117 results about "Wheel load" patented technology

The invention discloses a method for aircraft thrust imbalance warning and protection. The method comprises the following steps: acquiring thrust rod position angle signals and wheel load state signals of a plurality of engines after an aircraft lands and is grounded; determining whether the thrust states of the plurality of engines are consistent or not based on the thrust rod position angle signal and the wheel load state signal, wherein the thrust states of the plurality of engines comprise a positive thrust state and a negative thrust state; in response to the fact that one or more of the multiple engines are inconsistent with the remaining engine thrust state of the multiple engines, a warning instruction is sent out; and the reverse thrust cover corresponding to the engine in the negative thrust state is locked. The invention further provides a system for aircraft thrust imbalance warning and protection. By means of the method and device, the unbalanced thrust state of the aircraft can be prevented after the aircraft lands, an alarm is given to operation of a pilot, protection is provided, and the safety of the aircraft is guaranteed.

The invention provides a heavy-duty truck vehicle-mounted safety monitoring method and device, and the method comprises the steps: obtaining the original monitoring data of a wheel-rail force through a wheel-rail force monitoring module which is installed on an axle and has a low power consumption characteristic, and carrying out the edge calculation of the original monitoring data, and obtaining a wheel load shedding rate, a derailment coefficient and a wheel axle transverse force; the framework acceleration and the bearing temperature are obtained through the low-power-consumption vibration acceleration sensing module and the bearing temperature sensing module; performing multi-modal fusion on each index to obtain a multi-modal operation state representation vector; obtaining a dynamic threshold value of each index based on an enhanced feature vector and a multi-modal operation state representation vector obtained by an offline self-learning model; and giving current situation analysis and trend analysis of safety monitoring based on a comparison result of each index and a dynamic threshold value. According to the invention, the limitation of independent analysis of single sensor data in the prior art is overcome, the dynamic adjustment of the safety threshold is realized, and the accuracy and reliability of safety monitoring are improved.

The invention discloses an X-type control method for intelligently distributing torque and a chassis system. The X-type control method comprises the steps that a left front hydraulic channel, a right rear hydraulic channel and a right front hydraulic channel and a left rear hydraulic channel are built; the sensor obtains parameters such as wheel rotating speed and load; the control module combines slip rate, longitudinal force (calculated according to tire rigidity and the like) and unscented Kalman filtering to estimate an adhesion coefficient, calculates hydraulic pressure and generates a driving signal; the hydraulic valve adjusts the torque to adapt to straight lines (distributed according to load transfer), steering (insufficient / excessive deviation correction steering) and unbalanced road working conditions, and energy consumption optimization is further included. The system comprises a sensing module, a control decision-making module and the like, normal driving and braking are still guaranteed when an X-type layout single channel breaks down, natural yaw moment exists, and the problems that in the braking or driving process of an existing vehicle chassis, moment distribution is not uniform, and response to single-wheel loads and road surface attachment changes is insufficient are solved.

The application relates to the field of automobile intelligent chassis testing, in particular to a kind of angle module steering performance test method.The test method comprises: according to preset speed, preset steering angle, preset vertical wheel load, preset road adhesion coefficient, determine steering basic response and control precision comprehensive test condition, control test bench to execute steering basic response and control precision comprehensive test;Steering basic response and control precision comprehensive test condition includes step input response test condition, hysteresis and non-linear characteristic evaluation condition, dynamic response characteristic evaluation condition, return torque and residual angle test condition, steering angle precision and tracking error test condition;According to preset speed and preset vertical wheel load, determine steering-wheel load coupling performance test condition, control test bench to execute steering-wheel load coupling performance test.The application can standardize the steering performance of angle module, test each condition in full dimension, and accurately present the comprehensive steering performance of angle module in actual vehicle operating condition.

The invention relates to an automobile gear combination switch control method integrated with a vehicle-mounted weighing function, and belongs to the technical field of automobile electronic control. The invention aims to solve the technical problems of high cost and complex wiring caused by single function of an existing gear controller and independent arrangement of a vehicle-mounted weighing system. The electronic gear shifting system comprises an electronic gear shifting module used for detecting the gear and the parking key state; the combined switch module is used for detecting on-off states of a windscreen wiper, light and the like; the vehicle-mounted weighing module is used for supplying power to the height sensors of the four wheels, receiving PWM signals of the height sensors and calculating the total weight of the vehicle, the load ratio of front and rear axles and the loads of the four wheels according to the calibration parameters and the height variation of the vehicle body; and the communication module is used for sending a gear shifting signal, a switching signal and a weighing signal through a CAN FD bus. The weighing function is integrated into the gear controller, the weighing precision is improved through inclination angle compensation, real-time display and overload reminding of load information are achieved, and the gear controller has the advantages of being high in integration level, low in cost and good in precision.

