicle braking control system based on a high-speed permanent magnet synchronous motor, which comprises a state sensing module, a braking force calculation module, a braking force control module and a braking force control module, the torque distribution module distributes the total braking torque into a predictable regenerative component and a precisely matched friction component, a deterministic regenerative braking force datum line is established, a braking system is converted into stable output control from passive response energy fluctuation, and linear mapping of pedal travel and deceleration is achieved; and meanwhile, by combining road bumping degree perception and model online correction, the output stability is kept under the complex working condition, and the technical problem that energy recovery and control quality in a hybrid braking system are difficult to consider at the same time is solved.

The embodiment of the invention discloses a braking force distribution method and device for chassis control of an unmanned vehicle. The method comprises the steps that according to an acceleration instruction, a vehicle dynamics model and a PI controller are applied to obtain required torque; determining whether the vehicle is in a driving mode or a braking mode according to the required torque; and if it is determined that the vehicle is in a braking mode, according to the required torque, under the criterion of feeding back electric energy as much as possible, an electric braking torque instruction and an air braking reference value are obtained, the air braking reference value is adjusted based on control parameters adjusted by a neural network, and an air braking instruction is obtained. By means of the mode, on the premise that the maximum electric braking is guaranteed, the rapidity and accuracy of braking distribution and composite braking are improved, and meanwhile the accuracy and real-time performance of pneumatic braking are improved.

The invention belongs to the technical field of automatic control, and particularly relates to a digital control system for strip coiling equipment, which comprises the following steps of: firstly, comprehensively acquiring strip tension data and state characteristic information by combining a tension sensing assembly and image acquisition equipment, dynamically adjusting a braking torque parameter, and then, acquiring a dynamic control signal by taking the linear speed of a coiling machine as a target signal; the speed of the uncoiling machine and the speed of the traction roller are synchronously aligned through a following strategy, then a taper tension control mode is adopted, the tension value is dynamically adjusted in combination with real-time coiling diameter parameters, the tension stability and the coiling regularity in the coiling process are ensured, and finally the strip deviation problem is detected and processed in real time according to a closed-loop deviation correction mechanism. The equipment control strategy in the strip coiling process is deeply bound with uncoiling control, synchronous coordination, coiling control and a deviation correction core module, and the integrated control capability of multivariable coordination and self-adaptive optimization is achieved, so that the automation and intelligence level of the strip coiling process is effectively improved.

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 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.

The invention discloses a composite braking slip rate control system and method based on a hub motor and an EMB. The method comprises the steps that vehicle information is obtained; calculating a target slip rate according to the vehicle information; according to the target slip rate, calculating a slip rate threshold value for opening and exiting the ABS; according to the vehicle speed, the opening degree of a brake pedal, the actual slip rate and the slip rate threshold value, an ABS start-stop mark is given; according to the vehicle speed, parameters of a slip rate tracking controller are calculated through the attachment coefficient, the slip rate and the slip rate change rate, and then the total target braking torque is calculated; selecting a braking torque distribution mode according to a motion mode switch, gradient and the like, and distributing target braking torque to the hub motor and the EMB; and the hub motor and the EMB execute the target braking torque command, and connection between the inverter and the battery is cut off in time. According to the method, the slip rate can be calculated more finely, the target slip rate and controller parameters are adaptively adjusted according to working conditions, the road adhesion coefficient utilization rate can be effectively improved, and the braking efficiency and stability are improved.

The embodiment of the invention provides a vehicle low-temperature heat management control method and device, a vehicle and a storage medium. The method comprises the following steps that the temperature of the environment where the vehicle is located, the module temperature of a power battery and the maximum allowable charging power are obtained; based on the environment temperature, the module temperature and the maximum allowable charging power, the vehicle is controlled to enter a low-temperature heat management working condition, and the braking energy recovery torque of the vehicle is determined according to the motor rotating speed and the maximum allowable charging power; based on the braking energy recovery torque and the motor rotating speed, the driving motor is controlled to execute the braking energy recovery action, meanwhile, the working efficiency of the driving motor is adjusted to generate heat, and the cooling system heats the power battery through the heat. On the premise that the safety of the battery is guaranteed, optimization of braking torque limitation is achieved, and the problems that in the related technology, due to the fact that the motor braking torque in the low-temperature environment is strictly limited and excessively depends on a mechanical braking system, the energy utilization efficiency of the whole vehicle is reduced, and abrasion of the braking system is aggravated are solved.

