This vehicle braking control device executes automatic braking control to adjust a braking torque on the basis of a vehicle target deceleration value corresponding to a distance between the vehicle and an object in front of the vehicle, and executes anti-skid control to suppress excessive wheel slip by adjusting the braking torque on the basis of a wheel speed. The braking control device calculates an actual deceleration value corresponding to the target deceleration value, and executes feedback control on the basis of the target deceleration value and the actual deceleration value such that the actual deceleration value approaches the target deceleration value. The configuration is such that a control gain of the feedback control is reduced when anti-skid control is executed. Further, the configuration may be such that execution of feedback control is prohibited when anti-skid control is executed.

The present invention provides a vehicle control apparatus, a vehicle control method, and a vehicle control system capable of optimizing balance between a target tire lateral force and a target tire longitudinal force. A vehicle control apparatus outputs an instruction for achieving an optimal slip ratio corresponding to a minimum value of a sum of a first difference and a second difference to an actuator regarding braking/driving of a vehicle. The first difference is a difference between a tire lateral force and a target tire lateral force with respect to an arbitrary slip ratio in a correlative relationship between a slip ratio and the tire lateral force of a tire of a wheel portion. The second difference is a difference between a tire longitudinal force and a target tire longitudinal force with respect to the arbitrary slip ratio in a correlative relationship between the slip ratio and the tire longitudinal force.

A braking force control apparatus has an upstream braking actuator for generating an upstream pressure common to four wheels, a downstream braking actuator individually controlling braking pressures supplied to braking force generating devices of the wheels using the upstream pressure, and a control unit. When the downstream braking actuator is abnormal and the upstream pressure can be supplied to the braking force generating devices, but a braking pressure of any one of the wheels cannot be normally reduced, the control unit selects higher one of the target braking pressures of the left and right front wheels and higher one of the left and right rear wheels, determines lower one of the two selected target braking pressures as a backup target upstream pressure, and controls the upstream braking actuator such that the upstream pressure becomes the backup target upstream pressure.

A brake system for a vehicle is disclosed and includes an energy storage device configured to store and discharge energy, a plurality of wheels having an observer wheel, one or more processors operatively coupled to the energy storage device, and a memory coupled to the one or more processors. The memory stores data comprising a database and program code that, when executed by the one or more processors, causes the brake system to determine the brake system is operating in a backup mode of operation. In response to determining the brake system is operating in the backup mode of operation, the brake system is caused to apply a first brake pressure command to the observer wheel. In response to determining the observer wheel is starting the skid condition, the brake system is caused to determine a second brake pressure command based on a target slip value.

The present invention obtains a controller and a control method capable of appropriately executing automatic emergency deceleration operation of a straddle-type vehicle.

In the controller according to the present invention, when the automatic emergency deceleration operation of the straddle-type vehicle is executed, at a braking start time point at which a braking force starts being generated on at least one of wheels, braking force distribution between the front and rear wheels is brought into an initial state where the braking force is generated on the front wheel. In the control method according to the present invention, when the automatic emergency deceleration operation of the straddle-type vehicle is executed, at the braking start time point at which the braking force starts being generated on at least one of the wheels, the braking force distribution between the front and rear wheels is brought into the initial state where the braking force is generated on the front wheel.

A braking control device for a motor driven vehicle includes a wheel rotation speed sensing part which is disposed on each wheel of the vehicle and detects a detection speed of wheel rotation of the vehicle, a wheel rotation speed estimation part which detects a resolver value of a motor and estimates an estimation speed of wheel rotation using the detected resolver value, a sensor determination part which determines whether the wheel rotation speed sensing part is abnormal using the detection speed of wheel rotation and the estimation speed of wheel rotation, and a wheel rotation speed determination part which determines the estimated estimation speed of wheel rotation to be a wheel rotation speed of the vehicle when the wheel rotation speed sensing part is abnormal.

A method and a device for determining wheel slip information of an electrically driven wheel of a motor vehicle, according to which during travel, the speed (nE-motor) of an electric motor driving the wheel is detected and the detected speed (nE-motor) of the electric motor is used to determine the wheel slip information.

An automobile brake control method comprises: obtaining wheel rotation speed sensor information of an automobile within the current measurement period; and when the wheel rotation speed sensor information satisfies a preset condition, allowing the automobile to enter an aquaplane safety logic control mode, and after an ABS operates, allowing the ABS to exit front axle control and merely control a rear axle so that a driver takes over automobile control, until the next measurement period.

A braking system that uses a combination of a friction brake force and a traction motor brake force to slow or stop the rotation of the wheel. A friction brake may provide the friction brake force. A traction motor may provide the traction motor brake force. The braking system may include sensors that provide data for determining a wheel lock threshold for each wheel. The friction brake force and the traction motor brake force may be adjusted for each wheel to provide an applied brake force to the wheel that is less than or equal to the wheel lock threshold.

In an electrified vehicle, a vibration damping control device performs vibration damping control for canceling or reducing, with the use of regenerative braking, a predetermined vibration component by monitoring the vibration component and controlling a generator control device depending on the vibration component. A system control device determines whether the vibration damping control is performable based on at least a charge status of a battery. An anti-lock braking system control device transmits a request signal to the system control device while performing anti-lock braking system control. The system control device transmits a command signal to the vibration damping control device when the vibration damping control is determined to be performable and the request signal is received from the anti-lock braking system control device. The vibration damping control device performs the vibration damping control when the command signal is received from the system control device.