This invention discloses a platform for simulating the working conditions of a Torsen differential in a four-wheel drive system, relating to the field of automotive teaching aids technology. The platform includes: a platform frame; a four-wheel drive transmission simulation unit comprising a drive motor, a Torsen center differential driven by the drive motor, connected front and rear axle drive shafts, and four rotary output ends; a wheel load simulation unit for applying rotational resistance to the rotary output ends; a working condition preset and control unit for automatically controlling the four wheel load simulation units to apply preset resistance combinations corresponding to the working condition mode; a data display unit for real-time display of speed and torque data at the rotary output ends; and a differential lock actuator for achieving rigid connection and synchronous rotation of the front and rear axle drive shafts. The beneficial effect of this invention is that it transforms complex mechanical principles, systematic engineering logic, and cutting-edge automotive technology into intuitive and operable teaching practices, possessing significant promotional value and application prospects.

This invention provides a method for reconstructing continuous wheel-rail forces based on discrete fastener reaction forces, comprising the following steps: Step 1, establishing a wheel load distribution model; Step 2, establishing an algorithmic framework for the inversion method, by introducing a responsibility region and a local deconvolution strategy, mapping the discrete fastener reaction force FRF to the continuous wheel-rail force WRF. This invention effectively solves the problems of traditional onboard sensors' difficulty in long-term fixed-point monitoring of specific road sections, and the inability of existing ground discrete monitoring points to fully characterize the continuous wheel-rail interaction behavior. By constructing an inversion framework based on Gaussian load distribution using a "responsibility region + local deconvolution" approach, it fully utilizes the load transfer characteristics of the vehicle-track coupling system, achieving high-precision reconstruction of continuous wheel-rail forces using ground discrete fastener reaction force data. This eliminates the need for complex global iterative optimization and can accurately restore the dynamic characteristics of wheel-rail contact even with only a limited number of discrete measurement points.

The invention discloses a railway wheel load instrument verification protection device, and relates to the technical field of railway metering equipment protection devices, the railway wheel load instrument verification protection device comprises a bottom plate, a wheel load instrument verification device is fixedly installed on the upper surface of the bottom plate, and an oil-resistant rubber plate is placed between the wheel load instrument verification device and the upper surface of the bottom plate; a camera assembly is additionally arranged on a vertical column of the wheel load instrument calibrating device; the upper surface of the bottom plate is covered with a sound insulation assembly. An operation opening is formed in the side wall of the sound insulation assembly, and an operation panel assembly is installed at the operation opening in a hinged mode. According to the railway wheel load instrument verification protection device, noise pollution to detection personnel during verification operation can be reduced, and the accuracy of the indicating value of a verification result can be guaranteed.

The invention provides a vehicle control method for achieving pivot steering, a vehicle controller and a vehicle. The vehicle control method is used for controlling a suspension system of the vehicle to assist in achieving pivot steering of an electric vehicle after a user starts a pivot steering function. The vehicle control method comprises the steps that after the user starts the in-situ steering function and before the electric vehicle starts in-situ steering, the suspension system is controlled to adjust the suspension height corresponding to one wheel of one axle to be lower than the suspension height corresponding to the two wheels of the other axle. And in the pivot steering process of the electric vehicle, the wheel is locked, and the electric vehicle is controlled to conduct pivot steering around the wheel. Therefore, the suspension height of the locking wheel is adjusted to be lower than the suspension height of the two wheels of the other axle by controlling the suspension system, so that the wheel load of the wheels of the other axle is transferred to the locking wheel, the success rate of in-situ steering of the vehicle is improved, and the tire abrasion of the two wheels of the other axle is reduced.

