Method and apparatus for braking control for autonomous parking

A method for controlling braking of a vehicle to cause the vehicle to follow a target route generated in advance, the method comprising:

• determining whether the target route satisfies a condition for initiating biased braking control;
• determining a ratio of a braking pressure to be applied to respective wheels of the vehicle based on the target route in response to determining that the target route satisfies the condition for initiating the biased braking control;
• and
• performing braking control of the vehicle based on the determined ratio of the braking pressure,
• wherein determining the ratio of the braking pressure comprises, in response to an obstacle warning generated in the vehicle, determining the ratio of the braking pressure to allow a first braking pressure, which is a braking pressure to be applied to a wheel selected according to a direction of the target route, to be equal to or less than a preset multiple of a second braking pressure, which is a braking pressure to be applied to each of other wheels.

A method for controlling braking of a vehicle to cause the vehicle to follow a target route generated in advance, the method comprising:

• determining whether the target route satisfies a condition for initiating biased braking control;
• determining a ratio of a braking pressure to be applied to respective wheels of the vehicle based on the target route in response to determining that the target route satisfies the condition for initiating the biased braking control;
• and
• performing braking control of the vehicle based on the determined ratio of the braking pressure,
• wherein the ratio of the braking pressure is determined based on:
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• where α is a quotient of a first braking pressure to be applied to each of other wheels divided by a second braking pressure to be applied to a wheel selected according to a direction of the target route, f is a preset weight function, v is a speed of the vehicle, G is a steering gear ratio of the vehicle, θdesire is a turning angle of the target route, and θvehicle is a front-wheel steering angle of the vehicle.