An apparatus for controlling a brake of a tractor towing a trailer includes a trailer sensor for sensing whether or not the trailer is mounted at the tractor, an auxiliary brake driver for driving an auxiliary brake of the tractor, a main brake driver for driving main brakes of the tractor and the trailer, and a controller for setting a ratio of braking force of the auxiliary brake to a reference value with respect to a required braking force from a smart cruise control (SCC) system and allocating the remaining required braking force to the main brakes of the tractor and the trailer in the case in which the trailer sensor senses that the trailer is mounted at the tractor.

A control arrangement and a method for deactivating an adaptive cruise control system. The method comprises, in response to a determination of risk of loss of functionality of the adaptive cruise control system while the host vehicle is decelerated by the adaptive cruise control system, determining whether the host vehicle may be braked by the service brake system; and, if so, activating a first failure mode during which the adaptive cruise control system is maintained active to decelerate the host vehicle until a deceleration demand is below a predetermined threshold. The method further comprises, when the deceleration demand is below the predetermined threshold, either ramping down the braking demanded by the adaptive cruise control system over a predetermined period of time and thereafter deactivating the adaptive cruise control system, or directly deactivating the adaptive cruise control system.

The present disclosure relates to an electrified vehicle capable of handling a situation where there may be an insufficient brake force during long-time braking by applying regenerative braking and to a braking compensation control method of the electric vehicle. The braking compensation control method includes determining whether a preset compensation control entry condition may be satisfied, determining a compensation brake torque for assisting in following a speed of a leading vehicle traveling ahead, and outputting the compensation brake torque through a motor when the compensation control entry condition may be satisfied.

Ground distance control for automated vehicles wherein operation of at least a transmission and/or braking system(s) can be controlled in response to a generated distance request to achieve an identified travel distance, as well as to satisfy a maximum force or thrust command. As the vehicle travels, a measured distance can be tallied such that the measured distance increases when the vehicle travels in a first direction, and decreases when the vehicle travels in a second direction. The system can automatically determine a distance to be traveled, in terms of the measured distance, before commands are to operate a brake actuator and/or transmission actuator to decelerate and/or stop the movement of the vehicle. The system can further evaluate whether the measured distance at the location at which the vehicle actually stopped is within a distance tolerance of the distance request. The measured distance may be reset at key-on or key-off.

A method of controlling braking of a vehicle is provided to minimize heat generation in a brake system at a time of braking the vehicle while securing an appropriate braking force. The method includes determining whether an inclination condition for a road satisfies a preset condition, and when the inclination condition for the road satisfies the preset condition, performing cyclic brake control of alternately braking wheels of two or more different axles of the vehicle.