The embodiment of the present application belongs to the field of rail transit technology, and discloses a locomotive wheel surface fatigue damage prediction method and equipment. The corresponding method comprises the following steps: determining a first relationship parameter between a surface length and an internal length and a second relationship parameter between the internal length and an internal depth according to the surface length, the internal length and the internal depth of the pre-acquired crack of the locomotive wheel; generating a wheel-rail contact damage prediction model under the amplitude load condition according to the damage index distribution inside the wheel-rail contact spot under the static wheel load, the first relationship parameter and the second relationship parameter; generating a lateral damage index distribution of the locomotive wheel according to the wheel-rail contact damage prediction model; and predicting the surface fatigue damage condition of the locomotive wheel according to the lateral damage index distribution. The method provided by the present application can more accurately calculate the surface fatigue damage condition of the wheel under different operation lines, and obtain more reliable data.

The application discloses a train strong wind adjustment control method and device, medium and train, relates to the field of rail trains, and solves the problem of low real-time performance of monitoring environmental strong wind changes. A vehicle-mounted wind measuring device is used to monitor the wind field in a certain range in front of the running direction of the train, and the real-time monitoring of the whole global continuous wind field around the train, including the wind speed and direction, obtains safety indexes such as the derailment coefficient and the wheel load reduction rate of a section of line in front, and is used for finding the strong wind condition that may affect the driving safety of the vehicle in advance, guiding the train to evaluate the maximum running speed according to the wind field near the line, and improving the line operation efficiency.

The utility model provides a tool used for vehicle testing, belonging to the technical field of vehicle testing, the tool used for vehicle testing comprises a fixing frame and an expansion assembly, the fixing frame comprises a plurality of first square tubes, the plurality of first square tubes are arranged vertically and horizontally to form a plurality of first positioning grids used for limiting sandbags; the expansion assembly comprises expansion pieces corresponding to the first square pipes, each expansion piece is detachably connected to the corresponding first square pipe, and the tool size is adjusted by controlling the relative position of each expansion piece and the corresponding first square pipe. According to the utility model, the counterweight sandbag can be fixed, so that the position of the sandbag is fixed as far as possible during a truck operation stability dynamic test, axle loads and wheel loads of a truck before and after the test are ensured to be unchanged, test errors are reduced, and the adaptive range is wide.

To provide a measuring device and method for improving the measurement accuracy of lateral pressure or a contact position.SOLUTION: A measurement device that measures a lateral pressure Q or a contact position between a wheel 100 of a railway vehicle and a rail, the measurement device including a plurality of strain gauges that detect a shear strain of a plate portion caused by the lateral pressure, and a calculation unit 400 that continuously calculates the lateral pressure or the contact position on the basis of an output of a bridge circuit that includes the strain gauges and is asymmetric with respect to a rotation center axis, the characteristic of the output sensitivity of the bridge circuit according to the wheel load between the wheel and the rail and the front-rear tangential force of the wheel changes with the rotation of the wheel, and the calculation unit calculates the lateral pressure or the contact position based on the cross sensitivity vector of interest determined by the characteristic of the output sensitivity of the bridge circuit or the inverse element orthogonal to the sensitivity vector.SELECTED DRAWING: Figure 1

The invention provides a steel rail fatigue crack simulation method and system based on a fracture phase field fatigue model, and relates to the technical field of rail traffic structure safety and computational mechanics, and the method comprises the following steps: obtaining geometry, material and wheel load parameters of a steel rail; a three-dimensional steel rail finite element model is constructed according to the basic data, and local encryption grids are arranged in wheel-rail contact and other key areas; on the basis, establishing a fracture phase field model capable of describing natural initiation and expansion of cracks; a fatigue degradation model is further integrated, crack resistance attenuation caused by fatigue is simulated, and a phase-field fatigue coupling model is formed; and finally, simulating a moving wheel load through envelope loading, and performing efficient calculation by applying a cyclic transition strategy to realize accurate simulation of a fatigue crack initiation position, an expansion path and damage field distribution of the steel rail. According to the method, crack evolution can be naturally predicted, and the high-cycle fatigue analysis efficiency is remarkably improved.

This invention relates to the field of steer-by-wire technology, and more particularly to a steer-by-wire control method and redundant braking device compatible with braking function. The control method includes the following steps: S1: Obtain vehicle current operating status information and braking demand information. S2: If the longitudinal braking force provided by the failed wheel does not meet the braking expectation. S3: Obtain the lateral force of the failed wheel based on the current wheel load, the previous moment's wheel angle of the failed wheel, and the tire slip angle information. S4: Solve for the minimum wheel angle of the failed wheel. S5: Construct an optimization objective function and set constraints to calculate the target wheel angles. S6: Send the target wheel angles to the steering actuators of each wheel to achieve toe-in braking control under braking failure conditions. The advantage of this invention is that it fully utilizes the four-wheel independent steering and large-angle steering capabilities of the corner module vehicle, reconstructs the vehicle's braking capability through steering control, and improves the system redundancy utilization rate.

