A braking control device includes: a wheel deceleration deriving section that derives decrease rates of wheel speed detection values as wheel deceleration calculation values; an average value deriving section that derives an average value of the wheel deceleration calculation values of wheels FL, FR, RL, and RR as a wheel deceleration average value; a determination section that determines, based on the wheel deceleration average value and an anteroposterior deceleration detection value, whether or not a slip increase state has been occurring for a determination time or longer; and a detection section that detects occurrence of cascade lock when it is determined that the slip increase state has been occurring for the determination time or longer during vehicle braking.

A braking control device includes: a wheel deceleration deriving section that derives decrease rates of wheel speed detection values as wheel deceleration calculation values; an average value deriving section that derives an average value of the wheel deceleration calculation values of wheels FL, FR, RL, and RR as a wheel deceleration average value; a determination section that determines, based on the wheel deceleration average value and an anteroposterior deceleration detection value, whether or not a slip increase state has been occurring for a determination time or longer; and a detection section that detects occurrence of cascade lock when it is determined that the slip increase state has been occurring for the determination time or longer during vehicle braking.

A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

A method of controlling braking of a vehicle is provided. When a disconnector is disconnected and an auxiliary drive wheel is separated from a driving system, vehicle braking is performed with regenerative braking by a primary drive wheel motor during braking. Subsequently, the disconnector is connected based on a vehicle stability state, and then, braking is performed simultaneously on the auxiliary drive wheel and a primary drive wheel.

A method of controlling braking of a vehicle is provided. When a disconnector is disconnected and an auxiliary drive wheel is separated from a driving system, vehicle braking is performed with regenerative braking by a primary drive wheel motor during braking. Subsequently, the disconnector is connected based on a vehicle stability state, and then, braking is performed simultaneously on the auxiliary drive wheel and a primary drive wheel.

The disclosure relates to a method for freeing at least one locked wheel of a vehicle. One step of the method relates to identifying a locking scenario comprising the identification of the at least one locked wheel. A further method step is selecting a wheel freeing strategy being suitable for the identified locking scenario. Another step is directed to applying the selected wheel freeing strategy. Furthermore, the disclosure is directed to a propulsion system for a vehicle having at least one wheel. The propulsion system comprises at least one propulsion actuator. Moreover, at least one wheel speed sensor is provided, the wheel speed sensor being configured for detecting the rotational speed of the at least one wheel. Additionally, the propulsion system has at least one brake unit being configured for braking the at least one wheel and a control unit being configured for performing the above method.

A vehicle has a frame, a straddle seat, front right and left wheels, a rear wheel, a steering assembly, a motor, front right and left brakes, a rear brake, and an electronic brake control unit. The electronic brake control unit has a pump, a valve box and an electronic controller. The electronic controller is electronically connected to the pump, and valves of the valve box for controlling their operation. A hand brake lever actuates a first master cylinder and thereby actuates the front brakes through the valve box. A foot brake lever actuates a second master cylinder and thereby actuates the rear brake through the valve box.

A method of controlling the vehicle may include predicting, by a controller, a braking situation of the vehicle; performing, by the controller, brake distribution control of front and rear wheels of the vehicle in a response to a predicted sudden braking of the vehicle at a predetermined level; and performing, by the controller, independent braking control of the rear wheels of the vehicle in a response to a predicted general braking of the vehicle at the predetermined level.

A vehicle includes an all-wheel-drive powertrain having an electric machine configured to power wheels. A controller is programmed to output a first calculated vehicle speed derived from integrating a measured longitudinal acceleration of the vehicle and output a second calculated vehicle speed based on the measured longitudinal acceleration and a speed of one of the wheels. The controller is further programmed to, responsive to a flag being present, command a speed to the electric machine that is based on the first vehicle speed to reduce wheel slip, and responsive to a flag not being present, command a speed to the electric machine that is based on the second vehicle speed to reduce wheel slip.