A vehicle includes a powertrain, an electric machine, a battery, and a controller. The powertrain is configured to transfer motive power to the electric machine to charge the battery during regenerative braking. The controller programmed to, in response to a decreasing demanded powertrain output torque, adjust a regenerative braking torque limit based on an anti-jerk torque schedule, generate an actual regenerative braking torque based on system constraints, and limit the actual regenerative braking torque to the regenerative braking torque limit.

A method for automatically emergency stopping a motor vehicle from a starting speed to a standstill by a braking device of the motor vehicle is provided. The braking device is actuated to carry out a delay profile with at least two delay phases. During a delay increase phase the delay until a threshold delay is increased and during a delay decrease phase, lasting until standstill, the delay is reduced to zero. The temporal courses of the delay are determined during the delay increase and the delay decrease at least sectionally as nth degree polynomials, where n>0, depending on the starting speed, in such a way that a stopping duration, which represents a time duration necessary for emergency stopping, does not fall below a predetermined minimum stopping duration and a distance covered during the stopping duration does not exceed a predetermined maximum stopping distance.

A method for reducing jolt moments during a deceleration of a vehicle by a braking system, the braking system having at least one electrically actuatable pressure supply device, hydraulic wheel brakes and a valve device. The valve device is designed to apply a pressure provided by the pressure supply device to a selectable subset of the wheel brakes. The method includes: determining a braking requirement, determining a vehicle speed, checking whether the vehicle speed is below a defined threshold value, and if the vehicle speed is below the threshold value, selecting the subset of wheel brakes and applying a pressure provided by the pressure supply device to only the subset of wheel brakes, the pressure being determined according to the selected subset of wheel brakes.

Braking torque is automatically applied based on requested deceleration and requested distance from a driving assistance device. Standard deceleration decreases in an “upwardly curved” form and then decreases in a “downwardly curved” form over time in a standard deceleration profile, and a standard speed profile corresponds to the standard deceleration profile. In the present calculation period, target deceleration and target speed profiles are set by adjusting the standard deceleration/standard speed profiles to satisfy the relationship between deceleration and vehicle body speed. The estimated distance from the reference speed to the vehicle stop is calculated based on the target speed profile. In a condition that the estimated distance is equal to/less than the requested distance is denied, braking torque is adjusted based on requested deceleration. After first satisfying the condition that the estimated distance is equal to/less than the requested distance, braking torque is adjusted according to the target deceleration profile.

A braking force controller causes a first actuator unit to generate a target jerk when the target jerk is equal to or larger than a first jerk, causes the first actuator unit to generate the first jerk and a second actuator unit to generate a jerk obtained by subtracting the first jerk from the target jerk as an additional jerk when the target jerk is smaller than the first jerk and equal to or larger than the sum of the first jerk and a second jerk, and causes the first actuator unit to generate the first jerk and the second actuator unit to generate the second jerk as the additional jerk when the target jerk is smaller than the sum of the first jerk and the second jerk.

A brake control device includes: a decrease determination unit that determines whether a requested braking force for a vehicle is decreasing; and a brake control unit which, on the condition that the decrease determination unit determines that the requested braking force is decreasing during deceleration of the vehicle, executes ratio change decrease control of reducing the braking force of the vehicle according to the decrease of the requested braking force, while making a braking force distribution ratio smaller than a reference braking force distribution ratio. The reference braking force distribution ratio is the braking force distribution ratio at a time point when the requested braking force starts to decrease.

A brake control device includes: a decrease determination unit that determines whether a requested braking force for a vehicle is decreasing; and a brake control unit which, on the condition that the decrease determination unit determines that the requested braking force is decreasing during deceleration of the vehicle, executes ratio change decrease control of reducing the braking force of the vehicle according to the decrease of the requested braking force, while making a braking force distribution ratio smaller than a reference braking force distribution ratio. The reference braking force distribution ratio is the braking force distribution ratio at a time point when the requested braking force starts to decrease.

A braking control device executes pre-stop braking control to adjust a braking force when a vehicle stops. The pre-stop braking control includes reduction control that reduces the braking force, and increase control that is executed before the reduction control is started, to increase the braking force. An increasing unit executes the increase control, and a reducing unit executes the reduction control. A calculation unit calculates a braking distance extended by the reduction control, as an extended distance, and calculates a braking distance shortened by the increase control, as a shortened distance. The calculation unit calculates the extended distance to become longer when an operation amount of a braking operation member operated by a driver is reduced during braking than when the operation amount is not reduced. When a difference between the extended distance and the shortened distance is less than a determination value, the reducing unit starts the reduction control.

The vehicle behavior control device comprises a brake control system (18) capable of applying different braking forces, respectively, to right and left road wheels of a vehicle (1). The vehicle behavior control device further comprises: a steering angle sensor (8); a vehicle speed sensor (10); a yaw rate sensor (12); and a yaw moment setting part (22) in PCM (14) configured to decide a target yaw rate of the vehicle based on a steering angle and a vehicle speed, and set, based on a change rate of a difference between an actual yaw rate and the target yaw rate, a yaw moment oriented in a direction opposite to that of the actual yaw rate of the vehicle, as a target yaw moment, whereby the brake control system can regulate the braking forces of the road wheels so as to apply the target yaw moment to the vehicle.

When having determined that an operation of a brake operator is initiated at a first timing and the operation amount continues to increase until a second specific timing arrives to become constant at a second timing, vehicle control means which a vehicle control apparatus comprises executes braking force control in such a manner that a time-differential value of controlled braking force during a first period from the second timing to a first terminal timing matches with a time-differential value of controlled braking force at the second specific timing as well as executes driving force control in such a manner that a time-differential value of the controlled driving force during the first period becomes a value less than or equal to a sum of a time-differential value of the controlled driving force at the second specific timing and a time-differential value of operation braking force at the second specific timing.