The invention relates to the field of automatic driving, in particular to a vehicle braking method, device and equipment and a storage medium. The method comprises the steps that whether a main braking system of the vehicle breaks down and loses braking force or not is judged; if yes, the main braking force of the main braking system before the main braking system breaks down and loses the braking force and the first braking requirement of the vehicle are obtained; calculating a current second braking demand according to the main braking force and the first braking demand; and according to a preset braking distribution rule, the second braking requirement is distributed to redundant braking for braking and energy recovery torque of a power motor for braking. By using the redundant system and the power motor with short torque response time, the problem that the braking force is lost when the main braking system breaks down is solved, and the problem that the braking force of redundant braking is insufficient due to short time when the main braking system is switched to redundant braking is solved.

    本发明涉及自动驾驶领域,尤其涉及一种车辆制动方法、装置、设备及存储介质。该方法包括:判断车辆的主制动系统是否发生故障丧失制动力;若是,则获取所述主制动系统在发生故障丧失制动力之前的主制动力以及所述车辆的第一制动需求;根据所述主制动力和所述第一制动需求计算当前的第二制动需求;根据预设的制动分配规则将所述第二制动需求分配至冗余制动进行制动和动力电机的能量回收扭矩进行制动。本申请通过使用冗余系统以及扭矩响应时间较小的动力电机,解决主制动系统故障时失去制动力的问题,以及切换至冗余制动时由于时间简短,冗余制动的制动力不足的问题。


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    Titel :

    Vehicle braking method, device and equipment and storage medium


    Weitere Titelangaben:

    车辆制动方法、装置、设备及存储介质


    Beteiligte:
    XU DANDAN (Autor:in) / HAN XU (Autor:in)

    Erscheinungsdatum :

    2023-07-21


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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