Patent ID: 6971727

Claim:
A vehicle brake system, comprising: a brake mechanism for individually braking wheels of a vehicle; a vehicle speed sensor for detecting a speed of the vehicle; a plurality of distance sensors disposed at a rear end of the vehicle at regular intervals in a transverse direction of the vehicle for detecting linear distances between the respective distance sensors and an approaching object behind the vehicle; and a brake controller for directing said brake mechanism to automatically operate, said brake controller comprising: a collision predicting means for predicting the occurrence of a collision of the approaching object with the vehicle when the speed of the vehicle detected by the vehicle speed sensor is equal to or lower than a predetermined threshold and when the linear distance detected by at least one of said distance sensors is smaller than a predetermined reference value; a collision orientation determination means for determining a relative collision orientation between the vehicle and the approaching object on the basis of the linear distances detected by said distance sensors; and an approaching object speed determination means for determining a speed of the approaching object on the basis of a rate of change per unit time of the linear distance detected by said at least one distance sensor, said brake controller directing said brake mechanism in accordance with the predicted occurrence of collision by said collision predicting means, the relative collision orientation determined by said collision orientation determination means and the speed of the approaching object determined by said approaching object speed determination means, to allocate braking forces to the respective wheels so as to prevent the turning of the vehicle in the collision.