A brake torque distribution device for distributing braking torque to wheels of a vehicle includes: a receiving unit for receiving vehicle driving information including required braking torque; a regenerative braking unit for generating regenerative braking torque; a braking torque generating unit for generating braking torque; and a braking control unit for controlling the braking torque generating unit to distribute the braking torque to the wheels of the vehicle, where the braking control unit may determine the braking torque distributed to the braking torque generating unit based on an optimal tire slip diagram stored in memory.

A braking assist method for a vehicle is described and includes receiving a brake switch signal indicative of a state of a mechanical brake actuation system; receiving a motor speed signal indicative of a speed of a traction motor, the traction motor for applying rotational torque to a wheel of the vehicle; determining from changes in a value of the received motor speed signal over time a rate of change of the traction motor speed; and, based on a determination that the mechanical brake actuation system is in an on state and that the rate of change of the traction motor speed is decreasing, commanding the traction motor to apply a supplemental braking torque to the wheel.

The invention discloses a heavy truck hydraulic retarder control method and system and a vehicle, and belongs to the technical field of retarder control. The method comprises the steps that the target braking torque value of a retarder is read; if the target braking torque value is larger than or equal to the maximum output torque value, the target braking torque value is set to be the maximum output torque value; if yes, the target braking torque value is dynamically compensated; calculating a target working pressure value of the retarder cavity; and the deviation between the target working pressure value of the retarder containing cavity and the current working pressure and the deviation between the proportional valve target and the actual current are calculated, calculation is conducted through a PID controller, and the output serves as the input of the retarder proportional valve so as to control the output torque of the retarder. According to the invention, the output torque delay can be reduced so as to improve the braking performance of the retarder, the braking precision and stability are relatively high, and relatively stable braking can be maintained under the conditions of different vehicle speeds and different oil temperatures.

The invention discloses an anti-explosion differential steering wheel system with a caliper brake, which can solve the problem that a steering wheel is unstable due to different rotating speeds between two wheels during turning, can stably run in an anti-explosion environment, and realizes short-time and short-distance emergency braking. Torque is input through the driving motor, passes through the gearbox, the differential mechanism and the driving speed reducer and then is output to the tires, forward and backward power is provided for the differential steering wheel system, an inner wheel and an outer wheel can rotate at different speeds when a steering wheel turns at a high speed under the action of the differential mechanism assembly, the driving efficiency is improved, and the running stability of a vehicle is effectively guaranteed. Brake torque provided by the caliper brake assembly acts on tires through the gear box, the differential mechanism and the driving speed reducer, so that the steering wheel can complete braking in a short time and a short distance. All components of the differential steering wheel are subjected to explosion-proof sealing, and explosion-proof electric appliance elements are adopted, so that fire disasters or explosions in the external environment caused by the differential steering wheel can be effectively prevented.

The invention relates to a vehicle running control method and device, a vehicle, a storage medium and a program product in the technical field of vehicle engineering.The method comprises the steps that in response to braking torque control of the vehicle in a driving running state, the wheel speed difference and the wheel acceleration of left and right wheels of the vehicle are obtained; according to the magnitude relation between the wheel speed difference and a plurality of speed difference threshold values and the magnitude relation between the wheel acceleration and a plurality of acceleration threshold values, target control states are determined, and each control state is calibrated with a corresponding braking force change strategy, a corresponding braking force change slope and a corresponding driving torque change strategy; and controlling the vehicle to run according to the braking force change strategy, the slope and the driving torque change strategy corresponding to the target control state. And the MTC does not excessively reduce the driving torque, so that the driving capability of the vehicle is enhanced.

The invention discloses an electric inertia simulation braking power test bench and an electric inertia control method thereof, and relates to the technical field of electric transmission simulation of flywheels, the electric inertia simulation braking power test bench comprises a motor, an incremental encoder, a main shaft, a flywheel, a force arm frame, a mechanical friction braking torque sensor, an electric transmission control system and a brake disc; an incremental encoder is installed at the rear end of the motor, the transmission end of the motor is connected with the main shaft through a coupler, the flywheel is installed on the main shaft, a brake disc is installed on the force arm frame, and meanwhile the force arm frame is connected with a mechanical friction braking torque sensor. According to the invention, the angular speed, the angular displacement and the mechanical friction braking torque are synchronously collected, and the motor torque is calculated and given, so that the test bench operates in a state of approaching an equivalent flywheel and equivalently having no system resistance; the algorithm can control the total error within a very small range; accurate matching of rotational inertia is achieved, and the control precision can meet the high-precision test requirement. And investment and operation cost are saved.

