A brake control system for operating brakes of an automated vehicle at slow speed includes a motion-detector and a controller. The motion-detector detects relative-movement of a host-vehicle relative to a stationary-feature located apart from the host-vehicle. The controller is configured to operate brakes of the host-vehicle. The controller determines a vehicle-speed of the host-vehicle based on the relative-movement when the vehicle-speed is less than a speed-threshold, and regulates brake-pressure of the brakes based on the vehicle-speed.

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 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.

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 command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and a current speed of the own vehicle. When output of the drive command that has been stopped is restarted, the command calculation unit adjusts the drive command, using an acceleration limit limiting acceleration of the own vehicle, or a jerk limit that limits jerk of the own vehicle. An output control unit controls output of the drive command, based on an input from at least one of a driver's operation of the own vehicle, and from another control system of the own vehicle. The output control unit temporarily reduces the value of at least one of the acceleration limit, the jerk limit and the drive command when restarting output of the drive command that was previously stopped.

A forward information acquisition unit acquires a road profile ahead of the own vehicle. A position acquisition unit acquires a current position of the own vehicle. A state acquisition unit acquires a current speed of the own vehicle. A command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed. The road profile includes a road gradient. The command calculation unit is configured to adjust the drive command, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction.

A system includes a sensor designed to detect data corresponding to a speed of a vehicle and a motor designed to convert electrical energy into driving torque. The system also includes a first wheel coupled to the motor and designed to propel the vehicle in response to receiving the driving torque along with a second wheel. The system also includes a brake coupled to at least one of the first wheel or the second wheel and designed to apply a braking torque to the at least one of the first wheel or the second wheel. The system also includes an ECU coupled to the sensor and the motor and designed to control the motor to begin controlled braking by applying the driving torque to the first wheel to at least partially offset the braking torque when the speed of the vehicle is at or below a braking threshold speed.

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.

The vehicle behavior control device comprised a drive control system 4 and a brake control system 18, wherein a PCM 14 is configured, when steering angle is increasing, to set an additional deceleration to be added to the vehicle, and control the drive control system 4 to attain the additional deceleration, and, when the steering angle is decreasing, to set a yaw moment oriented in a direction opposite to that of a yaw rate being generated in the vehicle, as a target yaw moment to be applied to the vehicle, and control the brake control system 18 to apply the target yaw moment to the vehicle. Particularly, when the steering angle is 0, PCM 14 is configured to set the target yaw moment to 0 so as to terminate the control via the brake control system 18.

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.