Research on Braking Force Distribution and Stability Control Strategy Under Electromechanical Braking Failure Condition

A braking force distribution and stability control strategy are proposed for electric vehicle electronic mechanical brake (EMB) failure conditions. This strategy distributes braking forces to the four wheels based on vertical load and slip ratio and develops optimized control strategies for single-wheel and same side dual-wheel failure conditions. Additionally, a regenerative braking mechanism is introduced, and an active steering controller is designed using fuzzy PID control. Simulation results show that the vehicle can effectively suppress the yaw rate under failure conditions, particularly on high-adhesion surfaces and at high braking intensities. The yaw rate is controlled from a maximum of 110 °/s to no more than 3 °/s, significantly improving braking stability and safety.