EMB-based brake failure stability control strategy for distributed drive electric vehicles

To address the problem that the braking stability of distributed drive electric vehicles using EMB, or electro-mechanical braking system, is difficult to control after single-wheel brake actuator failure, this paper designs a rule-based torque reconstruction controller and a front wheel corner controller based on a high-gain feedback robust control algorithm. Taking the failure of the single actuator of the left rear wheel brake as an example, the failure form is divided into hub motor failure and EMB failure. When the hub motor or EMB braking fails in mild and moderate braking conditions, the torque reconstruction controller is used to reasonably distribute the supplementary lost braking force among the remaining brake actuators, thus ensuring the braking stability of the vehicle. In the case of EMB failure under heavy braking conditions, the torque reconstruction controller works while the front wheel angle controller is enabled to improve the braking stability while ensuring the braking strength. The simulation results show that the control strategy is effective in controlling the braking stability of the vehicle in the case of single-wheel brake actuator failure.