The disclosure relates to a driver assistance method, in which a vehicle performs a driving manoeuvre automatically, and a braking device, in particular a parking brake, is at least partially actuated during the performance of the driving manoeuvre so that a braking action is constantly exerted on the wheels of at least one axle so that a drive of the vehicle operates counter to the braking action of the braking device in order to move the vehicle. According to the disclosure, during the driving manoeuvre at least one operating parameter which is related to an undesired increase in the braking action exerted on at least one wheel is detected and evaluated, and a braking action on at least one wheel is reduced in accordance with the result of said evaluation.

A method for regulating a vehicle-actual-deceleration in a vehicle with an ABS brake system includes detecting the vehicle-actual-deceleration; determining a target vehicle deceleration and detecting at least one actual wheel rotational behavior. The method further includes calculating actuation times for actuation of pressure control valves of the ABS brake system associated with the wheels of the first vehicle axle and the wheels of the further vehicle axle and determining correction actuation times if at least one of the respective calculated actuation times is less than a minimum actuation time associated with the respective pressure control valve. Calculation of each of the respective actuation times is carried out at least for all of a first number of pressure control valves with which wheels are associated whose rotational behavior follows the at least one actual wheel rotational behavior.

A method for regulating a vehicle-actual-deceleration in a vehicle with an ABS brake system includes detecting the vehicle-actual-deceleration; determining a target vehicle deceleration and detecting at least one actual wheel rotational behavior. The method further includes calculating actuation times for actuation of pressure control valves of the ABS brake system associated with the wheels of the first vehicle axle and the wheels of the further vehicle axle and determining correction actuation times if at least one of the respective calculated actuation times is less than a minimum actuation time associated with the respective pressure control valve. Calculation of each of the respective actuation times is carried out at least for all of a first number of pressure control valves with which wheels are associated whose rotational behavior follows the at least one actual wheel rotational behavior.

A variable load calculator calculates a variable load command VL based on AS pressure and a predetermined table. A vehicle deceleration calculator calculates vehicle deceleration α based on a brake notch command BN and a predetermined table. A required braking force calculator calculates required braking force BL by multiplying a weight indicated by the variable load command VL and the vehicle deceleration α. An electric braking controller calculates an electric braking pattern in accordance with the required braking force BL and then transmits the electric braking pattern to an inverter controller. The electric braking controller calculates an electric braking force produced by operation of the electric motor and then transmits to a subtractor as feedback BT the electric braking force adjusted in accordance with a speed of the electric motor. The subtractor transmits to a mechanical brake as a mechanical braking command a result obtained by subtracting the feedback BT from the required braking force BL.

A variable load calculator calculates a variable load command VL based on AS pressure and a predetermined table. A vehicle deceleration calculator calculates vehicle deceleration α based on a brake notch command BN and a predetermined table. A required braking force calculator calculates required braking force BL by multiplying a weight indicated by the variable load command VL and the vehicle deceleration α. An electric braking controller calculates an electric braking pattern in accordance with the required braking force BL and then transmits the electric braking pattern to an inverter controller. The electric braking controller calculates an electric braking force produced by operation of the electric motor and then transmits to a subtractor as feedback BT the electric braking force adjusted in accordance with a speed of the electric motor. The subtractor transmits to a mechanical brake as a mechanical braking command a result obtained by subtracting the feedback BT from the required braking force BL.

This vehicle brake device comprises: a simultaneous driving determination section which determines whether it is necessary to simultaneously drive an upstream-side motor and a downstream-side motor; and a PWM control section which, when the determination result by the simultaneous driving determination section is in the affirmative, changes the duty ratio of the PWM signal to be output to the upstream-side motor so as to be smaller than when the determination result by the simultaneous driving determination section is in the negative, and uses PWM control to drive the upstream-side motor.

This vehicle brake device comprises: a simultaneous driving determination section which determines whether it is necessary to simultaneously drive an upstream-side motor and a downstream-side motor; and a PWM control section which, when the determination result by the simultaneous driving determination section is in the affirmative, changes the duty ratio of the PWM signal to be output to the upstream-side motor so as to be smaller than when the determination result by the simultaneous driving determination section is in the negative, and uses PWM control to drive the upstream-side motor.

A system includes a phase break input unit, one or more vehicle location detectors, and one or more processors. The phase break input unit is configured to obtain phase break location information indicating a location of a phase break along a route to be traversed by a vehicle. The one or more vehicle location detectors are configured to obtain vehicle location information indicating at least one of location of the vehicle or movement of the vehicle. The one or more processors are configured to determine an estimated arrival time of the vehicle at the phase break using the phase brake location information and the vehicle location information, and send a phase break control signal to a control system of the vehicle responsive to the estimated arrival time satisfying a threshold.

A system includes a phase break input unit, one or more vehicle location detectors, and one or more processors. The phase break input unit is configured to obtain phase break location information indicating a location of a phase break along a route to be traversed by a vehicle. The one or more vehicle location detectors are configured to obtain vehicle location information indicating at least one of location of the vehicle or movement of the vehicle. The one or more processors are configured to determine an estimated arrival time of the vehicle at the phase break using the phase brake location information and the vehicle location information, and send a phase break control signal to a control system of the vehicle responsive to the estimated arrival time satisfying a threshold.

This vehicle brake device comprises: a simultaneous driving determination section which determines whether it is necessary to simultaneously drive an upstream-side motor and a downstream-side motor; and a PWM control section which, when the determination result by the simultaneous driving determination section is in the affirmative, changes the duty ratio of the PWM signal to be output to the upstream-side motor so as to be smaller than when the determination result by the simultaneous driving determination section is in the negative, and uses PWM control to drive the upstream-side motor.