A METHOD FOR BRAKING A VEHICLE

摘要

A method for braking a vehicle driving forward towards stop. The vehicle has a propulsion system including a combustion engine with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electric machine (9) comprising a stator and a rotor, and a planetary gear comprising a sun gear (10), a ring gear (11) and a planet wheel carrier (12). When braking the vehicle, a reverse gear of the gearbox is engaged and the electric machine is controlled to apply brake torque requested to the input shaft of the gearbox.