The invention relates to a braking method, device and equipment in a single-pedal mode and a storage medium. The braking method comprises the steps that under the condition that a single pedal is lifted, if it is detected that a vehicle body stability control system fails, feedforward torque needed by the vehicle to achieve vehicle stabilization is calculated according to sliding force borne by the vehicle on a ramp currently; compensating the feed-forward torque to obtain a feedback torque based on an error between the current vehicle speed and the target vehicle speed; torque is output according to the feedback torque, and the automobile speed is reduced to the target automobile speed. By adopting the braking method provided by the invention, the problem that the braking function in a single pedal mode cannot be realized when the ESC fails in the prior art can be improved.
本申请涉及一种单踏板模式下的制动方法、装置、设备及存储介质。其中,制动方法包括:在单踏板被抬起的情况下,若检测到车身稳定控制系统失效,则根据汽车当前在坡道上受到的下滑力,计算得到汽车为实现稳车所需的前馈扭矩;基于当前车速和目标车速的误差,补偿前馈扭矩以得到反馈扭矩;根据反馈扭矩输出扭矩,使得汽车的车速降至目标车速。通过采用本申请所提供的制动方法能够改善现有技术在ESC失效时无法实现单踏板模式下的制动功能的问题。
Braking method, device and equipment in single-pedal mode and storage medium
单踏板模式下的制动方法、装置、设备及存储介质
2023-07-04
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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