A vehicle braking system is provided with: a driving motor that can apply a regenerative braking force to a wheel; a friction braking device that is operated so as to apply a friction braking force to the wheel; and a braking control device. The braking control device controls the friction braking device on the basis of the detected value of a wheel speed when the detected value of the wheel speed of the wheel based on an output signal from each of wheel speed sensors SE5-SE8 can be acquired, and, when the detected value of the wheel speed cannot be acquired, acquires the estimated value of the wheel speed of the wheel on the basis of the rotational speed of the driving motor and controls the friction braking device on the basis of the estimated value of the wheel speed.

A vehicle braking system is provided with: a driving motor that can apply a regenerative braking force to a wheel; a friction braking device that is operated so as to apply a friction braking force to the wheel; and a braking control device. The braking control device controls the friction braking device on the basis of the detected value of a wheel speed when the detected value of the wheel speed of the wheel based on an output signal from each of wheel speed sensors SE5-SE8 can be acquired, and, when the detected value of the wheel speed cannot be acquired, acquires the estimated value of the wheel speed of the wheel on the basis of the rotational speed of the driving motor and controls the friction braking device on the basis of the estimated value of the wheel speed.

Even when downstream stiffness in a brake hydraulic circuit changes due to variation in a caliper forming a part of a wheel cylinder, temperature, wear degree, and deterioration of a frictional pad, and/or the like, a brake control apparatus performs calculation processing for calculating a switching reference operation amount, switching operation amount deviation calculation processing for calculating a deviation from the switching reference operation amount, operation amount offset processing for offsetting a pedal operation amount detected by an operation amount detection unit, target hydraulic pressure calculation processing for calculating the target hydraulic pressure with use of the offset operation amount and a reference hydraulic characteristic, and control of the electric motor (21) according to the target hydraulic pressure. By this configuration, the brake control apparatus limits an excessive movement amount of a primary piston by changing the reference hydraulic characteristic according to the change in the downstream stiffness.

Even when downstream stiffness in a brake hydraulic circuit changes due to variation in a caliper forming a part of a wheel cylinder, temperature, wear degree, and deterioration of a frictional pad, and/or the like, a brake control apparatus performs calculation processing for calculating a switching reference operation amount, switching operation amount deviation calculation processing for calculating a deviation from the switching reference operation amount, operation amount offset processing for offsetting a pedal operation amount detected by an operation amount detection unit, target hydraulic pressure calculation processing for calculating the target hydraulic pressure with use of the offset operation amount and a reference hydraulic characteristic, and control of the electric motor (21) according to the target hydraulic pressure. By this configuration, the brake control apparatus limits an excessive movement amount of a primary piston by changing the reference hydraulic characteristic according to the change in the downstream stiffness.

When a vehicle experiences an instability event, an instability event trigger (e.g., a failed modulator, unexpected yaw or lateral acceleration, unexpected steering wheel position change, etc.) is monitored and the magnitude thereof is compared to a corresponding predetermined threshold above which corrective action is initiated. Depending on the magnitude and type of instability trigger, one or more wheel ends are identified as candidates for brake activation. Braking force at the identified wheel ends is gradually increased until the vehicle becomes stable or comes to a stop.

When a vehicle experiences an instability event, an instability event trigger (e.g., a failed modulator, unexpected yaw or lateral acceleration, unexpected steering wheel position change, etc.) is monitored and the magnitude thereof is compared to a corresponding predetermined threshold above which corrective action is initiated. Depending on the magnitude and type of instability trigger, one or more wheel ends are identified as candidates for brake activation. Braking force at the identified wheel ends is gradually increased until the vehicle becomes stable or comes to a stop.

A vehicle control system may include a brake pedal position sensor, a braking torque module, an accelerator pedal position sensor, and a brake augmenter. The brake pedal position sensor is operably coupled to a brake pedal to determine a brake pedal position responsive to actuation of the brake pedal by an operator. The braking torque module is operably coupled to wheels of the vehicle to provide negative torque to the wheels based on the brake pedal position when an EBB system is in an operable state. The accelerator pedal position sensor is operably coupled to an accelerator pedal to determine accelerator pedal position for generation of positive torque to the wheels based on the accelerator pedal position when the EBB system is in the operable state. The brake augmenter is operably coupled to the accelerator pedal position sensor to provide a negative torque input to the wheels responsive to the accelerator pedal position sensor indicating a first range of pedal positions and a positive torque input to the wheels responsive to the accelerator pedal position sensor indicating a second range of pedal positions when the EBB system is in an inoperable state.

A vehicle control system may include a brake pedal position sensor, a braking torque module, an accelerator pedal position sensor, and a brake augmenter. The brake pedal position sensor is operably coupled to a brake pedal to determine a brake pedal position responsive to actuation of the brake pedal by an operator. The braking torque module is operably coupled to wheels of the vehicle to provide negative torque to the wheels based on the brake pedal position when an EBB system is in an operable state. The accelerator pedal position sensor is operably coupled to an accelerator pedal to determine accelerator pedal position for generation of positive torque to the wheels based on the accelerator pedal position when the EBB system is in the operable state. The brake augmenter is operably coupled to the accelerator pedal position sensor to provide a negative torque input to the wheels responsive to the accelerator pedal position sensor indicating a first range of pedal positions and a positive torque input to the wheels responsive to the accelerator pedal position sensor indicating a second range of pedal positions when the EBB system is in an inoperable state.

Provided is a driver error response system with which it is possible to further increase safety during a driver error. This driver error response system has a switch operated during an error of the driver, an electronically controlled braking system that can execute automatic braking, a vehicle-external output unit that informs the outside of the vehicle that the driver error response system is operating, and a control unit that turns on the electronically controlled braking system and the vehicle-external output unit when at least the switch is operated, the control unit continuing the ON operation of the electronically controlled braking system when a part related to the driver error response system fails during the operation of the driver error response system.

A method for braking a vehicle includes at least reducing a hydraulic brake pressure in at least one wheel brake device disposed on a vehicle axle in response to an at least partial failure of a brake boosting of a hydraulic brake with at least one first brake circuit and at least one second brake circuit. The method further includes operating an electric brake motor of an electromechanical braking device to produce a braking force on the at least one wheel brake device.