The braking force control device detects an impossible state where one or some of the actuators are temporarily unable to generate a negative driving force, and a predictive state where one or some of the actuators are predicted to become unable to generate a negative driving force. Every time the coasting state occurs before establishment of the impossible state and after establishment of the predictive state, the braking force control device gradually increases the negative driving force generated by the corresponding one or ones of the actuators. Even when the coasting state occurs in the impossible state, the braking force control device does not cause the corresponding one or ones of the actuators to generate a driving force. Every time the coasting state occurs after the impossible state, the braking force control device gradually decreases the negative driving force generated by the corresponding one or ones of the actuators.

A braking method includes: obtaining a first state information of the vehicle, which includes a vehicle mass and a deceleration required by braking; calculating a braking torque according to the first state information, and controlling the vehicle to output an electric braking torque according to the braking torque; obtaining a current vehicle speed and a mechanical braking application delay time; calculating an electric braking exit speed according to the braking torque required by the vehicle and the deceleration required by braking; calculating a mechanical braking application speed according to the mechanical braking application delay time, the deceleration required by braking, and the electric braking exit speed; and determining whether to control the vehicle to unload the electric braking torque, and whether to control the vehicle to apply a mechanical braking torque according to the current vehicle speed, the electric braking exit speed, and the mechanical braking application speed.

A braking method includes: obtaining a first state information of the vehicle, which includes a vehicle mass and a deceleration required by braking; calculating a braking torque according to the first state information, and controlling the vehicle to output an electric braking torque according to the braking torque; obtaining a current vehicle speed and a mechanical braking application delay time; calculating an electric braking exit speed according to the braking torque required by the vehicle and the deceleration required by braking; calculating a mechanical braking application speed according to the mechanical braking application delay time, the deceleration required by braking, and the electric braking exit speed; and determining whether to control the vehicle to unload the electric braking torque, and whether to control the vehicle to apply a mechanical braking torque according to the current vehicle speed, the electric braking exit speed, and the mechanical braking application speed.

The disclosure relates to a method for operating a hydraulic braking system in a motor vehicle having a regenerative braking function. The method comprises steps that, with respect to at least two wheel brakes, a hydraulic free travel release is carried out such that, with respect to one of the at least two wheel brakes, a hydraulic passage to an accumulator is released in order to store therein at least a volume fraction of the hydraulic fluid in the event of a displacement of a hydraulic fluid. The other of the at least two wheel brakes is hydraulically isolated. The disclosure also relates to a hydraulic braking system for a motor vehicle having a regenerative braking function and a method for controlling said braking system.

The disclosure relates to a method for operating a hydraulic braking system in a motor vehicle having a regenerative braking function. The method comprises steps that, with respect to at least two wheel brakes, a hydraulic free travel release is carried out such that, with respect to one of the at least two wheel brakes, a hydraulic passage to an accumulator is released in order to store therein at least a volume fraction of the hydraulic fluid in the event of a displacement of a hydraulic fluid. The other of the at least two wheel brakes is hydraulically isolated. The disclosure also relates to a hydraulic braking system for a motor vehicle having a regenerative braking function and a method for controlling said braking system.

A vehicle includes a powertrain having an electric machine configured to power driven wheels, an accelerator pedal, and friction brakes. A vehicle controller is programmed to, with the vehicle being in a one-pedal driving mode: in response to a braking torque capacity of the powertrain exceeding a target braking torque that is based on a position of the accelerator pedal, command a torque, that is equal to the target braking torque, from the powertrain such that the vehicle is slowed using the powertrain without application of the friction brakes, and, in response to the braking torque capacity of the powertrain being less than the target braking torque, command torques from the powertrain and the friction brakes such that the target braking torque is satisfied and the vehicle is slowed using the powertrain and the friction brakes.

A vehicle includes a powertrain having an electric machine configured to power driven wheels, an accelerator pedal, and friction brakes. A vehicle controller is programmed to, with the vehicle being in a one-pedal driving mode: in response to a braking torque capacity of the powertrain exceeding a target braking torque that is based on a position of the accelerator pedal, command a torque, that is equal to the target braking torque, from the powertrain such that the vehicle is slowed using the powertrain without application of the friction brakes, and, in response to the braking torque capacity of the powertrain being less than the target braking torque, command torques from the powertrain and the friction brakes such that the target braking torque is satisfied and the vehicle is slowed using the powertrain and the friction brakes.

An electric-powered wheelbarrow in one aspect of the present disclosure includes a motor, a wheel, an electromagnetic brake, a control circuit, a signal-processing circuit, and a drive circuit. The electromagnetic brake includes an electromagnetic coil. The electromagnetic brake (i) applies a braking force to the wheel in response to the electromagnetic coil being de-energized and (ii) releases the braking force from the wheel in response to the electromagnetic coil being energized. The control circuit outputs a first control signal and a second control signal. The signal-processing circuit receives the first and second control signals to thereby output a deactivating signal. The drive circuit receives the deactivating signal and delivers an excitation current to the electromagnetic coil.

A braking control unit of a fuel cell vehicle is configured to, in a period during which the fuel cell vehicle is being braked in response to a braking request, (i) when an estimated amount of stagnant water is less than a predetermined second water amount less than a first water amount, limit an upper limit electric power of a regenerated electric power resulting from regenerative operation to a predetermined first value or below, and (ii) when the estimated amount of stagnant water is greater than or equal to the second water amount, execute an upper limit changing process of setting an upper limit electric power to a second value lower by a predetermined value than the first value.

A braking control unit of a fuel cell vehicle is configured to, in a period during which the fuel cell vehicle is being braked in response to a braking request, (i) when an estimated amount of stagnant water is less than a predetermined second water amount less than a first water amount, limit an upper limit electric power of a regenerated electric power resulting from regenerative operation to a predetermined first value or below, and (ii) when the estimated amount of stagnant water is greater than or equal to the second water amount, execute an upper limit changing process of setting an upper limit electric power to a second value lower by a predetermined value than the first value.