Disclosed herein are an electronic parking brake system for a vehicle and a method of driving the system, which are capable of stopping the vehicle when the operation of a vehicle service brake is impossible during the travel of the vehicle. The electronic parking brake system for the vehicle includes a controller that stores a control value of a parking brake for decelerating the vehicle to a target deceleration and outputs a braking command including the control value of the parking brake, and an electronic parking brake that generates a clamping force based on a braking command inputted from the controller.

A method for detecting an erroneous velocity data using a controller in communication with a velocity sensor onboard a vehicle includes receiving a time-series velocity data from the velocity sensor, calculating a time-series acceleration data using the time-series velocity data, calculating a time-series jerk data using the time-series acceleration data, calculating a saturated (numerically bounded) jerk data using the time-series jerk data, calculating an estimated acceleration data using the saturated jerk data, calculating a difference between the estimated acceleration data and the time-series acceleration data, and determining whether the difference is greater than a threshold value. The erroneous velocity data is detected in response to the difference being greater than the threshold value.

A vehicle behavior stabilization apparatus 10 as a vehicle control system includes: a selector position sensor 28 configured to detect a selector position selected in accordance with an operation of a selector lever 52, and wheel velocity sensors 30, 31 configured to measure a direction of travel and a traveling velocity |V| of a vehicle 40, and an ESP-ECU 12 configured to execute velocity reducing control that applies a braking force with wheel cylinders 36 in a case where the measured direction of travel is different from a tendency of behavior corresponding to the detected selector position and the measured traveling velocity |V| is larger than a threshold value Vth.

A vehicle behavior stabilization apparatus 10 as a vehicle control system includes: a selector position sensor 28 configured to detect a selector position selected in accordance with an operation of a selector lever 52, and wheel velocity sensors 30, 31 configured to measure a direction of travel and a traveling velocity |V| of a vehicle 40, and an ESP-ECU 12 configured to execute velocity reducing control that applies a braking force with wheel cylinders 36 in a case where the measured direction of travel is different from a tendency of behavior corresponding to the detected selector position and the measured traveling velocity |V| is larger than a threshold value Vth.

A regenerative braking control method. An illustrative embodiment of the method includes selecting a vehicle speed at onset of transition from regenerative braking to friction braking of a vehicle, comparing the vehicle speed to a threshold value, applying a delayed regenerative braking torque ramp out to a hybrid powertrain and sending an undelayed regenerative braking torque ramp-out signal to a vehicle brake controller without at onset of transition from regenerative braking to friction braking of the vehicle if the vehicle speed falls below the threshold value.

A regenerative braking control method. An illustrative embodiment of the method includes selecting a vehicle speed at onset of transition from regenerative braking to friction braking of a vehicle, comparing the vehicle speed to a threshold value, applying a delayed regenerative braking torque ramp out to a hybrid powertrain and sending an undelayed regenerative braking torque ramp-out signal to a vehicle brake controller without at onset of transition from regenerative braking to friction braking of the vehicle if the vehicle speed falls below the threshold value.

A method of controlling the brake system of a vehicle. The method includes receiving one or more electrical signals each indicative of a value of a respective vehicle-related parameter. The method further includes detecting that the vehicle is traveling across a slope based on the value(s) of one or more of the vehicle-related parameters. The method still further includes automatically modifying the amount of brake torque being applied to at least certain of the wheels of the vehicle in response to the detection of the vehicle traveling across a slope by increasing the amount of brake torque being applied to one or more wheels on one side of the vehicle, and decreasing the amount of brake torque being applied to one or more wheels on the other side of the vehicle.

A method of controlling the brake system of a vehicle. The method includes receiving one or more electrical signals each indicative of a value of a respective vehicle-related parameter. The method further includes detecting that the vehicle is traveling across a slope based on the value(s) of one or more of the vehicle-related parameters. The method still further includes automatically modifying the amount of brake torque being applied to at least certain of the wheels of the vehicle in response to the detection of the vehicle traveling across a slope by increasing the amount of brake torque being applied to one or more wheels on one side of the vehicle, and decreasing the amount of brake torque being applied to one or more wheels on the other side of the vehicle.

A braking-driving force control system is provided in which erroneous vehicle speed detection may be avoided even when a frictional braking power is generated during rotation of an output shaft coupled to an electric driving motor as driving source. When only regenerative braking force is being generated as braking force while the vehicle is traveling, the braking force and the driving force are controlled based on an output shaft side vehicle speed calculated from the rotational state of an output shaft of a driving source, and when the frictional braking power is being generated while the vehicle is traveling, the braking force and the driving force will be controlled based on a wheel side vehicle speed representing the vehicle speed calculated from the rotational state of the vehicle wheel.

A braking-driving force control system is provided in which erroneous vehicle speed detection may be avoided even when a frictional braking power is generated during rotation of an output shaft coupled to an electric driving motor as driving source. When only regenerative braking force is being generated as braking force while the vehicle is traveling, the braking force and the driving force are controlled based on an output shaft side vehicle speed calculated from the rotational state of an output shaft of a driving source, and when the frictional braking power is being generated while the vehicle is traveling, the braking force and the driving force will be controlled based on a wheel side vehicle speed representing the vehicle speed calculated from the rotational state of the vehicle wheel.