Control Method for Braking a Vehicle, Related Vehicle Braking System and Vehicle

A vehicle braking system, comprising:

• a generator configured to apply a torque to at least one wheel of a plurality of wheels of the vehicle;
• a pressure operated braking system comprising friction brakes each comprising a respective brake chamber, wherein each friction brake is configured for braking the vehicle as a function of a braking pressure in the brake chamber of the respective friction brake, wherein each braking pressure is controlled by at least one valve and according to an open-loop control;
• and
• a controller configured to receive a target value of a brake force, the brake force being a force resulting at least from the torque applied by the generator and the braking pressure inside the brake chamber;
• wherein the vehicle braking system is configured to brake the vehicle according to a first braking configuration, wherein in the first braking configuration, the braking pressure of at least one brake of said friction brakes is substantially equal to a first pressure value and the torque applied by the generator is equal to a first torque value,
• wherein the vehicle braking system is configured to brake the vehicle according to a second braking configuration, wherein in the second braking configuration, the braking pressure of said at least one brake is substantially equal to a second pressure value different from the first pressure value, and the torque applied by the generator is equal to a second torque value,
• wherein the vehicle braking system is configured to implement a brake blending from the first braking configuration to the second braking configuration, wherein the brake blending comprises:
• actuating the at least one valve a maximum number of times to change said braking pressure from the first pressure value to the second pressure value;
• estimating a modification of said braking pressure over time to obtain a pressure modification estimation;
• controlling the torque applied by the generator from the first torque value to the second torque value in function of said pressure modification estimation and in function of the target value of the brake force.

A vehicle, comprising:

• an electric powertrain with a generator configured to apply a torque to at least one wheel of a plurality of wheels of the vehicle;
• a pressure operated braking system comprising friction brakes each comprising a respective brake chamber, wherein each friction brake is configured for braking the vehicle as a function of a braking pressure in the brake chamber of the respective friction brake, wherein each braking pressure is controlled by at least one valve and according to an open-loop control;
• a controller configured to receive a target value of a brake force, the brake force being a force resulting at least from the torque applied by the generator and the braking pressure in said brake chamber;
• wherein in a first braking configuration of the vehicle, the braking pressure of at least one brake of said friction brakes is substantially equal to a first pressure value and the torque applied by the generator is equal to a first torque value,
• wherein in a second braking configuration of the vehicle, the braking pressure of said at least one brake is substantially equal to a second pressure value different from the first pressure value, and the torque applied by the generator is equal to a second torque value,
• wherein the controller is configured to implement a brake blending from the first braking configuration to the second braking configuration, wherein the brake blending comprises:
• actuating the at least one valve a maximum number of times to change said braking pressure from the first pressure value to the second pressure value;
• estimating a modification of said braking pressure over time to obtain a pressure modification estimation;
• controlling the torque applied by the generator from the first torque value to the second torque value in function of said pressure modification estimation and in function of the target value of the brake force.