The control device includes a vehicle required braking force acquisition unit that acquires a vehicle required braking force that is a required value of the braking force applied to the vehicle, and a roll control unit that controls the rolling motion of the vehicle by adjusting a distribution ratio of the braking force with respect to a target wheel including at least one of a rear wheel on an inside during turning and a front wheel on an outside during turning of the vehicle when the braking force is applied to the vehicle according to the vehicle required braking force under a situation where the vehicle is turning.

Provided is a driver assistance system. The driver assistance system is provided in a vehicle. The driver assistance system includes an image acquisition part configured to acquire image information about an obstacle; a yaw rate detector configured to detect a yaw rate of a vehicle body; and a controller configured to, when a shift lever is diagnosed as failure, recognize a rotation direction of the vehicle body based on the detected yaw rate of the vehicle body, recognize a position change of the obstacle in an image based on the acquired image information, and recognize whether a moving direction of the vehicle body is a backward direction or a forward direction based on the recognized rotation direction of the vehicle body and the recognized position change of the obstacle.

A brake control apparatus includes: a master cylinder that outputs a brake fluid at a master pressure; a master pressure changing device that can change the master pressure irrespective of an operation of a brake pedal; a brake actuator; and a control unit that executes antilock control by reducing a brake pressure of a target wheel. Modes of the antilock control include a normal mode and a pseudo mode. In the pseudo mode, the control unit operates the master pressure changing device such that the master pressure obtains a target value of the brake pressure of the target wheel, and changes the brake pressure of the target wheel in an interlocking manner with the master pressure. When the normal mode is unavailable, the control unit executes the antilock control in the pseudo mode.

A method for operating a braking system of a motor vehicle equipped with a wheel-slip control device, wherein the braking system includes an electrohydraulic service brake, set to generate braking forces independently of an actuation by an operator. The system having a mechanical or electromechanical parking brake actuated by an actuating element, and acting, in particular, on the rear wheels of the motor vehicle. An operator-side intent to actuate the parking brake is recognized and subsequently during the actuation of the parking brake a hydraulic pressure of the service brake is generated that acts on at least one rear wheel, of the motor vehicle capable of being braked by the parking brake. The hydraulic pressure sufficient to assist the parking brake and correspondingly lock the rear wheel of the motor vehicle braked by the parking brake during travel of the motor vehicle.

A system and method for controlling wheel brakes on a trailer in a tractor-trailer are provided. Upon receiving a command to apply a trailer wheel brake, the system determines a speed of the tractor-trailer responsive to a speed signal generated by a vehicle speed sensor. The system also estimates a threshold speed based on a level of friction between the tractor-trailer and a road surface on which the tractor-trailer is travelling. The system then generates a control signal to control delivery of fluid pressure to the trailer wheel brake. The control signal causes delivery of a first fluid pressure to the trailer wheel brake when the speed meets a predetermined condition relative to the threshold speed and a second fluid pressure, less than the first fluid pressure, when the speed does not meet the predetermined condition.

Various examples are directed to systems and methods for operating a vehicle comprising a tractor and a trailer attached for pulling behind the tractor. A center-of-mass system may determine a mass of the trailer and a tractor understeer. The center-of-mass system may determine the tractor understeer using steering input data describing a steering angle of the tractor and yaw data describing a yaw of the tractor. The center-of-mass system may determine a load center of mass using the tractor understeer and a mass of the trailer. The center-of-mass system may further determine that the load center of mass transgresses a center-of-mass threshold and send an alert message indicating that the load transgresses the load center-of-mass threshold.

A method for haptic feedback on a brake pedal of a motor vehicle. A current stability index describing the current driving situation is compared to a stored critical stability index. A haptic feedback is imprinted on the brake pedal of the motor vehicle when the ratio between the current stability index and the critical stability index exceeds a previously defined limit value.

A vehicle includes a pair of electric machines each coupled to a laterally-opposing wheel to output a wheel torque. The vehicle also includes a controller programmed to command a combined regenerative braking torque output of the electric machines based on a lesser of a braking torque limit of each individual electric machine. The controller is also programmed to command a regenerative braking torque from each electric machine to be within a predetermined torque threshold of each other in response to a yaw rate exceeding a yaw threshold.

A drive assistance device includes an automatic brake unit configured to perform automatic brake control, a brake hold unit configured to perform a brake hold control keeping the vehicle stopped, a brake hold cancel unit configured to cancel the brake hold control when it is determined that a predetermined cancel condition is satisfied, a surroundings information obtaining unit configured to obtain surroundings information indicating a situation around the vehicle, a maneuver information obtaining unit configured to obtain maneuver information about a driving maneuver performed by a driver of the vehicle, a maneuver determination unit configured to determine, based on the surroundings information and the maneuver information whether the driving maneuver performed during the brake hold control is appropriate for the situation around the vehicle, and a prohibition unit configured to prohibit cancelling the brake hold control as long as it is determined that the driving maneuver is inappropriate.

A vehicle control apparatus includes a contact detector, an attitude stabilization processor, and a steering intention determining unit. The contact detector is configured to detect a contact of a vehicle with an object. The attitude stabilization processor is configured to execute an attitude stabilization control that generates a yaw moment at a vehicle body on the basis of a deviation between a target yaw rate and an actual yaw rate. The steering intention determining unit is configured to determine a presence of a driver's intention to perform steering. The attitude stabilization processor is configured to stop the generation of the yaw moment by the attitude stabilization control or reduce the yaw moment to be generated by the attitude stabilization control, in a case where the steering intention determining unit determines that the driver's intention to perform the steering is absent after the detection of the contact by the contact detector.