A motion control system adapted for use on a vehicle having a prime mover with a power range and a speed range and at least one wheel. The preferred motion control system comprises a first control device that is operatively connected to the prime mover, a pump that is operatively connected to the prime mover and adapted to convey fluid, a second control device that is operatively connected to the pump, a fluid line that is adapted to convey fluid from the pump, a motor that is adapted to receive fluid from the fluid line and control the rotational speed of the at least one wheel, and a microprocessor that is adapted to provide a required amount of power and speed infinitely proportional through the power and speed range of the prime mover. A method for controlling the motion of a vehicle.

A braking force controller causes a first actuator unit to generate a target jerk when the target jerk is equal to or larger than a first jerk, causes the first actuator unit to generate the first jerk and a second actuator unit to generate a jerk obtained by subtracting the first jerk from the target jerk as an additional jerk when the target jerk is smaller than the first jerk and equal to or larger than the sum of the first jerk and a second jerk, and causes the first actuator unit to generate the first jerk and the second actuator unit to generate the second jerk as the additional jerk when the target jerk is smaller than the sum of the first jerk and the second jerk.

The braking control device includes a determination unit configured to determine whether a vehicle is in a stopped state; a setting unit configured to set a vehicle stop maintenance braking force necessary for maintaining the stopped state of the vehicle; and a control unit configured to execute, when the determination unit determines that the vehicle is in the stopped state and an actual braking force applied in the stopped state of the vehicle is greater than the vehicle stop maintenance braking force set by the setting unit, vehicle stop maintenance control for decreasing the actual braking force toward the vehicle stop maintenance braking force regardless of a required braking force required by at least one of a driver of the vehicle and another device.

An electronic hydraulic brake device includes a main braking part and an assist braking part. The main braking part is configured to drive a motor to provide hydraulic pressure to a plurality of wheel cylinders. The assist braking part is connected to the main braking part. The assist braking part is configured to provide auxiliary hydraulic pressure to the plurality of wheel cylinders in response to an operation error of the main braking part.

The braking device is provided with an electromagnetic valve, which is an example of a device to be controlled, and a valve control unit for driving the electromagnetic valve by means of PWM control. When driving the electromagnetic valve by inputting a drive signal to the electromagnetic valve, the valve control unit changes the frequency of the drive signal within a frequency range. Note that the width of the frequency range is set on the basis of the minimum audible field among equal-loudness contours.

A control device including a valve-opening control unit that reduces the current value below the holding current value and increases the opening degree of the differential pressure adjustment valve when an increase in a manipulated variable of a braking operation member has been detected while holding control is being performed; and a valve-closing control unit that, when a decrease in the manipulated variable of the braking operation member has been detected while the opening degree of the differential pressure adjustment valve has been increased by the valve-opening control unit, performs a pushing process of increasing the current value above the holding current value and closing the differential pressure adjustment valve, and a holding process of setting the current value to the holding current value after the pushing process has ended.

An object recognition device is configured to: classify, under a state in which not all object data in a detection data group have been received and a part of the object data have been received by a current processing time, the part of the object data into pieces regarded as ready for association determination and pieces not regarded as ready for the association determination, to thereby associate the object data regarded as ready for the association determination and the prediction data individually with each other and set, as pending object data, the object data not regarded as ready for the association determination; and associate, under a state in which the remaining object data in the detection data group have been received by the next processing time after the current processing time, the remaining object data and the pending object data individually with the prediction data.

A braking force controller causes a first actuator unit to generate a target jerk when the target jerk is equal to or larger than a first jerk, causes the first actuator unit to generate the first jerk and a second actuator unit to generate a jerk obtained by subtracting the first jerk from the target jerk as an additional jerk when the target jerk is smaller than the first jerk and equal to or larger than the sum of the first jerk and a second jerk, and causes the first actuator unit to generate the first jerk and the second actuator unit to generate the second jerk as the additional jerk when the target jerk is smaller than the sum of the first jerk and the second jerk.

A braking force controller causes a first actuator unit to generate a target jerk when the target jerk is equal to or larger than a first jerk, causes the first actuator unit to generate the first jerk and a second actuator unit to generate a jerk obtained by subtracting the first jerk from the target jerk as an additional jerk when the target jerk is smaller than the first jerk and equal to or larger than the sum of the first jerk and a second jerk, and causes the first actuator unit to generate the first jerk and the second actuator unit to generate the second jerk as the additional jerk when the target jerk is smaller than the sum of the first jerk and the second jerk.

In a method, which can be performed by a control device for carrying out an emergency braking and/or panic braking of a vehicle, in a first phase, a setpoint vehicle deceleration requested instantaneously by a driver is ignored and a motor of an electromechanical brake booster is operated in a predefined high power mode such that a main brake cylinder pressure in the main brake cylinder is increased; in an intermediate phase, the main brake cylinder pressure is reduced to a setpoint pressure by pumping brake fluid from the main brake cylinder into the at least one wheel brake cylinder and the motor force of the motor is reduced to a setpoint force; and the brake pressure increase in the at least one wheel brake cylinder is continued during a second phase only if the driver requests instantaneously a setpoint vehicle deceleration.