A method for the automated control of the longitudinal movement of a motor vehicle having an automated positive acceleration process in a longitudinal direction of the vehicle and an automated deceleration in the longitudinal direction of the vehicle. An acceleration variable is determined based on a jerk value and limited in terms of absolute value. And the jerk value is in turn determined in a driving mode in which, starting from a vehicle actual longitudinal speed and a vehicle actual longitudinal acceleration, the motor vehicle is adjusted to a predeterminable vehicle longitudinal speed taking into account a predeterminable maximum positive driving mode vehicle longitudinal acceleration, a predeterminable maximum driving mode vehicle longitudinal deceleration and at least one predeterminable driving operating mode jerk absolute value which limits the jerk.

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.

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 the automated control of the longitudinal movement of a motor vehicle having an automated positive acceleration process in a longitudinal direction of the vehicle and an automated deceleration in the longitudinal direction of the vehicle. An acceleration variable is determined based on a jerk value and limited in terms of absolute value. And the jerk value is in turn determined in a driving mode in which, starting from a vehicle actual longitudinal speed and a vehicle actual longitudinal acceleration, the motor vehicle is adjusted to a predeterminable vehicle longitudinal speed taking into account a predeterminable maximum positive driving mode vehicle longitudinal acceleration, a predeterminable maximum driving mode vehicle longitudinal deceleration and at least one predeterminable driving operating mode jerk absolute value which limits the jerk.

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.

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 vehicle control system includes a braking force generating device (6, 22) configured to generate a braking force to shift a load of a vehicle to a side of front wheels thereof at an initial stage of a cornering, and a control device (31) configured to control the braking force generated by the braking force generating device. The control device calculates an additional deceleration (Gxadd) according to vehicle state information, calculates a lateral jerk equivalent value (Jy) according to the vehicle state information, and sets a lateral jerk correction coefficient (Kj) for weakening the additional deceleration. The control device corrects the additional deceleration by the lateral jerk correction coefficient (K), and calculates an additional braking force (Fbadd) to be generated by the braking force generating device according to the corrected additional deceleration.

A computer is programmed to determine a target brake torque that is below a preset holding brake torque and at least high enough to hold a vehicle at standstill; and upon detecting that a brake of the vehicle is applied and a speed of the vehicle is below a threshold, monotonically reduce a brake torque of the brake so that the brake torque reaches the target brake torque when the speed reaches substantially zero.

A braking control device includes a control unit that controls a braking force in accordance with an operation amount of a braking operation member, and a braking determination unit that determines whether or not a reduction in the operation amount of the braking operation member has been started when the braking force is applied to a vehicle due to the operation of the braking operation member. In a case where a reduction rate of the operation amount upon determination that the reduction in the operation amount has been started is equal to or larger than a reduction rate determination value, the control unit starts limitation processing of providing a limitation to the reduction rate of the braking force against the vehicle.

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.