Braking method, vehicle and medium

A vehicle, comprising:

• a primary braking system, a redundant controller, a parking brake, a retarder and an auxiliary high-pressure gas tank,
• wherein the redundant controller is respectively connected with the primary braking system, the parking brake, the retarder and the auxiliary high-pressure gas tank, and the auxiliary high-pressure gas tank is connected with the parking brake;
• wherein the redundant controller is configured for:
• controlling, in response to a current air pressure value not reaching a preset air pressure value, the auxiliary high-pressure gas tank to carry out air pressure loading;
• and
• controlling, in response to failure of the primary braking system and the current air pressure value reaching the preset air pressure value, a parking gas tank of the parking brake and the auxiliary high-pressure gas tank to alternately adjust a first braking torque of the parking brake according to a desired deceleration value;
• wherein the retarder is a hydraulic retarder, the hydraulic retarder is connected with the auxiliary high-pressure gas tank, and the auxiliary high-pressure gas tank is configured for receiving an instruction from the redundant controller and establishing a working state of the hydraulic retarder based on the instruction.

A non-transitory computer-readable storage medium, having a computer program stored thereon, wherein the program, when executed by a processor, causes the processor to implement a braking method for a vehicle;

• wherein the vehicle comprises a primary braking system, a parking brake, an auxiliary high-pressure gas tank, and a retarder, and the method comprises:
• determining whether a current air pressure value of the auxiliary high-pressure gas tank reaches a preset air pressure value;
• controlling, in response to the current air pressure value not reaching the preset air pressure value, the auxiliary high-pressure gas tank to carry out air pressure loading;
• and
• controlling, in response to failure of the primary braking system and the current air pressure value reaching the preset air pressure value, a first braking torque of the parking brake and a second braking torque of the retarder according to a deceleration signal of the vehicle so as to control the vehicle to brake;
• wherein the controlling, according to the desired deceleration value, the first braking torque and the second braking torque comprises:
• controlling, according to the desired deceleration value, a parking gas tank of the parking brake and the auxiliary high-pressure gas tank to alternately adjust the first braking torque;
• wherein the controlling the first braking torque of the parking brake and the second braking torque of the retarder according to the deceleration signal of the vehicle comprises:
• determining, according to the deceleration signal, a desired deceleration value;
• and
• controlling, according to the desired deceleration value, the first braking torque and the second braking torque;
• wherein the retarder is a hydraulic retarder, and the controlling, according to the desired deceleration value, the first braking torque and the second braking torque comprises:
• controlling the auxiliary high-pressure gas tank to establish a working state of the hydraulic retarder so as to control the second braking torque.