Controlled deceleration for parking of a vehicle

A method for controlled deceleration for parking a vehicle having a parking brake, a primary hydraulic system, and a secondary hydraulic system, the method comprising:

• measuring, with a sensor, a speed of the vehicle;
• outputting, with the sensor, a measured vehicle speed;
• determining, with a secondary controller, whether the vehicle is travelling at an approximately non-zero speed while a parking brake control is actuated;
• in response to determining that the vehicle is travelling at an approximately non-zero speed while the parking brake control is actuated, determining, with the secondary controller, whether hydraulic braking using the primary hydraulic system is available;
• and
• in response to determining that hydraulic braking using the primary hydraulic system is not available, controlling, with the secondary controller, a secondary hydraulic pressure generator to generate hydraulic braking pressure, wherein
• the primary hydraulic system includes a primary controller and a primary hydraulic pressure generator, and
• the secondary hydraulic system includes the secondary controller and the secondary hydraulic pressure generator.