The present embodiments relate to a collision prevention apparatus and method, and a driving support apparatus. The collision prevention apparatus may comprise: a collision risk determiner that determines a collision risk of a vehicle, a driving intervention determiner that determines driving intervention of a driver, and a collision prevention controller that controls a collision risk alert according to a result of determination on a collision risk of the vehicle, and adjusts a braking time point of the vehicle according to a result of determination on driving intervention of the driver.

A method for automatically emergency stopping a motor vehicle from a starting speed to a standstill by a braking device of the motor vehicle is provided. The braking device is actuated to carry out a delay profile with at least two delay phases. During a delay increase phase the delay until a threshold delay is increased and during a delay decrease phase, lasting until standstill, the delay is reduced to zero. The temporal courses of the delay are determined during the delay increase and the delay decrease at least sectionally as nth degree polynomials, where n>0, depending on the starting speed, in such a way that a stopping duration, which represents a time duration necessary for emergency stopping, does not fall below a predetermined minimum stopping duration and a distance covered during the stopping duration does not exceed a predetermined maximum stopping distance.

A method of controlling the braking of a vehicle descending a slope. 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 descending a slope based on the value(s) of one or more of the vehicle-related parameters. The method still further includes automatically modifying an amount of brake torque being applied to at least certain of the wheels of the vehicle in response to the detection of the vehicle descending a slope by increasing the amount of brake torque being applied to one or more trailing wheels of the vehicle, and decreasing the amount of brake torque being applied to one or more leading wheels of the vehicle.

A method of controlling the braking of a vehicle descending a slope. 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 descending a slope based on the value(s) of one or more of the vehicle-related parameters. The method still further includes automatically modifying an amount of brake torque being applied to at least certain of the wheels of the vehicle in response to the detection of the vehicle descending a slope by increasing the amount of brake torque being applied to one or more trailing wheels of the vehicle, and decreasing the amount of brake torque being applied to one or more leading wheels of the vehicle.

A control device for a vehicle capable of operating in an automated driving mode for automatically controlling at least the accelerating/decelerating control of the steering control and the accelerating/decelerating control of a vehicle includes: a route information acquisition unit; and an automated driving control unit that decides an action plan on a basis of map information, the action plan includes a target vehicle speed sequence that defines a target vehicle speed at the respective predetermined points at least on a road along which the vehicle will travel next, and the automated driving control unit calculates requested braking force that is braking force for decelerating the vehicle to target vehicle speed when the target vehicle speed is achieved by deceleration, calculates a predicted temperature of a brake device when the requested braking force is achieved, and decides a utilization proportion of the brake device for the requested braking force.

A control device for a vehicle capable of operating in an automated driving mode for automatically controlling at least the accelerating/decelerating control of the steering control and the accelerating/decelerating control of a vehicle includes: a route information acquisition unit; and an automated driving control unit that decides an action plan on a basis of map information, the action plan includes a target vehicle speed sequence that defines a target vehicle speed at the respective predetermined points at least on a road along which the vehicle will travel next, and the automated driving control unit calculates requested braking force that is braking force for decelerating the vehicle to target vehicle speed when the target vehicle speed is achieved by deceleration, calculates a predicted temperature of a brake device when the requested braking force is achieved, and decides a utilization proportion of the brake device for the requested braking force.

The present disclosure relates to a braking control device that executes an anti-skid control for reducing a braking force when a difference between a target deceleration and an actual deceleration of a vehicle is greater than or equal to a reference value in a braking state in which the braking force is applied to a wheel according to an increase in the target deceleration of the vehicle, the braking control device including a control unit that executes a specific control for reducing an intervention degree of the anti-skid control as a response delay of the actual deceleration with respect to the increase in the target deceleration in the braking state becomes larger.

The present disclosure relates to a braking control device that executes an anti-skid control for reducing a braking force when a difference between a target deceleration and an actual deceleration of a vehicle is greater than or equal to a reference value in a braking state in which the braking force is applied to a wheel according to an increase in the target deceleration of the vehicle, the braking control device including a control unit that executes a specific control for reducing an intervention degree of the anti-skid control as a response delay of the actual deceleration with respect to the increase in the target deceleration in the braking state becomes larger.

In a braking maneuver using a braking assistant (9) in a motor vehicle (3), the braking assistant (9) initiates an automatic braking maneuver when an actual distance (a) between the motor vehicle (3) and an object (5) located ahead of the motor vehicle (3) becomes less than a specified minimum distance (a.sub.min). Then an acceleration of the decelerating vehicle (3) is ascertained during the braking maneuver, and if the acceleration is positive then the braking maneuver initiated by the braking assistant (9) is automatically interrupted.

In a braking maneuver using a braking assistant (9) in a motor vehicle (3), the braking assistant (9) initiates an automatic braking maneuver when an actual distance (a) between the motor vehicle (3) and an object (5) located ahead of the motor vehicle (3) becomes less than a specified minimum distance (a.sub.min). Then an acceleration of the decelerating vehicle (3) is ascertained during the braking maneuver, and if the acceleration is positive then the braking maneuver initiated by the braking assistant (9) is automatically interrupted.