A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.

A driving support apparatus includes a feedback control system. The feedback control system calculates each operation amount of a brake actuator and a drive actuator so as to match an actual value of a control amount indicating a motion state of the vehicle to a target value. The target value of the control amount is set so as to stop the vehicle to a target stop position. The driving support apparatus sets, when remaining distance from a current position of the vehicle to the target stop position is first distance, a feedback gain of the feedback control system to large value, as compared with the feedback gain set when the remaining distance is second distance which is greater than the first distance.

Vehicles and methods of operating vehicles are disclosed herein. A vehicle includes a main frame, a work implement, and a control system. The work implement is supported by the main frame and configured to carry a payload in use of the vehicle. The control system is supported by the main frame and configured to control operation of the vehicle. The control system includes a payload measurement system configured to provide payload input indicative of a variable payload carried by the work implement in use of the vehicle and a controller coupled to the payload measurement system.

Vehicles and methods of operating vehicles are disclosed herein. A vehicle includes a main frame, a work implement, and a control system. The work implement is supported by the main frame and configured to carry a payload in use of the vehicle. The control system is supported by the main frame and configured to control operation of the vehicle. The control system includes a payload measurement system configured to provide payload input indicative of a variable payload carried by the work implement in use of the vehicle and a controller coupled to the payload measurement system.

A vehicle behavior control device is equipped with an other vehicle detection unit that detects another vehicle, a collision prediction unit that predicts that the other vehicle will collide with a side surface of a user's own vehicle, a physical quantity determination unit that determines a physical quantity relationship between relative physical quantities of the other vehicle and the user's own vehicle, and a brake control unit that is capable of individually and independently controlling brakes corresponding to respective vehicle wheels and that causes a braking force of the brakes on a collision side and a braking force of the brakes on a non-collision side to differ from each other, in accordance with the physical quantity relationship determined by the physical quantity determination unit, in the case that a collision is predicted by the collision prediction unit.

A vehicle behavior control device is equipped with an other vehicle detection unit that detects another vehicle, a collision prediction unit that predicts that the other vehicle will collide with a side surface of a user's own vehicle, a physical quantity determination unit that determines a physical quantity relationship between relative physical quantities of the other vehicle and the user's own vehicle, and a brake control unit that is capable of individually and independently controlling brakes corresponding to respective vehicle wheels and that causes a braking force of the brakes on a collision side and a braking force of the brakes on a non-collision side to differ from each other, in accordance with the physical quantity relationship determined by the physical quantity determination unit, in the case that a collision is predicted by the collision prediction unit.

An agricultural machine includes a vehicle body, an obstacle detector to detect obstacles, an autonomous travel controller to perform autonomous travel of the vehicle body, the autonomous travel controller being configured or programmed to, when performing the autonomous travel, stop the vehicle body based on detection information about an obstacle detected by the obstacle detector, and a mode switch to switch a mode during the autonomous travel in an agricultural field between an effective mode in which the stopping of the vehicle body based on the detection information is allowed and an ineffective mode in which the stopping of the vehicle body based on the detection information is not allowed.

A method for operating a brake system of a vehicle. The brake system having: a first and a second actuator for generating a hydraulic pressure in the brake system; a first control device designed to control the first actuator; and a second control device designed to control the second actuator. In the method, the brake system is monitored for emergency braking, wherein the first actuator is controlled by the first control device to generate a first hydraulic pressure for achieving a pre-specified emergency deceleration of the vehicle if emergency braking is detected. The second control device is controlled by the first control device to control the second actuator to generate a second hydraulic pressure when the deceleration that can be or is achieved by means of the first actuator is less than the pre-specified emergency deceleration.

A method for operating a brake system of a vehicle. The brake system having: a first and a second actuator for generating a hydraulic pressure in the brake system; a first control device designed to control the first actuator; and a second control device designed to control the second actuator. In the method, the brake system is monitored for emergency braking, wherein the first actuator is controlled by the first control device to generate a first hydraulic pressure for achieving a pre-specified emergency deceleration of the vehicle if emergency braking is detected. The second control device is controlled by the first control device to control the second actuator to generate a second hydraulic pressure when the deceleration that can be or is achieved by means of the first actuator is less than the pre-specified emergency deceleration.

A parking collision avoidance system for a vehicle includes a sensing device configured to detect obstacles around the vehicle; and a control device that obtains type information of the obstacle and a point of expected collision timing with the obstacle according to sensing data received from the sensing device, determines a point of braking start timing of a braking device according to the point of the expected collision timing, and adjusts the point of the braking start timing according to the type information.