Control method for seamless braking of electric vehicle, controller, and electric vehicle

A controller for an electric vehicle, wherein the controller is configured to control the electric vehicle during braking of the electric vehicle, to implement a control method, wherein the control method is used to:

• during braking of the electric vehicle, control one or more drive motors to output a compensation torque to alleviate jerking of the electric vehicle during braking;
• and the control method comprises:
• after a first moment at which a stroke of a brake pedal increases from 0 and before a second moment at which a brake system performs braking to cause a vehicle speed of the electric vehicle to be equal to a preset vehicle speed, controlling the brake system to continuously brake four wheels of the electric vehicle, and controlling a torque output by the one or more drive motors to be 0;
• after the second moment and before a third moment at which the stroke of the brake pedal decreases to be equal to a preset stroke, controlling the brake system to continue braking the four wheels, and controlling the one or more drive motors to output a compensation torque whose direction is the same as directions of rotational speeds of the four wheels;
• and
• after the third moment and before a fourth moment at which the stroke of the brake pedal decreases to 0, controlling braking forces output by the brake system to the four wheels to decrease with the decrease in the stroke of the brake pedal, and controlling the compensation torque output of the one or more drive motors to start to decrease.

An electric vehicle, wherein the electric vehicle controls, by using a control method, one or more drive motors of the electric vehicle to output a compensation torque during braking of the electric vehicle, wherein the control method is used to:

• during braking of the electric vehicle, control the one or more drive motors to output a compensation torque to alleviate jerking of the electric vehicle during braking;
• the control method comprises:
• after a first moment at which a stroke of a brake pedal increases from 0 and before a second moment at which a brake system performs braking to cause a vehicle speed of the electric vehicle to be equal to a preset vehicle speed, controlling the brake system to continuously brake four wheels of the electric vehicle, and controlling a torque output by the one or more drive motors to be 0;
• after the second moment and before a third moment at which the stroke of the brake pedal decreases to be equal to a preset stroke, controlling the brake system to continue braking the four wheels, and controlling the one or more drive motors to output a compensation torque whose direction is the same as directions of rotational speeds of the four wheels;
• and
• after the third moment and before a fourth moment at which the stroke of the brake pedal decreases to 0, controlling braking forces output by the brake system to the four wheels to decrease with the decrease in the stroke of the brake pedal, and controlling the compensation torque output of the one or more drive motors to start to decrease.