Composite braking fault-tolerant control method based on multi-axle electric drive vehicle and vehicle

The invention is suitable for the field of automobile control, and particularly relates to a composite braking fault-tolerant control method based on a multi-axle electric drive vehicle and the vehicle. The method comprises the steps that the slippage amount of each wheel is obtained, and slippage rate information of each wheel is determined; a slip rate difference value between two coaxial wheels is obtained according to the slip rate information of each wheel; whether the slip rate difference value of two coaxial wheels exceeds a first limit value or not is judged, or whether the braking deceleration reaches the expectation or not is judged, the motor failure condition is determined, and the motor failure condition is divided into single-side motor failure, two-side different-shaft motor failure and two-side coaxial motor failure according to whether the failure motor is coaxial or not and on the same side; the total braking torque required by vehicle braking is determined according to the vehicle parameter