A braking control apparatus includes a braking force control unit, a first abnormality detecting unit, a regenerative brake stopping unit, and a braking force compensating unit. The braking force control unit is configured to perform a braking force control by causing an engine brake, a regenerative brake, and a friction brake to operate in cooperation with each other. The regenerative brake stopping unit is configured to disconnect the regenerative brake from the braking force control, when an abnormality of the regenerative brake is detected by the first abnormality detecting unit. The braking force compensating unit is configured to perform a braking force compensation that utilizes the friction brake, from the detection of the abnormality of the regenerative brake until the regenerative brake is disconnected from the braking force control, by performing a feedback control on a deceleration rate at a time when the abnormality of the regenerative brake is detected.

An automatic deceleration control device includes an electronic control unit including a central processing unit, the electronic control unit configured to: acquire road-type information that is information about a type of a road on which a vehicle is traveling; set a maximum deceleration based on the road-type information; and output a signal to decelerate the vehicle at a first deceleration that is equal to or lower than the maximum deceleration, when an actual vehicle speed of the vehicle exceeds a target vehicle speed of the vehicle.

In an example method for operating a brake control system for a vehicle having a first axle and a second axle that follows the first axle in the direction of travel of the vehicle, the brake control system is provided with a thrust signal representative of a coasting mode; depending on the thrust signal, the recuperation brakes are activated; the brake control system is provided with a brake signal representative of a vehicle brake actuation; depending on the brake signal, the brake is triggered; the brake control system is provided with a lock signal representative of an active anti-lock braking control of the brake; and depending on the lock signal, while maintaining the activation of the recuperation brake associated with the second axle, the recuperation brake associated with the first axle is deactivated. Further provided are a corresponding brake control system, computer program and computer-readable storage medium.