A brake control method includes: determining whether the acceleration amount in a brake release operation of a vehicle is equal to or larger than the deceleration amount in a brake operation of the vehicle when a parking brake device that is driven by a motor performs braking control with anti-lock control for alternately repeating the brake operation and the brake release operation while the vehicle is travelling; and restricting the anti-lock control from being performed when the acceleration amount is equal to or larger than the deceleration amount.

An apparatus for estimating brake judder of a vehicle and a method thereof includes a communication device that receives sensor data from a plurality of vehicles, and a controller that extracts learning data by pre-processing the sensor data, trains a clustering model to group characteristic data corresponding to the learning data into a preset number of clusters, and estimates brake judder of a target vehicle based on the learned clustering model.

In order to reliably assist a driver in emergency detour steering without causing a jerking forward motion of the vehicle during normal operation, a vehicle motion control device includes: a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information; a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain; and a gain adjustor that adjusts the gain, in which the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator.

A brake apparatus of a vehicle may include a detector configured to detect driving information including an operation status of a brake pedal, a vehicle speed, and a vehicle deceleration, an anti-lock braking system (ABS) configured to control a braking force supplied to wheels of the vehicle by detecting slip generated at the wheels, and a controller configured to determine a braking status of the vehicle from the operation status of the brake pedal detected by the detector, the vehicle speed, and the vehicle deceleration, and configured to selectively perform ABS control or pitch motion control for reducing a pitch motion of the vehicle according to the braking status of the vehicle.

A target acceleration/deceleration output unit includes an acceleration/deceleration output unit which outputs an acceleration/deceleration including a deceleration, on the basis of the vehicle-to-vehicle distance from a host vehicle to a preceding vehicle and the relative speed of the host vehicle and the preceding vehicle, and a canceling unit which cancels a deceleration that causes jerking from the deceleration output from the acceleration/deceleration output unit, wherein the acceleration output from the acceleration/deceleration output unit, and the deceleration obtained by the canceling unit are output as a target acceleration/deceleration.

Braking of a vehicle at low speed comprises: dynamically determining, while a vehicle is controlled by a driver, a deceleration limit for the vehicle with regard to an obstacle, the deceleration limit determined based on at least (i) the low speed, (ii) a distance to the obstacle, and (iii) a determined jerk limit for the vehicle; after dynamically determining the deceleration limit, determining regions to include in a braking profile for the vehicle; when the regions determined do not include a constant deceleration region, again determining the deceleration limit, wherein the deceleration limit is not again determined when the regions determined do include the constant deceleration region; determining whether to brake the vehicle, the determination based on at least the low speed, the deceleration limit, and the distance to the obstacle; and in response to a determination to brake the vehicle, braking the vehicle according to the braking profile.

A method for determining whether an automatic collision avoidance steering maneuver for a vehicle equipped with an automated driving system should be executed is disclosed. The method includes: obtaining a predicted vehicle trajectory for execution of the collision avoidance steering maneuver, wherein the predicted vehicle trajectory comprises a predicted lateral acceleration and a predicted lateral jerk of the vehicle; obtaining a first threshold of attainable lateral acceleration and a second threshold of attainable lateral jerk of the vehicle; determining whether the predicted vehicle trajectory is attainable by comparing the predicted lateral acceleration with the first threshold and the predicted lateral jerk with the second threshold; if yes, communicating that the automatic collision avoidance steering maneuver shall be executed; if not, determining a lateral offset of the vehicle based on the predicted lateral acceleration and the predicted lateral jerk of the predicted vehicle trajectory and the first and second threshold.

The invention relates to a method for braking a vehicle (10) having a first (14) and a second (16) electric drive motor, wherein, in a first braking phase, a first target value for a braking torque is specified to the first electric drive motor (14), and a second target value for a braking torque is specified to the second electric drive motor (16), wherein a current speed of the vehicle (10) is sensed as the actual speed, wherein, when the actual speed reaches a first threshold value (v.sub.0) for a vehicle speed, the first target value for a braking torque is increased in a redistribution phase and the second target value for a braking torque is simultaneously reduced, wherein, when the actual speed reaches a second threshold value (v.sub.1) for a vehicle speed, the specification of the first target value for a braking torque is ended and a speed target value trajectory (202) is specified in a second braking phase, wherein the speed target trajectory proceeds from the second threshold value (v.sub.1) for the vehicle speed to a speed of zero.

Systems, methods, and apparatuses are provided for controlling a braking torque of a vehicle while travelling in an at least semiautomated manner. Standstill data is received, while the vehicle is traveling in the at least semiautomated manner on an incline and/or a decline, when a temporary standstill of the vehicle is requested by the assistance system. Speed values are continuously received that describe a speed of the vehicle while the vehicle is decelerating prior to the temporary standstill. Slope data is continuously determined that describes an angle of the incline or decline. An amended speed value is continuously computed that depends on the speed value and the slope data. An electronic control signal is output to control the braking torque to bring the vehicle to the temporary standstill when the amended speed value decreases below a predetermined threshold value and the standstill data are received.

A vehicle which adopts a control device as a braking control device includes a sensor that acquires a rotation angle of a wheel. The control device includes a first distance calculation unit, a second distance calculation unit, and a braking control unit. The first distance calculation unit sets a braking force corresponding to a braking operation member operation amount as a reference braking force, estimates vehicle longitudinal acceleration based on the reference braking force, and calculates a braking force reference distance estimating a moving distance until the vehicle stops based on the longitudinal acceleration. The second distance calculation unit calculates a wheel reference distance estimating the vehicle moving distance based on a detection signal of the sensor and a wheel diameter. The braking control unit executes feedback control for controlling the vehicle braking force so that a difference between the braking force reference distance and the wheel reference distance decreases.