A method is for regulating a generator braking moment of an electric drive for a vehicle, in particular a utility vehicle. The method includes: sensing a call for braking for the purpose of braking the vehicle using a setpoint braking moment; and, regulating the generator braking moment in dependence on the setpoint braking moment and on a trigger condition. The regulating is effected within a plurality of cycles. Within a cycle, changing of a generator braking moment provided by the electric drive is effected. Each of the cycles includes a first sub-cycle and a second sub-cycle. In the first sub-cycle, the changing includes reducing the generator braking moment and, in the second sub-cycle, the changing includes increasing the generator braking moment.

The invention discloses an ABS real-time self-adaptive control method and system based on hub sensing signal fusion, and relates to the field of automobile safety control. The method comprises the steps that S1, multi-source hub sensing signals of all wheels are synchronously collected; s2, calculating a hub response coupling factor based on the multi-source hub sensing signal; s3, calculating an instantaneous slip rate based on the coupling factor and the wheel speed in combination with vehicle dynamic parameters; s4, on the basis of the wheel speed, the braking torque and the tangential acceleration, the coupling factor and the instantaneous slip rate are combined, and the normal load is calculated; s5, calculating an adhesion coefficient according to the instantaneous slip rate, the normal load and the wheel speed; s6, according to the slip rate deviation, a fusion weight is generated in combination with the coupling factor, and the adhesion capacity of the whole vehicle is calculated; and S7, according to the adhesion coefficient, the normal load, the slip rate and the adhesion capacity of the whole vehicle, the target braking force is calculated, and the wheel braking strength is adjusted. By monitoring the state of the wheels in real time, the slip rate is accurately controlled, braking force distribution is optimized, and the response precision and stability of the ABS are improved.

The invention relates to the technical field of dynamic parameter correction of self-adaptive control systems, in particular to an unmanned crawler braking system and method based on self-adaptive control. The system comprises a data acquisition module, a viscosity dynamic compensation module, a control instruction generation module and a distributed execution module. The data collection module collects vehicle motion state parameters through an accelerometer, a pitch angle sensor and a hydraulic oil temperature sensor, GPS time service and a CAN bus clock are adopted to calibrate the time sequence of a multi-source sensor, and the control instruction generation module fuses the pitch angle, the steering torque parameter and the viscosity variation. According to the method, through closed-loop viscosity correction, instruction time sequence optimization and low-temperature adaptability regulation and control, the problem of braking torque control deviation of a multi-degree-of-freedom articulated mechanism caused by nonlinear change of the viscosity of a hydraulic medium is solved.

The invention belongs to the technical field of intelligent belt conveyors, discloses a braking method for a downward belt conveyor, computer equipment and a storage medium, and aims to realize accurate application of braking torque, guarantee safe and reliable braking and stopping of the downward belt conveyor and avoid mechanical impact and electrical impact on the belt conveyor. The braking method of the downward conveying belt conveyor serves as an important component of the intelligent belt conveyor, is applied to the downward conveying belt conveyor and can accurately judge the magnitude of the braking torque needed by the belt conveyor during emergency stop braking, so that the real-time braking torque is matched with the theoretical braking torque, accurate application of the braking torque is achieved, and the braking efficiency of the belt conveyor is improved. By means of the braking device, safe and reliable braking and stopping of the downward conveying belt conveyor are guaranteed, when a main motor is cut off in emergency stopping, mechanical impact and electrical impact on the belt conveyor caused by too large braking torque are avoided, the galloping accident caused by too small braking torque is also avoided, and therefore the operation and maintenance cost of the downward conveying belt conveyor is reduced.