The invention provides a heavy-duty commercial vehicle AEB braking decision-making method based on a driving assistance map, a vehicle and a medium, and belongs to the technical field of commercial vehicle intelligent driving. The method comprises the steps of obtaining a vehicle speed, analyzing a gradient / curvature value, calculating a safety distance, detecting a collision risk, correcting a braking force request according to a gradient direction, determining a self-adaptive distribution coefficient based on the curvature value, and determining the braking force according to the self-adaptive distribution coefficient. The braking force request and the distribution coefficient are integrated, a braking force control signal is output, and braking is executed. According to the method, through a gradient compensation model and a curvature self-adaptive strategy, downhill force increasing, uphill force reducing and load balance of wheels on the inner side and the outer side of a curve are achieved, and the problem of braking failure of a traditional AEB under the complex road condition is solved; and in combination with safe distance dynamic verification and braking force threshold constraint, it is ensured that the braking decision meets the physical limit, the braking safety and robustness are improved, and the multi-working-condition requirements of the heavy-duty commercial vehicle are met.

Provided are a tire temperature dependence model correction method and an apparatus therefor, whereby a tire temperature dependence model can be properly corrected. When a tire temperature dependence model obtained by modeling a tire maximum friction coefficient depending on a tire surface temperature of a tire (3) mounted on a wheel (2i) of a vehicle (1) is corrected by a processor (5), the tire surface temperature is calculated, the tire surface temperature, which is calculated according to temperature characteristics of the tire (3), is corrected, the tire maximum friction coefficient is calculated, the tire temperature dependence model is corrected using the corrected tire surface temperature and the calculated tire maximum friction coefficient, a target yaw rate of the vehicle is further calculated, a yaw rate difference between an actual yaw rate generated in the vehicle and the target yaw rate is calculated, a tire friction coefficient front-rear difference between front and rear wheels is calculated on the basis of the yaw rate difference and wheel loads of the front and rear wheels, and the tire temperature dependence model is corrected using the tire friction coefficient front-rear difference.

The present application relates to a kind of combination bridge deck structure and its construction method, it includes: bridge deck slab;Multiple stiffening ribs, multiple the stiffening ribs are spaced apart along the bridge direction, and are all fixed in the bottom of the bridge deck slab along the longitudinal direction;At least one transverse diaphragm, the transverse diaphragm is vertically fixed in the bottom of the bridge deck slab;Ultra-high performance concrete layer, the ultra-high performance concrete layer is arranged on the top of the bridge deck slab, and multiple cavities are formed between the bridge deck slab, each the cavity is along longitudinal direction extends, and is spaced apart at the transverse diaphragm, and the cross section of each the cavity is arch-shaped.The present application is based on arch effect by the cavity formed between ultra-high performance concrete layer and bridge deck slab to transfer upper wheel load to the stiffening rib below bridge deck slab dispersion, reduce the stress of bridge deck slab, improve the stress distribution of bridge deck slab.Further, the present application uses connecting assembly instead of shear nail, and lays finished steel mesh on connecting assembly, simplifies field construction process.

The present application relates to a kind of air suspension system adjusting method, device and car, air suspension system adjusting method includes according to preset design value control adjusting component to the height of each suspension in air suspension system is adjusted;Current four-wheel load is obtained, wherein, current four-wheel load indicates the weighing load of the four wheels of car;Determine whether current four-wheel load satisfies preset adjustment condition;If yes, then according to current four-wheel load control adjusting component to the height of each suspension is adjusted.In the embodiment of the present application, the height of each suspension is adjusted in the process of considering the vehicle posture and load distribution, so that the adjusted vehicle posture and load distribution can meet the design requirements, to realize the uniformity of vehicle posture and load distribution, so as to realize the performance balance of vehicle posture and load.

The present application belongs to signal detection technology, and relates to a universal wheel load signal detection device. The device comprises a detection control box and replaceable switching cable; a logic conversion circuit and a self-checking circuit are arranged in the detection control box.

