The present invention obtains a controller and a control method capable of appropriately emitting an emergency braking signal in a straddle-type vehicle.

A controller (60) and the control method according to the present invention control operation of a straddle-type vehicle (100) in which anti-lock brake control for a front wheel (3) and anti-lock brake control for a rear wheel (4) are executed. An acquisition section of the controller (60) acquires an anti-lock brake actuation state showing whether the anti-lock brake control is actuated for any of the wheels (3, 4). A determination section of the controller (60) determines a threshold value on the basis of the anti-lock brake actuation state. An output section of the controller (60) outputs an emergency braking signal command in the case where deceleration of the straddle-type vehicle (100) is higher than the threshold value.

A method for controlling wheel slip in a braking system of a vehicle includes receiving, by an input interface module of a slip control module, information representative of the vehicle and information representative of an estimate of the status of the vehicle, outputting, by the input interface module, input wheel slip control information, determining, by a parameter self-loading module, based on information representative of the vehicle and information representative of an estimate of the status of the vehicle, wheel slip control parameters, determining, by a plurality of wheel slip control enabling modules of the slip control module, a plurality of enabling signals of the wheel slip control, and determining, by each closed-loop wheel slip control module of a plurality of closed-loop wheel slip control modules of the slip control module a setpoint value of a control variable to be applied to a respective corner of the vehicle to minimize error between the defined slip setpoint and the estimated wheel slip value.

A driving assistance apparatus includes a processor having hardware. The processor is configured to acquire vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped, calculate a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped, determine whether the coefficient of sliding friction is equal to or smaller than a threshold, and detect that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.

A vehicle includes an axle, an electric machine, a first wheel, a second wheel, a first friction brake, a second friction brake, and a controller. The controller is programmed to, in response to and during an anti-locking braking event, generate first and second signals indicative of a braking torque demand at the first and second wheels, respectively, based on a difference between a desired wheel slip ratio and an actual wheel slip ratio of the first and second wheels, respectively, adjust a regenerative braking torque of the electric machine based on a product of the first signal and a regenerative braking weighting coefficient, adjust a first friction braking torque based on a product of the first signal and a friction braking weighting coefficient, and adjust a second friction braking torque based on the second signal and dynamics of the first and second output shafts.

A vehicle braking force control apparatus of the disclosure executes a slip rate reduction control to reduce a slip rate of any of wheels of a vehicle becoming equal to or greater than a predetermined slip rate threshold by automatically changing braking force applied to one or more of the wheels. The apparatus uses a first slip rate threshold as the predetermined slip rate threshold during a normal acceleration-and-deceleration control and a normal steering control. The apparatus uses a second slip rate threshold during a driving assist control. The second slip rate is set to a value smaller than the first slip rate threshold and near and smaller than the slip rate, at which a friction coefficient between the wheel and a surface of a road on which the vehicle moves is maximum.

The invention relates to a method for improving the control behavior of an electronic motor vehicle braking system which comprises at least a slip control function. Wheel dynamic information which is evaluated as a criterion for initiating a control intervention is used individually for each wheel and is compared with control thresholds for a pressure reduction phase, a pressure maintenance phase, and a pressure buildup phase for generating corresponding braking torques by means of a vehicle braking system. According to the invention, the expected acceleration change of a vehicle wheel is calculated from a pressure change at said wheel, said pressure change being caused by a control intervention; the actual acceleration change at the vehicle wheel, said acceleration change being caused by the pressure change, is determined from measured wheel speeds as wheel dynamic information; and the control behavior of the slip control is adapted when the actual acceleration change deviates from the expected acceleration change by a defined degree such that the deviation is minimized.

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 system for controlling wheel brakes in a first vehicle platooning with a second vehicle includes a transceiver in the first vehicle that receives a brake command from the second vehicle to apply a wheel brake in the first vehicle. A controller in the first vehicle generates, responsive to the brake command, a first set of control signals that control delivery of fluid pressure to the wheel brake and implement a braking event. The controller may further detect a wheel slip condition indicative of slip in a wheel of the first vehicle during the braking event and generate, when the condition occurs, a second set of control signals to control delivery of fluid pressure to the wheel brake. The control signals are generated in accordance with braking profiles that differ from braking profiles used by the controller during braking events occurring in the absence of the brake command.

A vehicle brake system includes: a brake device configured to apply a braking force to a wheel; and a controller configured to cause the brake device to perform an ABS operation when a slip ratio of the wheel exceeds a threshold. The ABS operation includes a decrease mode in which the braking force is decreased and an increase mode in which the braking force is increased to restore the braking force after the decrease mode. The controller determines a final target braking force that should be attained at an end time point of the ABS operation based on the braking force at a start time point of the ABS operation and determines a cycle time of the ABS operation based on a condition of a road surface on which the vehicle travels. The cycle time is a length of time in which the ABS operation is performed.

A braking system for a motor vehicle has a plurality of hydraulic brake units for braking each braking one wheel of the motor vehicle and a first electric parking brake actuator for braking a first wheel and a second electric parking brake actuator for braking a second wheel. A first control device comprises a first hydraulic controller which is designed and set up to drive the plurality of hydraulic brake units. In order to ensure parking brake redundancy, the first control device has a driver for driving the first parking brake actuator. A second control device is also provided, which comprises a driver for driving the first parking brake actuator and a driver for driving the second parking brake actuator.