OPTIMAL COMBINATION OF THE FEATURES OF THE ELECTRIC PARKING BRAKE AND HYDRAULIC BRAKE SYSTEM FOR CONTROLLING A VEHICLE DIRECTION

摘要

A method for controlling the direction of a vehicle as required in connection with the execution of an autonomous driving maneuver using selective, independent and / or combined use of a plurality of electric parking brakes (EPBs) and a plurality of hydraulic brakes (HBs). The method includes determining a total braking force required to change the direction of the vehicle in a predetermined manner and determining whether an EPB in question can provide the required total braking force. The method further includes providing, when it is determined that the EPB in question can provide the required total braking force, a braking command that instructs the EPB in question to apply the total braking force. The method also includes determining, when it is determined that the EPB alone is insufficient, optimally combining the EPBs and HBs, including two front and two rear HBS, two rear EPBs, and in some embodiments, two front EPBs.