The invention belongs to the technical field of vehicle dynamics control, and particularly discloses a compensation and limit value-based dynamic wheel load estimation method and system, and the method comprises the steps: obtaining an initial wheel load through a direct superposition method based on a vehicle static parameter and in combination with a vehicle motion parameter monitored by an inertial sensor in real time; the initial wheel load is taken as an adjustment basis, various compensation means are adopted, and the wheel load value is dynamically optimized in combination with the real-time running state of the vehicle; based on multiple limiting conditions, the wheel loads after compensation and correction are restrained and adjusted, and final real-time dynamic wheel loads of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are output. According to the method, through a three-stage collaborative optimization mechanism of basic calculation, compensation correction and physical limit values, the defects of high calculation complexity, poor robustness, high engineering implementation cost and the like caused by excessive dependence on high-precision sensor fusion and a complex dynamic model in the prior art are effectively overcome; and the estimation precision and the system robustness are remarkably improved while the calculation efficiency is ensured.

The invention belongs to the technical field of chassis driving control, and discloses a distributed driving chassis control method based on HIL, and the method comprises the steps: obtaining a pedal input signal and a steering wheel angle signal, carrying out the mapping and smoothing processing, inputting a driving force and yaw moment fusion distribution model, and obtaining a driving force and yaw moment fusion distribution model; the target torque of each wheel is obtained and issued to a real vehicle chassis test board, and a vehicle-mounted motor is controlled to output corresponding actual torque and actual vehicle speed; calculating a target angular velocity needing to be tracked by each wheel load motor through a vehicle dynamics and kinematics model; according to the difference value between the actual angular speed of the vehicle-mounted motor and the target angular speed of the load motor, a torque instruction of the vehicle-mounted motor is dynamically adjusted; and external resistance loss and internal torque loss are calculated through the vehicle speed and angular speed synthesis module and the vehicle environment model and are fed back to the vehicle dynamics model. Software and hardware closed-loop coupling and torque and driving control closed-loop verification are achieved, and the simulation precision of an HIL simulation system is remarkably improved.

The application discloses a kind of intelligent pavement anti-skid performance rapid testing device, comprising: metal connecting rod, running wheel, test wheel, the test wheel includes brake caliper, brake pad, connecting rod, adjustable counterweight, sliding block and pressure sensor;Metal handrail, brake handle, test recorder base, test recorder are placed on test recorder base, are connected with pressure sensor, detachable support pivot, detachable wheel connection pivot, wherein, the connecting rod of test wheel is connected with sliding block, pressure sensor;Adjustable counterweight is made of all-metal material, different wheel load is adjusted by replacing counterweight;Test sliding block is made of all-metal material, is fixed in test wheel, can be moved along connecting rod.

The application discloses a kind of airplane wheel complete ejection load spectrum dynamic simulation system and method, the system includes movable drag rack, airplane wheel and the flywheel for providing speed for airplane wheel, for providing load for airplane wheel loading module, for the state observation module of pre-estimating measurement to airplane wheel load and the FFC+FBC compound control module for controlling the loading module simulating the load change of airplane wheel when complete ejection;The system of the application can more accurately measure the load suffered by airplane wheel, and carry out high sensitivity adjustment, with fast follow-up, can reduce load static difference, improve response effect, and then can more completely, truly reflect the high loading rate, loading rate mutation characteristics in the process of airplane catapult take-off, so as to test the tire characteristics and service life in the process of airplane catapult take-off.

The invention discloses a rigid pavement vulnerability analysis method considering foundation performance degradation under a wheel load effect. The method comprises the following steps: establishing an airport rigid pavement simplified analysis model; determining the maximum tensile strain value range of the bottom of the critical pavement slab corresponding to each damage grade; introducing a foundation support stiffness degradation coefficient; calculating the actually generated maximum tensile strain of the bottom of the pavement slab; constructing a vulnerability function in a standard normal distribution accumulation function form; and calculating a comprehensive failure probability and the like. According to the method, by introducing the foundation support stiffness degradation coefficient and combining the reliability theory, an airport rigid pavement vulnerability analysis framework considering foundation performance degradation is established, and quantitative calculation of the pavement failure probability under different degradation degrees is achieved. The foundation support stiffness space variability and the structural performance degradation rule can be comprehensively reflected, and the analysis result is closer to the actual operation condition. The calculation process is simple and efficient, the precision is high, the applicability is high, and scientific and reliable technical support can be provided for structural safety evaluation, operation maintenance and service life prediction of the airport rigid pavement.

