# US 12,005,876 B2 · Braking control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,876 B2 - Document ID: US12005876B2 - Status: Granted - Kind: B2 - Application number: 17/575,064 - Filed: 2022-01-13 - Published: 2022-08-04 - Granted: 2024-06-11 - Earliest claimed: 2021-02-04 - Assignees: Subaru Corporation - Applicants: Subaru Corporation - Inventors: Takashi Takeda - Web page: https://patentgrep.com/patent/US12005876B2 ## CPC - B60T 7/122: {for locking of reverse movement} - B60T 8/171: Detecting parameters used in the regulation; Measuring values used in the regulation - B60T 2201/06: Hill holder; Start aid systems on inclined road - B60T 2210/20: Road shapes - B60T 2240/00: Monitoring, detecting wheel/tyre behaviour; counteracting thereof - B60T 2250/00: Monitoring, detecting, estimating vehicle conditions - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES ## Abstract A braking control device includes a stop holding controller and an uneven-ground traveling determination unit. After the vehicle makes a stop and a brake operation performed by a driver who drives the vehicle is canceled, the stop holding controller is configured to perform execution of a stop holding control that includes holding braking force of the vehicle and canceling the braking force in response to a predetermined start operation performed by the driver. The uneven-ground traveling determination unit is configured to determine whether the vehicle is traveling on an uneven ground. The stop holding controller is configured to disable the execution of the stop holding control in a case where the uneven-ground traveling determination unit determines that the vehicle is traveling on the uneven ground. ## Claims ### Claim 1 A braking control device for a vehicle, the braking control device comprising: a stop holding controller configured to, after the vehicle makes a stop and a brake operation performed by a driver who drives the vehicle is canceled, perform a stop holding control that includes holding braking force of the vehicle and canceling the braking force in response to a predetermined start operation performed by the driver; and an uneven-ground traveling determination unit configured to determine whether the vehicle is traveling on an uneven ground before the vehicle stops and the stop holding controller performs the stop holding control, wherein the stop holding controller is configured, even after the vehicle stops and the brake operation performed by the driver is canceled, not to perform the stop holding control in response to the uneven-ground traveling determination unit determining that the vehicle is traveling on the uneven ground before the vehicle stops and the stop holding controller performs the stop holding control. ### Claim 2 (depends on 1) The braking control device according to claim 1, wherein the uneven-ground traveling determination unit is configured to determine that the vehicle is traveling on the uneven ground upon determining a slip state is detected at one or more wheels of the vehicle. ### Claim 3 (depends on 1) The braking control device according to claim 1, wherein the vehicle has traveling modes including a normal mode for traveling on a smooth road and an uneven ground traveling mode for traveling on an uneven ground, which are selectable by a user of the vehicle, and the uneven-ground traveling determination unit is configured to determine whether the vehicle is traveling on the uneven ground only in a case where the uneven ground traveling mode is selected. ### Claim 4 (depends on 2) The braking control device according to claim 2, wherein the vehicle has traveling modes including a normal mode for traveling on a smooth road and an uneven ground traveling mode for traveling on an uneven ground, which are selectable by a user of the vehicle, and the uneven-ground traveling determination unit is configured to determine whether the vehicle is traveling on the uneven ground only in a case where the uneven ground traveling mode is selected. ### Claim 5 (depends on 1) The braking control device according to claim 1, wherein the vehicle has traveling modes including a normal mode for traveling on a smooth road and an uneven ground traveling mode for traveling on an uneven ground, which are selectable by a user of the vehicle, and the uneven-ground traveling determination unit is configured to vary a condition on a basis of which the uneven-ground traveling determination unit determines whether the vehicle is traveling on the uneven ground, between a case where the uneven ground traveling mode is selected and a case where the normal mode is selected. ### Claim 6 (depends on 2) The braking control device according to claim 2, wherein the vehicle has traveling modes including a normal mode for traveling on a smooth road and an uneven ground traveling mode for traveling on an uneven ground, which are selectable by a user of the vehicle, and the uneven-ground traveling determination unit is configured to vary a condition on a basis of which the uneven-ground traveling determination unit determines whether the vehicle is traveling on the uneven ground, between a case where the uneven ground traveling mode is selected and a case where the normal mode is selected. ### Claim 7 (depends on 5) The braking control device according to claim 5, wherein the uneven-ground traveling determination unit is configured to: determine that the vehicle is traveling on the uneven ground only in a case where an acceleration that acts on a vehicle body of the vehicle is equal to or less than a predetermined upper limit value; and set the upper limit value lower in the case where the normal mode is selected, than in the case where the uneven ground traveling mode is selected. ### Claim 8 (depends on 6) The braking control device according to claim 6, wherein the uneven-ground traveling determination unit is configured to: determine that the vehicle is traveling on the uneven ground only in a case where an acceleration that acts on a vehicle body of the vehicle is equal to or less than a predetermined upper limit value; and set the upper limit value lower in the case where the normal mode is selected, than in the case where the uneven ground traveling mode is selected. ### Claim 9 A braking control device for a vehicle, the braking control device comprising circuitry configured to: after the vehicle makes a stop and a brake operation performed by a driver who drives the vehicle is canceled, perform a stop holding control that includes holding braking force of the vehicle and canceling the braking force in response to a predetermined start operation performed by the driver; determine whether the vehicle is traveling on an uneven ground before the vehicle stops and the stop holding control is performed; and even after the vehicle stops and the brake operation performed by the driver is canceled, not to perform the stop holding control in response to determining that the vehicle is traveling on the uneven ground before the vehicle stops and the stop holding control is performed.