US 11,964,591 B2
Vehicle and braking method and device therefor
Dong Ma, Shenzhen (CN); Lu Wang, Shenzhen (CN); and Daolin Li, Shenzhen (CN)
Assigned to BYD COMPANY LIMITED, Shenzhen (CN)
Appl. No. 17/639,255
Filed by BYD COMPANY LIMITED, Guangdong (CN)
PCT Filed Aug. 27, 2020, PCT No. PCT/CN2020/111836
§ 371(c)(1), (2) Date Feb. 28, 2022,
PCT Pub. No. WO2021/037162, PCT Pub. Date Mar. 4, 2021.
Claims priority of application No. 201910817949.3 (CN), filed on Aug. 30, 2019.
Prior Publication US 2022/0332195 A1, Oct. 20, 2022
Int. Cl. B60L 7/18 (2006.01); B60L 7/26 (2006.01); B60T 8/32 (2006.01); B60T 8/58 (2006.01); B60T 13/58 (2006.01)
CPC B60L 7/18 (2013.01) [B60L 7/26 (2013.01); B60T 8/3215 (2013.01); B60T 8/58 (2013.01); B60T 13/586 (2013.01); B60T 2210/12 (2013.01); B60T 2210/20 (2013.01); B60T 2250/00 (2013.01); B60T 2250/02 (2013.01); B60T 2250/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A braking method for a vehicle, comprising the following steps:
obtaining a first state information of the vehicle, wherein the first state information comprises a vehicle mass and a deceleration required by braking;
calculating a braking torque required by the vehicle according to the first state information, and controlling an output of an electric braking torque according to the braking torque required by the vehicle;
obtaining a current vehicle speed of the vehicle and a maximum electric braking exit speed;
the deceleration required by braking of the vehicle changing to zero;
the current vehicle speed being less than the maximum electric braking exit speed; and
controlling the vehicle to unload the electric braking torque.