A vehicle motor control apparatus includes: a processor configured to determine whether a state of a vehicle is an over-steer state or an under-steer state, to determine a driving control mode or a braking control mode of a motor based on a determination result of the state of the vehicle, to calculate a target yaw moment of based on a tire force by using the over-steer state or the under-steer state, and to determine a motor control amount that follows the target yaw moment; and a storage configured to store data and algorithms driven by the processor.

A brake control device is applied to a vehicle including a regenerative generator. The brake control device includes a pressure adjustment unit that includes an electric pump and a pressure adjustment valve, and that adjusts adjustment liquid pressure of a pressure adjustment fluid path between the electric pump and the pressure adjustment valve; and a controller that controls the electric pump and the pressure adjustment valve. The controller, before starting a replacement operation to replace a regenerative braking force by the regenerative generator with a friction braking force by the adjustment liquid pressure, performs preceding pressurization to increase the adjustment liquid pressure from “0” and maintain the adjustment liquid pressure at predetermined liquid pressure, and after performing the preceding pressurization, increases the adjustment liquid pressure more than the predetermined liquid pressure by increasing a rotation speed of the electric pump, and then execute the replacement operation.

A brake control device is applied to a vehicle including a regenerative generator. The brake control device includes a pressure adjustment unit that includes an electric pump and a pressure adjustment valve, and that adjusts adjustment liquid pressure of a pressure adjustment fluid path between the electric pump and the pressure adjustment valve; and a controller that controls the electric pump and the pressure adjustment valve. The controller, before starting a replacement operation to replace a regenerative braking force by the regenerative generator with a friction braking force by the adjustment liquid pressure, performs preceding pressurization to increase the adjustment liquid pressure from “0” and maintain the adjustment liquid pressure at predetermined liquid pressure, and after performing the preceding pressurization, increases the adjustment liquid pressure more than the predetermined liquid pressure by increasing a rotation speed of the electric pump, and then execute the replacement operation.

An electrically controlled differential gear is disposed between a right front wheel and a left front wheel of a vehicle. The electrically controlled differential gear includes a clutch mechanism that limits a differential operation of the electrically controlled differential gear. A second ECU (control portion) obtains information as to failure associated with actuation of a right front electric brake mechanism. The second ECU obtains a physical amount relating to a required braking force which is applied to the left front wheel and the right front wheel. The second ECU outputs a differential limiting control command for limiting the differential operation of the electrically controlled differential gear to the clutch mechanism (or more specifically, a differential ECU that controls the clutch mechanism) based on the information as to the failure and the physical amount relating to the required braking force.

A control device may be configured for responding to failure for ensuring the stability of a vehicle by switching from a two-wheel-drive mode to a four-wheel-drive mode when detecting failure of the brake system in a two-wheel-drive mode.

A control device may be configured for responding to failure for ensuring the stability of a vehicle by switching from a two-wheel-drive mode to a four-wheel-drive mode when detecting failure of the brake system in a two-wheel-drive mode.

Systems and methods for controlling engine brake disengagement in a vehicle include a controller receiving a signal indicative of a command to disengage an engine brake while the vehicle engine is in engine brake engaged condition. The engine can be subjected to a first negative torque under the engine brake engaged condition. The controller can cause the engine brake to be gradually disengaged over a time period using a predefined torque ramp rate, responsive to the signal. The gradual disengagement of the engine brake can be in the form of a phased out disengagement, and can reduce vehicle engine jerk associated with engine brake disengagement.

Systems and methods for controlling engine brake disengagement in a vehicle include a controller receiving a signal indicative of a command to disengage an engine brake while the vehicle engine is in engine brake engaged condition. The engine can be subjected to a first negative torque under the engine brake engaged condition. The controller can cause the engine brake to be gradually disengaged over a time period using a predefined torque ramp rate, responsive to the signal. The gradual disengagement of the engine brake can be in the form of a phased out disengagement, and can reduce vehicle engine jerk associated with engine brake disengagement.

This vehicle brake device performs raising processing for raising, by a predetermined raising amount, the target hydraulic pressure of hydraulic fluid when the pressure of the hydraulic fluid starts increasing in order to suppress a delay in response to the increase in the pressure of hydraulic fluid during switching processing for gradually switching at least part of regenerative braking force to hydraulic braking force, and includes a judging portion which judges whether or not required braking force or deceleration is reduced during cooperative control; and a raising amount setting portion which during the raising processing, sets a second predetermined pressure as a raising amount if the judgement result of the judging portion is positive, the second predetermined pressure being smaller than a first predetermined pressure that is the raising amount when the determination result of the determination result is negative.

This vehicle brake device performs raising processing for raising, by a predetermined raising amount, the target hydraulic pressure of hydraulic fluid when the pressure of the hydraulic fluid starts increasing in order to suppress a delay in response to the increase in the pressure of hydraulic fluid during switching processing for gradually switching at least part of regenerative braking force to hydraulic braking force, and includes a judging portion which judges whether or not required braking force or deceleration is reduced during cooperative control; and a raising amount setting portion which during the raising processing, sets a second predetermined pressure as a raising amount if the judgement result of the judging portion is positive, the second predetermined pressure being smaller than a first predetermined pressure that is the raising amount when the determination result of the determination result is negative.