Method and apparatus for emergency braking during autonomous parking

An apparatus of a vehicle, the apparatus comprising:

• a processor;
• and
• a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the apparatus to:
• based on a start signal for autonomous parking or autonomous exit from parking of the vehicle, operate a motor in a brake-applying direction to move a brake pad of the vehicle into contact with a brake disc of the vehicle,
• stop, based on a current supplied to the motor reaching a preset threshold value, the operation of the motor, wherein the preset threshold value corresponds to a state at which the brake pad contacts the brake disc, and
• after stopping the operating of the motor, operate the motor in a brake-releasing direction until the brake pad is spaced apart from the brake disc by a preset clearance gap for the autonomous parking or the autonomous exit, wherein the preset clearance gap is set for the autonomous parking or the autonomous exit,
• wherein the preset clearance gap is smaller than a reference clearance gap, and wherein the reference clearance gap is set for a driving mode of the vehicle that is different from the autonomous parking or the autonomous exit.

An apparatus of a vehicle, the apparatus comprising:

• an electric motor;
• a brake pad configured to be moved by the electric motor toward a brake disc to generate braking force;
• the brake disc configured to rotate with a wheel of the vehicle;
• and
• a processor circuit configured to:
• drive, based on a signal initiating autonomous parking or autonomous parking exit, the electric motor to move the brake pad into contact with the brake disc,
• based on a signal indicating a contact between the brake pad and the brake disc, stop the electric motor,
• after the contact, drive the electric motor in a reverse direction to separate the brake pad from the brake disc by a preset clearance gap for the autonomous parking or the autonomous parking exit, and
• during the autonomous parking or the autonomous parking exit, based on the brake pad being separated from the brake disc by the preset clearance gap, drive the electric motor to press the brake pad against the brake disc to decelerate or stop the vehicle.