The invention discloses a safety braking hydraulic system for a main elevator of a ship lift and a control method. The hydraulic system comprises an oil tank, a first motor pump set, a second motor pump set, a first high-pressure filter, a second high-pressure filter, a first one-way valve, a second one-way valve, a pressure gauge, a first pressure sensor, an energy accumulator, a stop valve, an oil return filter, a safety brake module and a working brake module. A safety brake loop is provided with a two-way cartridge valve and an electromagnetic directional valve, quick response and brake loosening and locking synchronization are achieved, a working brake loop is provided with an overflow valve and a proportional overflow valve, the proportional overflow valve, a PLC, a third pressure sensor and a speed encoder form a closed-loop system, the voltage of the proportional overflow valve is accurately adjusted according to oil pressure and speed, and the safety brake loop is controlled. The braking torque is timely controlled, stable braking is guaranteed, potential safety hazards such as poor synchronism and uncontrollable braking of a traditional hydraulic system can be eliminated, and safe operation of the main elevator is guaranteed.

The invention provides a hydraulic retarder system and method and a vehicle with the hydraulic retarder system. The hydrodynamic retarder system comprises a hydrodynamic retarder, a hydraulic control system and a control system, wherein the hydrodynamic retarder is provided with a retarder working cavity; a third oil inlet of the oil guide device is communicated with a second oil outlet of the retarder working cavity, and a third oil outlet of the oil guide device is communicated with a second oil inlet of the retarder working cavity; a fourth oil inlet of the heat energy conversion device is communicated with a fifth oil outlet of the oil liquid guide device, a fourth oil outlet of the heat energy conversion device is communicated with a fifth oil inlet of the oil liquid guide device, and the heat energy conversion device is electrically connected with external equipment. And the heat energy conversion device is used for converting heat energy generated by the hot oil into electric energy for external equipment to use. The energy utilization efficiency of the system is improved, remarkable economic and environmental benefits are brought, and the problem that in the prior art, the braking torque gear of the hydraulic retarder is difficult to meet the requirements under different working conditions is solved.

The invention provides a sliding energy recovery control method and system and a vehicle, and relates to the technical field of electric vehicles. The method comprises the steps that the vehicle speed, the actual deceleration, the multi-source quality observation parameters and the dynamic state parameters of the electric vehicle are obtained; the feedforward torque is determined on the basis of the vehicle speed, the preset deceleration, the target vehicle weight and the predicted gradient data, the target vehicle weight is obtained by conducting fusion noise reduction on multi-source quality observation parameters on the basis of Kalman filtering, and the predicted gradient data is obtained by conducting gradient trend prediction on the basis of the dynamic state parameters and the target vehicle weight; according to the difference value between the preset deceleration and the actual deceleration, feedback compensation torque is determined; linear superposition is conducted on the feed-forward torque and the feedback compensation torque, and the required braking torque is obtained; and determining a sliding energy recovery control strategy of the electric vehicle according to the required braking torque and the maximum recovery capacity of the motor. The accuracy of sliding energy recovery control is improved, and then the energy recovery efficiency is improved.

In some embodiments, techniques are provided for autonomously backing a vehicle (such as a Class 8 truck) to a trailer. In some embodiments, environment sensors such as image sensors and range sensors mounted to the vehicle detect a trailer and determine distances between the trailer and the vehicle as well as relative angles of the trailer and the vehicle. In some embodiments, the vehicle determines a path to the trailer based on this information, and autonomously controls braking, torque, and / or steering of the vehicle to autonomously back the vehicle along the determined path.

The invention discloses an automobile drifting control method based on a brake-by-wire system. The automobile drifting control method comprises the following steps: S1, enabling an automobile to be in a drifting mode starting state; s2, judging whether a drift mode is triggered or not; s3, the braking torque for braking the rear axle of the automobile is calculated, and the rear axle of the automobile is braked to enable the automobile to drift; the brake torque is obtained by adding the feedforward brake torque, the yaw velocity feedback brake torque and the wheel speed feedback brake torque; the feedforward braking torque is calculated according to the load of the wheel, the road adhesion coefficient and the rolling radius of the wheel; the yaw velocity feedback braking torque is calculated according to a drift yaw velocity target, the wheel speed feedback braking torque is calculated according to a rear wheel speed target, and the drift yaw velocity target and the rear wheel speed target are both obtained according to a steering wheel angle and the change rate of the steering wheel angle; and S4, judging whether the automobile exits the drifting state or not in the drifting driving process of the automobile. By means of the control method, the drifting state of the automobile is more stable, control is easier, and safety is high.