A vehicle control device includes an automatic driving control device configured to execute automatic driving control on a vehicle, and an anti-lock braking system configured to control a longitudinal slip ratio of wheels of the vehicle to be equal to or smaller than a threshold during braking of the vehicle. The automatic driving control to be executed by the automatic driving control device includes braking force control for changing a braking force to be applied to the wheels of the vehicle depending on a target deceleration set without being based on a deceleration request by a driver. The automatic driving control device is configured to, when a failure of the anti-lock braking system is detected during execution of the automatic driving control on the vehicle, set the target deceleration in the braking force control to a value equal to or smaller than an upper limit deceleration value.

A vehicle control device includes an automatic driving control device configured to execute automatic driving control on a vehicle, and an anti-lock braking system configured to control a longitudinal slip ratio of wheels of the vehicle to be equal to or smaller than a threshold during braking of the vehicle. The automatic driving control to be executed by the automatic driving control device includes braking force control for changing a braking force to be applied to the wheels of the vehicle depending on a target deceleration set without being based on a deceleration request by a driver. The automatic driving control device is configured to, when a failure of the anti-lock braking system is detected during execution of the automatic driving control on the vehicle, set the target deceleration in the braking force control to a value equal to or smaller than an upper limit deceleration value.

The present disclosure in some embodiments provides an apparatus for controlling a plurality of EMBs configured to control, using a motor, braking of a vehicle, the apparatus comprising: a plurality of WCUs configured to control the motor to cause the plurality of EMBs to generate a plurality of braking forces corresponding to a plurality of braking signals, respectively; a center ECU configured to transmit the plurality of braking signals to the plurality of WCUs; and a plurality of bus lines comprising first and second bus lines and extending between the center ECU and the plurality of WCUs, wherein the center ECU is further configured to: transmit, via the first bus line, at least one of the plurality of braking signals to at least one of the plurality of WCUs; and transmit, via the second bus line, the other braking signal or signals to the other WCU or WCUs.

The present disclosure in some embodiments provides an apparatus for controlling a plurality of EMBs configured to control, using a motor, braking of a vehicle, the apparatus comprising: a plurality of WCUs configured to control the motor to cause the plurality of EMBs to generate a plurality of braking forces corresponding to a plurality of braking signals, respectively; a center ECU configured to transmit the plurality of braking signals to the plurality of WCUs; and a plurality of bus lines comprising first and second bus lines and extending between the center ECU and the plurality of WCUs, wherein the center ECU is further configured to: transmit, via the first bus line, at least one of the plurality of braking signals to at least one of the plurality of WCUs; and transmit, via the second bus line, the other braking signal or signals to the other WCU or WCUs.

A wheeled vehicle's antilock brake system (ABS) control device has three kinds of control modes of a braking force oriented mode, a sideways force oriented swinging-motion suppression mode and a sideways force oriented swinging-motion enhancement mode each of which is an ABS control mode being selected by means of an ABS control mode selection unit; and the vehicle ABS control device is so arranged that, in accordance with an ABS control mode selected by the ABS control mode selection unit, target slip rates on each of the vehicle's wheels being set by a target slip-rate setting unit are transferred toward respective braking force orientation or sideways force orientation, thereby the behavior of a wheeled vehicle is stabilized at a time when the wheeled vehicle on which the vehicle ABS control device is mounted makes a turn.

A controller and a control method capable of improving stability of a vehicle while improving usability of a brake system by a user. The controller includes: an operation state determination section determining an operation state of the brake system by the user; a slippage degree acquisition section acquiring a degree of slippage of a wheel; a target setting section setting a target of the degree of the slippage; and a braking force control execution section increasing or decreasing a braking force generated on the wheel on the basis of a comparison result between the degree of the slippage and the target in the case where the operation state determination section determines that the operation state is an operation state to instruct gradual deceleration.

A controller and a control method capable of improving stability of a vehicle while improving usability of a brake system by a user. The controller includes: an operation state determination section determining an operation state of the brake system by the user; a slippage degree acquisition section acquiring a degree of slippage of a wheel; a target setting section setting a target of the degree of the slippage; and a braking force control execution section increasing or decreasing a braking force generated on the wheel on the basis of a comparison result between the degree of the slippage and the target in the case where the operation state determination section determines that the operation state is an operation state to instruct gradual deceleration.

A control unit (130, 140) for controlling a heavy duty vehicle (100), wherein the control unit is arranged to obtain input data indicative of a desired wheel force (Fx, Fy) to be generated by at least one wheel (210) of the vehicle (100), and to translate the input data into a respective equivalent wheel speed or wheel slip to be maintained by the wheel (210) to generate the desired wheel force (Fx, Fy) based on an inverse tyre model (f.sup.−1) for the wheel (210), wherein the control unit (130, 140) is arranged to obtain the inverse tyre model in dependence of a current operating condition of the wheel (210), and wherein the control unit (130, 140) is arranged to control the heavy duty vehicle (100) based on the equivalent wheel speed or wheel slip.

A control unit (130, 140) for controlling a heavy duty vehicle (100), wherein the control unit is arranged to obtain input data indicative of a desired wheel force (Fx, Fy) to be generated by at least one wheel (210) of the vehicle (100), and to translate the input data into a respective equivalent wheel speed or wheel slip to be maintained by the wheel (210) to generate the desired wheel force (Fx, Fy) based on an inverse tyre model (f.sup.−1) for the wheel (210), wherein the control unit (130, 140) is arranged to obtain the inverse tyre model in dependence of a current operating condition of the wheel (210), and wherein the control unit (130, 140) is arranged to control the heavy duty vehicle (100) based on the equivalent wheel speed or wheel slip.

The vehicle control device includes a speed calculation unit, a speed estimation unit, a motion feedback calculation unit, and a slip estimator. The speed calculation unit calculates a speed in a predetermined direction of a vehicle on the basis of a feature quantity. The speed estimation unit estimates a speed in the predetermined direction on the basis of a speed or acceleration detected by a motion detector. The motion feedback calculation unit performs feedback calculation in which a value obtained, through a proportional gain, from a deviation between a calculation speed calculated by the speed calculation unit and an estimation speed estimated by the speed estimation unit, is added to the feature quantity. The slip estimator compares the calculation speed with the estimation speed, and estimates that the vehicle is in a slip state in the predetermined direction, when the estimation speed exceeds the calculation speed.