Method and apparatus for braking a vehicle using a redundant braking system
A method for braking a vehicle through a redundant braking system includes (i) in response to a fault signal received from the main braking system of the vehicle, obtaining the motor speed, (ii) calculating the wheel speed of the vehicle based on the motor speed, and (iii) generating a braking command based on the wheel speed to control the braking actuators of the vehicle to brake the wheels.
1 . A method for braking a vehicle using a redundant braking system, the vehicle including a motor, a transmission operably connected to the motor, a main braking system, braking actuators, and wheels, the method comprising:
receiving a fault signal from the main braking system;
obtaining a motor speed of the motor from a resolver sensor operably connected to the motor in response to receiving the fault signal;
determining a gear position of a plurality of gear positions of the transmission in response to receiving the fault signal;
calculating a wheel speed of the vehicle based on the motor speed and the gear position; and
generating a braking command based on the wheel speed to control the braking actuators to brake the wheels.
2 . The method according to claim 1 , wherein calculating the wheel speed based on the motor speed and the gear position further comprises multiplying the motor speed by a drive ratio coefficient and a rolling circumference of the wheels.
3 . The method according to claim 2 , further comprising:
determining a model number of a decelerator of the vehicle; and
determining a value of the drive ratio coefficient based on the model number.
4 . The method according to claim 1 , wherein the fault signal is issued by the main braking system in response to the main braking system failing and/or a wheel speed sensor coupled with the main braking system failing.
5 . A method for braking a vehicle through a redundant braking system, including:
a memory; and
a control unit which is coupled to the memory, the control unit being configured for performing the method according claim 1 .
6 . A non-transitory computer readable medium storing a computer program comprising instructions, wherein the instructions when executed by a control unit causes the control unit to be configured to perform the method according to claim 1 .
7 . The method according to claim 1 , wherein:
each gear position of the plurality of gear positions corresponds to a different transmission ratio of a plurality of transmission ratios of the transmission, and
the wheel speed is calculated based on the motor speed a corresponding transmission ratio of the gear position.