US 11,752,987 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, Guangdong (CN)
Appl. No. 17/639,258
Filed by BYD COMPANY LIMITED, Guangdong (CN)
PCT Filed Aug. 27, 2020, PCT No. PCT/CN2020/111835
§ 371(c)(1), (2) Date Feb. 28, 2022,
PCT Pub. No. WO2021/037161, PCT Pub. Date Mar. 4, 2021.
Claims priority of application No. 201910817889.5 (CN), filed on Aug. 30, 2019.
Prior Publication US 2022/0340108 A1, Oct. 27, 2022
Int. Cl. B60T 8/17 (2006.01); B60T 8/52 (2006.01); B60T 8/58 (2006.01)
CPC B60T 8/1701 (2013.01) [B60T 8/52 (2013.01); B60T 8/58 (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 the vehicle to output an electric braking torque according to the braking torque required by the vehicle;
obtaining a current vehicle speed of the vehicle and an electric braking exit protection speed; and
calculating an electric braking exit speed according to the braking torque required by the vehicle and the deceleration required by braking,
the current vehicle speed being less than a larger one of the electric braking exit speed and the electric braking exit protection speed, and
controlling the vehicle to unload the electric braking torque.