A brake control device is applied to a brake device that controls a front-wheel braking force and a rear-wheel braking force. The brake control device includes a ratio calculation circuit that calculates a target front and rear braking force distribution ratio based on a target pitch angle, and a brake control circuit that performs a stability control by operating the brake device based on the target front and rear braking force distribution ratio during braking.

The present invention obtains a controller and a control method capable of appropriately executing adaptive cruise control for a straddle-type vehicle while securing a driver's comfort. In the controller and the control method according to the present invention, when braking forces are generated on wheels of the straddle-type vehicle during adaptive cruise control, in which the straddle-type vehicle is made to travel according to a distance from the straddle-type vehicle to a preceding vehicle, motion of the straddle-type vehicle, and the driver's instruction, at a braking start time point at which the braking force starts being generated on each of the wheels, braking force distribution between the front and rear wheels is brought into an initial state where the braking force generated on the rear wheel is larger than the braking force generated on the front wheel. Then, a distribution ratio for the front wheel in the braking force distribution between the front and rear wheels is increased with a lapse of time.

A vehicle turning control device mounted on a vehicle includes a control device that calculates a control yaw moment for increasing turning performance of the vehicle and uses a yaw moment generation device to generate the control yaw moment. A limit control yaw moment, which is an upper limit of an allowable range of the control yaw moment in which the vehicle does not spin, is a function of a lateral jerk equivalent and decreases as the lateral jerk equivalent increases. The control device calculates the limit control yaw moment based on the lateral jerk equivalent and the function, updates a hold control yaw moment with a latest value of the limit control yaw moment when the latest value is less than the hold control yaw moment, and determines the control yaw moment so as not to exceed the hold control yaw moment.

A method of controlling the deceleration of a vehicle to account for an increase in friction in the vehicle brake system as the vehicle decelerates. The method comprises receiving a signal indicative of a value of the speed of the vehicle and a signal indicative of a value of a brake pressure in the vehicle brake system. The method further comprises comparing the vehicle speed value and the brake pressure value to respective thresholds. The method still further comprises increasing the drive torque applied to one or more wheels of the vehicle when the vehicle speed value falls below the threshold to which it was compared and the brake pressure value exceeds the threshold to which it was compared, such that the increased drive torque acts against the braking of the vehicle as the vehicle is decelerated to a stop.

A method of managing the deceleration of a vehicle. The method comprises receiving a brake command and determining an actual rate of deceleration of the vehicle. The method further comprises monitoring the speed of the vehicle as the vehicle decelerates in response to the brake command. The method still further comprises modifying the amount of brake torque being applied to one or more wheels of the vehicle when the vehicle speed reaches a predetermined threshold, by first decreasing the amount of brake torque being applied and then subsequently increasing the amount of brake torque being applied to bring the vehicle to a standstill. A system for implementing the methodology is also provided.

The present invention provides a controller and a control method that improve safety of a saddled vehicle.

According to the controller and the control method, a determination unit determines whether a braking operation unit is in operation, based on an output from a detector configured to detect a state quantity of the braking operation unit. An execution unit executes a driving support mode, in which a braking force generated in the saddled vehicle is amplified, when the determination unit determines that the braking operation unit is in operation. The execution unit, in the driving support mode: amplifies the braking force based on a surrounding environment information that is information about environment around the saddled vehicle; and changes, based on a degree of change in the output from the detector, a degree of reduction in the braking force at the end of the amplification of the braking force generated in the saddled vehicle.

A braking control method includes steps of: (i) confirming whether to enter a blending section where regenerative braking torque is reduced and friction braking torque is increased; (ii) determining a target reduced deceleration by a controller upon entering the blending section; (iii) reducing braking torque of a vehicle in response to the determined target reduced deceleration; and (iv) returning the braking torque of the vehicle to driver's requested braking torque when the vehicle is being stopped.

The device that generates the friction braking force to decelerate the vehicle estimates the disturbance torque acting on the vehicle. When the accelerator operation amount is equal to or less than the predetermined value and the vehicle is just before the stop of the vehicle, the control device for vehicle causes the friction braking amount to converge to the friction braking amount to the value decided on the basis of the disturbance torque estimated value Td in conjunction with the reduction in the motor rotation speed (speed parameter) proportionate to the traveling speed of the vehicle.

A method of brake control of a vehicle combination (2) composed of a tractor vehicle (4) with an electronically controlled braking system (5) and a trailer vehicle (6, 8) with a pneumatically controlled pneumatic braking system (7, 9), involves introducing the brake control pressure (p.sub.BC) of the trailer vehicle (6, 8) into a tractor brake control line (19) extending to a tractor vehicle-side brake coupling head (26) via an electronically controlled trailer control valve (13) of the tractor vehicle (4). At the beginning of a braking operation, a pressure pulse (34) exceeding a target brake control pressure (p.sub.BC_soll) is introduced into the tractor brake control line (19). The volume of a trailer brake control line (28, 29, 32) coupled to the brake coupling head (26) is ascertained, and the absolute value (p.sub.PI) and/or the duration (t.sub.PI) of the pressure pulse (34) introduced are/is established depending on the ascertained volume.

A method for controlling braking of a vehicle includes determining a natural frequency of a vehicle suspension pitch motion according to characteristics of a suspension, providing a first filter configured to remove or decrease the natural frequency component of the vehicle suspension pitch motion and a second filter configured to extract or increase the natural frequency component of the vehicle suspension pitch motion, determining a total requested braking force command based on vehicle driving information collected while the vehicle is driven, determining a post-filter application total braking force command through a processing procedure by the first filter, determining a braking force compensation amount through a processing procedure by the second filter, and compensating for the post-filter application total braking force command using the braking force compensation amount, and controlling a braking force, which is applied to a wheel, using the post-compensation total braking force command.