The device that generates the friction braking force to decelerate the vehicle estimates the disturbance torque acting on the vehicle. When the accelerator operation amount is equal to or less than the predetermined value and the vehicle is just before the stop of the vehicle, the control device for vehicle causes the friction braking amount to converge to the friction braking amount to the value decided on the basis of the disturbance torque estimated value Td in conjunction with the reduction in the motor rotation speed (speed parameter) proportionate to the traveling speed of the vehicle.

A vehicle regenerative speed control device is provided for suppressing undershooting, in which an actual transmission input rotational speed falls below a lower-limit rotational speed, when decreasing a transmission input rotational speed based on a request for a decrease in the regeneration amount during regenerative speed control. The vehicle regenerative speed control device includes a controller which performs a regenerative speed control for downshifting a continuously variable transmission to a low gear ratio side and increasing a rotational speed of a transmission input shaft to which a motor generator is connected when there is a request for an increase in the regeneration amount while decelerating.

A vehicle, such as an automobile, is provided with friction and regenerative braking systems. A sensor detects an obstacle in the vehicle's path and a brake controller, when operated by a user, automatically deploys either or both braking systems to decelerate the vehicle so that its speed corresponds to that of the obstacle when the vehicle is a predetermined distance from the obstacle. The brake controller is arranged to deploy the braking systems in order to optimize recovery of kinetic energy by the regenerative braking system. The brake controller may be operated in a standard mode, in which it deploys the braking systems to provide a retarding force on the vehicle which depends on a driver's input. The brake controller may be controlled by a brake pedal. The pedal may have a position part way along its travel at which resistance to further travel temporarily increases and operation of the pedal beyond that position causes the brake controller to operate in the standard mode.

A system and method for controlling a transmission gear shift during a braking event in a vehicle having an electric motor and friction brakes both operable to brake the vehicle includes the step of reducing friction braking to increase wheel torque during the braking event. The braking event includes both friction braking and regenerative braking. The reduction in friction braking to increase the wheel torque is based at least in part on a reduction in the wheel torque resulting from a change in gear ratio of a step-ratio transmission during the transmission gear shift.

A method for operating a braking system, having a front and rear axle, the braking system including: a brake booster having a brake input element, coupled to an actuating travel sensor for providing a signal of a braking input; a brake master cylinder coupled to the brake booster coupled to a brake medium reservoir; fluid lines, in fluidic communication with the brake master cylinder and the brake medium reservoir, and with braking devices of the wheels via a system of valves, each of the wheels being coupled to a generator generating a braking torque, the method including: generating a hydraulic free travel with the valves and controlling valves with a control unit, a hydraulic pressure build-up for decelerating a wheel speed being prevented by generating free travel during actuation of the brake input element; and generating a regenerative braking torque for decelerating the wheel speed, based on the braking input.

A regenerative braking control apparatus includes an interface unit configured to receive driving information of a vehicle; an object detection device configured to generate object information based on detecting an object outside the vehicle; and at least one processor. The at least one processor is configured to: determine whether to perform regenerative braking for the vehicle, based on the driving information and the object information; and provide at least one signal corresponding to a result of determining whether to perform the regenerative braking for the vehicle.

A brake control device is provided for a vehicle having an activation device, with the aid of which, at least under consideration of at least one brake demand signal provided by an on-board sensor and/or control device, at least one first control signal may be output to at least one electric drive motor of the vehicle, with which the at least one electric drive motor is controllable into a motor mode, in which a generator braking torque which is unequal to zero may be exerted on at least one wheel of the vehicle by the at least one electric drive motor, the at least one electric drive motor being controllable with the aid of the at least one first control signal into at least one overload operating mode as the motor mode, in which the generator braking torque which is unequal to zero may be exerted on the at least one wheel. A method is also provided for operating at least one electric drive motor for a vehicle.

The device that generates the friction braking force to decelerate the vehicle estimates the disturbance torque acting on the vehicle. When the accelerator operation amount is equal to or less than the predetermined value and the vehicle is just before the stop of the vehicle, the control device for vehicle causes the friction braking amount to converge to the friction braking amount to the value decided on the basis of the disturbance torque estimated value Td in conjunction with the reduction in the motor rotation speed (speed parameter) proportionate to the traveling speed of the vehicle.

When a braking request is made while a SOC recovery switch is turned off, regeneration driving of a rear wheel motor is prohibited. In this case, a front wheel motor, the rear wheel motor, and an oil hydraulic brake device are controlled such that requested braking torque is exerted on a vehicle with regenerative driving of the front wheel motor and without regenerative driving of the rear wheel motor. When the braking request is made while the SOC recovery switch is turned on, the regeneration driving of the rear wheel motor is permitted. In this case, the front wheel motor, the rear wheel motor, and the oil hydraulic brake device are controlled such that the requested braking torque is exerted on the vehicle with regenerative driving of the front wheel motor and the rear wheel motor.

A brake control method for a hybrid electric vehicle including a control mode of a first interval to control regenerative brake of a motor may include sensing, by an Electronic Stability Control system controller (ESC ECU), a time when a wheel brake pressure detected by a pressure sensor of a wheel brake is 0 after entering a control mode of a second interval, determining, by the ESC ECU, a pedal stroke in which the wheel brake pressure is 0 from a pedal stroke Vs wheel brake pressure map, changing and setting, by the ESC ECU, the pedal stroke in which the wheel brake pressure is 0 to an upper threshold stroke value of a pedal stroke Vs pressure map, and re-entering the control mode of the first interval, when the pedal stroke depending on the brake pedal operation decreases to the changed upper threshold stroke value or less.