A vehicle includes a pair of electric machines each coupled to a laterally-opposing wheel to output a wheel torque. The vehicle also includes a controller programmed to command a combined regenerative braking torque output of the electric machines based on a lesser of a braking torque limit of each individual electric machine. The controller is also programmed to command a regenerative braking torque from each electric machine to be within a predetermined torque threshold of each other in response to a yaw rate exceeding a yaw threshold.

Methods and systems are described for controlling a vehicle braking system. A braking force is applied to the vehicle by applying friction only braking to the wheels of one axle and applying a blended braking force (including a regenerative braking force and a friction braking force) to the wheels of another axle. Using vehicle and tire modeling techniques, a set of side-slip angles is calculated that is estimated to occur if the total braking force were applied using only friction braking. A compensatory yaw moment is then determined based on differences between the estimated side-slip angles and the actual side-slip angles of the vehicle under the blended braking. The compensatory yaw moment is then applied to the vehicle to enable the vehicle to utilize regenerative braking while exhibiting the same vehicle dynamics that occur when using friction braking only.

Methods and systems are provided for operating a hybrid vehicle during operating conditions where vehicle braking is requested. In one example, regenerative braking is allocated to vehicle wheels responsive to actual and estimated vehicle yaw. Additionally, friction braking torque is allocated to vehicle wheels responsive to requested braking torque and regenerative braking torques.

An object of the present invention is to provide a vehicle control apparatus capable of stabilizing a behavior of a vehicle when a regenerative braking force is generated. To achieve this object, a vehicle control apparatus according to one aspect of the present invention includes an electric motor configured to provide a regenerative braking force to left and right drive wheels that are one of front wheels and rear wheels, a friction braking device configured to provide a friction braking force to left and right trailer wheels that are the other of the front wheels and the rear wheels, and a behavior estimation unit configured to estimate a behavior of a vehicle. The vehicle control apparatus reduces the regenerative braking force and increases the friction braking force provided by the friction braking device, if the behavior estimation unit estimates a preset behavior when the regenerative braking force is generated.

A brake control device for a vehicle. The brake control device includes a control device, which can be connected to a brake booster device, to an electric machine of the vehicle, and to a driving stability system; a pedal sensor device, which is connected to the control device, wherein the control device is configured to infer, from the pressing of the brake pedal and/or the gas pedal, a braking request from a driver, to identify an operational failure or an operational fault of the brake booster device, and, if an operational failure or an operational fault of the brake booster device is identified after and/or upon a braking request, to control a braking action by means of the driving stability system.

In order to achieve a vehicle wheel (10) slip relative to a roadway (12) while braking the vehicle, said slip being as advantageous as possible, the rotational speed (w) of the wheel (10) can be actively reduced by an ABS by means of a braking intervention and passively allowed to accelerate again via the roadway (12) when the brake is released. The slip of the wheel (10) oscillates by an optimal slip value during the ABS regulating process. The aim of the invention is to improve an anti-lock braking system for a vehicle. In the method according to the invention, at least one wheel (10) of the vehicle is supplied with a braking torque (Mb) in order to temporarily reduce a travel speed (v) of the vehicle relative to a rolling surface (12), said braking torque acting against a rotating direction (14) of the wheel (10). Additionally, the wheel (10) is temporarily supplied with an acceleration torque (Ma) by means of an accelerating device of the vehicle during the reduction of the travel speed (v), said acceleration torque acting in the rotating direction (14).

A method for controlling a regenerative brake system for a vehicle may include: generating a target pressure of each wheel of the vehicle, when any one performance condition of ABS-associated control, VDC-associated control, and TCS-associated control is satisfied; determining whether to enter the ABS-associated control; opening an entrance-side wheel of a target wheel such that a raised/lowered pressure for the target wheel is formed, when determining to perform the VDC-associated control or TCS-associated control; and performing pressure raising/lowering control for the target wheel by controlling a motor such that a wheel pressure of the target wheel follows the target pressure of the target wheel.

The present invention relates to a controller (27) for a braking system for a vehicle (10). The braking system has an independent generator (20, 22) on respective front and rear axles (16, 18). The controller (27) comprises an input (44) arranged to monitor a vehicle condition and an operating condition of the generators (20, 22). The controller (27) also comprises a processing means (46) arranged to determine a brake force distribution range between the front and rear axles (16, 18) based on the vehicle condition, and in response to a braking demand and the operating condition of the generators (20, 22), calculate a brake force distribution within the brake force distribution range. In addition, the controller (27) comprises an output (50) arranged to control the generators in accordance with the calculated brake force distribution.

The embodiments of the present application disclose a stability control system and a stability control method for a four-wheel drive electric vehicle and the four-wheel drive electric vehicle. In the stability control system, when the lateral acceleration is equal to or greater than an acceleration threshold, at least one of a first braking force signal, a second braking force signal, a first logic signal and a second logic signal is obtained. When the first logic signal is obtained, the body of the electric vehicle is controlled to keep stable. When the first braking force signal and the second logic signal are obtained, a motor is controlled to apply braking force to an outside front wheel. When the second braking force signal and the second logic signal are obtained, motors are controlled to apply braking force to the outside front wheel and an inside rear wheel.

In order to enable satisfactory vehicle motion control to be carried out while wheels (10) are being braked, on a vehicle in which each of the wheels (10) is braked by a regenerative braking force by a motor (30) and a friction braking force by a friction brake mechanism (40), a brake ECU (53) acquires at least one parameter out of a steering angle, a steering velocity, a lateral acceleration of a vehicle body, a yaw rate of the vehicle body, a sprung vertical acceleration, and an unsprung vertical acceleration, and when a magnitude of the parameter is more than a threshold, decreases a ratio of the regenerative braking force out of a driver-requested braking force, and increases a ratio of the friction braking force.