Mobile work machine (100) with a substructure (10) supporting a working boom (14), which has a chassis with at least two wheel axles (31, 32) and wheels (30) arranged thereon, a support device (20, 22) arranged on the substructure (10), which can be supported on a surface (28) when the working machine (100) is lifted, and a measuring sensor system (50, 60) for determining a wheel load acting on the wheels (30) of the at least two wheel axles (31, 32), as well as a computing unit (42) for performing a stability calculation, wherein the stability calculation includes a residual wheel load acting on at least one wheel (30) of a wheel axle (31, 32) when the working machine (100) is not fully raised.

The utility model discloses a fatigue test device for a vertical reduction gearbox, which comprises a torque detection workpiece for detecting the torque of the vertical reduction gearbox, and the torque detection workpiece comprises a test motor connected with an input shaft of the vertical reduction gearbox; the device further comprises a wheel load detection workpiece for detecting the wheel load of the vertical reduction gearbox, the wheel load detection workpiece comprises a stand column assembly, the stand column assembly comprises a loading part and a sliding support, the test motor is fixedly installed on the sliding support, and the loading part drives the sliding support to drive the test motor to exert pressure on the vertical reduction gearbox together. According to the utility model, the load is added to the driving wheels on the vertical reduction gearbox to simulate the stress condition of the vertical reduction gearbox on the whole vehicle. Therefore, the torque and the wheel load borne by the vertical reduction gearbox on the electric storage vehicle during working can be simulated at the same time, and the performance of the vertical reduction gearbox is ensured.

The application discloses a vehicle mass and wheel load distribution estimation method and device based on steady-state signal decoupling, comprising: obtaining test calibration data of a plurality of suspension type test vehicles, establishing a partial load reference database and a partial load solving rule library covering a plurality of suspension types according to the test calibration data; matching corresponding target partial load reference data and target partial load solving rules in the partial load reference database and the partial load solving rule library according to a target suspension type of a target vehicle; obtaining a standard sensor signal of the target vehicle in a steady-state straight running state, determining a partial load estimation result and an estimation accuracy identifier of the target vehicle according to the standard sensor signal, the target partial load reference data and the target partial load solving rules; and outputting the partial load estimation result and the estimation accuracy identifier to a vehicle-mounted control system of the target vehicle. The application improves the reliability of vehicle mass and wheel load distribution estimation and can be applied to the technical field of vehicle control.

The utility model relates to the technical field of wind power equipment testing, in particular to a wind power main gear box planet wheel uniform load test loading table which comprises a main body, and the top of the main body is fixedly connected with a rotating assembly and a movable loading assembly. According to the utility model, the motor is used for driving the rotating wheel and the transmission wheel to rotate in a meshed manner, so that the rotating rod can drive the planet wheel to freely rotate, the actual working condition is accurately simulated, and the freely rotating planet wheel can automatically adjust the rotating speed and the torque distribution according to the change of the load; the planetary gears can share input torque more uniformly, damage caused by overload of individual planetary gears is avoided, the multiple first telescopic rods are used for applying loads to the planetary gears, the loads can be uniformly distributed at different positions of the planetary gears, local overload caused by single-point loading is avoided, and the load distribution efficiency is improved. The uniformly distributed load can simulate the stress condition of the planet wheel in actual operation more truly.

The application provides a vehicle brake control method and device, and belongs to the technical field of driving brake, wherein the method comprises the following steps: collecting the traction motor speed and the lifting cylinder bottom pressure; calculating the vehicle load according to the lifting cylinder bottom pressure; calculating the vehicle rear axle load according to the vehicle load; calculating the maximum torque of the traction motor according to the traction motor speed; calculating the maximum adhesion torque of the driving wheel according to the vehicle load and the vehicle rear axle load; comparing the numerical values of the maximum torque of the traction motor and the maximum adhesion torque of the driving wheel, and taking the smaller one as the maximum given torque; calculating the traction motor regenerative braking torque according to the maximum given torque; and braking the vehicle through the traction motor regenerative braking torque. The application solves the problems that the current brake does not consider the influence of the driving wheel load, leading to brake deviation, and the vehicle state cannot be identified during the braking process, the brake impact is large in the no-load state, and the braking distance is long at high speed.