Patent ID: 8423253
Filing Date: 2013-04-16
Classification: B60T,B60W

Abstract:
1. An automatic braking apparatus for a vehicle, comprising: torque applying means for applying a driving torque to at least a pair of wheels of said vehicle; torque restraining means performing a driving torque restraining operation for restraining the driving torque created on said wheels to which the driving torque is applied by said torque applying means; friction braking means for applying a braking torque to each wheel of said vehicle in response to operation of a manually operated braking member by a vehicle driver; deceleration detection means for detecting a deceleration of said vehicle; automatic braking control means for performing an automatic braking control, by automatically actuating said friction braking means independently of operation of said manually operated braking member, to apply the braking torque to each wheel; desired deceleration calculation means for calculating a desired deceleration for a control target to the deceleration detected by said deceleration detection means; and torque restraining cancellation means for cancelling the driving torque restraining operation performed by said torque restraining means; wherein the cancellation of the driving torque restraining operation is performed during application of the braking torque to said each wheel after the braking torque has begun to be applied by said automatic braking control means and is continued for a time period determined in response to a vehicle speed decreasing state of said vehicle; and wherein the larger the gradient of the desired deceleration becomes, the longer said time period becomes.