Systems and methods for smooth stopping of a vehicle

A system for reducing oscillations when a vehicle is braking, the system comprising:

• a sensor configured to detect data corresponding to a speed of the vehicle;
• a first wheel configured to propel the vehicle in response to receiving driving torque;
• a second wheel;
• a brake coupled to at least one of the first wheel or the second wheel and configured to apply a braking torque to the at least one of the first wheel or the second wheel to reduce the speed of the vehicle;
• and
• an electronic control unit (ECU) coupled to the sensor and the brake and configured to control the brake to begin controlled braking by reducing the braking torque applied to the at least one of the first wheel or the second wheel when the speed of the vehicle is at or below a braking threshold speed.

A method for reducing oscillations when a vehicle is braking comprising:

• detecting, by a sensor, data corresponding to a speed of the vehicle;
• determining, by an electronic control unit (ECU), that controlled braking should begin when the speed of the vehicle is at or below a braking threshold speed;
• and
• controlling, by the ECU, a vehicle component to reduce or offset an amount of braking torque of the vehicle when controlled braking should begin.