A brake control device includes: an object detector; and an ECU configured to (a) determine, based on an output of the object detector, whether a predetermined condition that there is a possibility that the vehicle collides with the object, is satisfied; (b) apply an automatic brake when it is determined that the predetermined condition is satisfied; and (c) stop applying the automatic brake when an operation amount of an accelerator operation unit of the vehicle becomes equal to or larger than a predetermined threshold. The ECU also continues applying the automatic brake when a specified condition including a condition that an operation amount of a brake operation unit of the vehicle is larger than a predetermined amount is satisfied even when it has been determined that the operation amount of the accelerator operation unit becomes equal to or larger than the predetermined threshold.

A method of adaptively changing brake force distribution in a vehicle may include detecting vehicle parameters during operation of the vehicle, based on the detected vehicle parameters, determining downhill travel of the vehicle while braking and steering inputs are applied to the vehicle as an enabling condition, and responsive to detection of a trigger comprising detection of an understeer condition while the enabling condition is satisfied, executing a brake force distribution modification defining a change in distribution of brake forces between a front axle and a rear axle of the vehicle.

A braking device for a vehicle includes a plurality of braking force generators; a steering assist device; a yaw rate detecting unit; and a control device. The control device is configured to perform control such that, in a case where the plurality of braking force generators perform a braking operation and there is a malfunctioning braking force generator, braking forces of the plurality of braking force generators other than the malfunctioning braking force generator are maintained or increased when an acquired value of an actual yaw rate acquired from the yaw rate detecting unit is equal to or less than a reference value, and a steering torque is applied to a steering system in a direction in which the actual yaw rate decreases when the acquired value of the actual yaw rate is larger than the reference value.

Steering a vehicle may include applying a net brake-steering force to a steered wheel sufficient to affect a steering moment upon the steered wheel sufficient to move the steered wheel away from a zero steering angle, and resisting movement of the steered wheel back toward the zero steering angle.

A one-side brake control system and method perform distribution of torques between front and rear wheels. The one-side brake control system includes a target steering angle input unit to which a target steering angle of a driver or a controller of an autonomous vehicle is input when a steering system fails, an integrated Electronic Control Unit (ECU) configured to calculate a target moment of the vehicle according to the target steering angle input through the target steering angle input unit and calculate brake torques of a one-side front wheel and a one-side rear wheel of the vehicle based on the target moment, and a braking ECU configured to control one or more braking actuators of the one-side front wheel and the one-side rear wheel of the vehicle according to the brake torque of the front wheel and the rear wheel transmitted from the integrated ECU to perform one-side brake.

A vehicle, a method and a vehicle brake-control-system are provided. The host vehicle comprises a steering wheel, a vehicle brake system, at least one sensor arranged to monitor a sensor monitoring area of a host vehicle surrounding and an autonomous operating arrangement which is arranged to control steering and velocity of the host vehicle in an autonomous operating mode at least partly based on information received from the at least one sensor. The vehicle brake-control-system is arranged to determine if the steering wheel is manually operated when the vehicle is operating in the autonomous driving mode, and if so control the vehicle brake system to perform braking of the host vehicle.

A brake controller is applied to a vehicle that includes a tractor and a trailer. The brake controller includes a first braking unit that controls a first brake device, a second braking unit that controls a second brake device, a distance sensor that detects a distance between the vehicle and an object, an execution unit that controls the first braking unit and the second braking unit in accordance with the distance detected by the distance sensor and executes an automatic brake control, and a prohibition unit that prohibits the execution unit from executing the automatic brake control. The brake controller prohibits execution of the automatic brake control under the condition that the tractor and the trailer are coupled to each other and the second braking unit includes a failure.

A deflection control apparatus is configured to perform a deflection control in which a subject vehicle is deflected by a braking force difference between left and right wheels. The vehicle control apparatus is provided with: a calculator configured, in the deflection control, (i) to calculate a target yaw rate so that the subject vehicle drives on a target track by the deflection control, and (ii) to calculate a target yaw moment by dividing the calculated target yaw rate by a coefficient based on a velocity of the subject vehicle; and a controller configured to control a braking force of each wheel so that the target yaw moment is applied to the subject vehicle.

Example methods and apparatus to perform brake sweeping procedures on vehicle brakes are described herein. An example apparatus includes a controller to determine when a vehicle has made a turn, compare an angle at which the vehicle has turned to an angle threshold, and schedule a brake sweeping procedure based on the comparison.

A vehicle, a method, a secondary steering system unit and a secondary steering system are provided. The secondary steering system unit comprises: a fault determination arrangement arranged to determine the presence of a fault in the main steering system and a path controller arranged to generate an upcoming path for the host vehicle. The secondary steering system unit is arranged to steer the host vehicle along the path by differential braking upon determination that a fault is present in the main steering system. Furthermore, the secondary steering system is arranged to control the differential braking in dependence of both a yaw torque acting on the host vehicle as a result of the differential braking and a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by the associated wheel suspension scrub radius.