Systems and methods for dynamically distributing brake torque among a plurality of brakes of a vehicle

1. A method for dynamically distributing brake torque among a plurality of brakes of a vehicle, the method comprising: detecting a braking distribution condition; in response to detecting the braking distribution condition, calculating a weight distribution for the vehicle based on a longitudinal acceleration and a lateral acceleration associated with the vehicle to provide a calculated weight distribution; calculating a brake torque limit for each of the plurality of brakes based on the calculated weight distribution to provide calculated brake torque limits; calculating a target brake torque for each of the plurality of brakes based on a driver-demanded brake torque to provide target brake torques; comparing the calculated brake torque limits with corresponding target brake torques; and in response to determining that a target brake torque associated with a given brake exceeds a brake torque limit associated with the given brake, adjusting a brake torque applied to the given brake to provide an adjusted brake torque, wherein the adjusted brake torque is less than or equal to the brake torque limit associated with the given brake; detecting if an antilock braking system (ABS) of the vehicle is active; and in response to detecting that the ABS of the vehicle is not active, determining whether (i) the adjusted brake torque meets the driver-demanded brake torque and (ii) wheels of the vehicle maintain stability for a predetermined period of time.

2. The method of claim 1 , further comprising:

measuring wheels speeds associated with each wheel of the vehicle to provide measured wheel speeds.

3. The method of claim 2 , wherein calculating the target brake torque for each of the plurality of brakes is further based on the measured wheel speeds.

4. The method of claim 2 , further comprising:

calculating an estimated vehicle speed based on the measured wheel speeds.

5. The method of claim 4 , wherein calculating the target brake torque for each of the plurality of brakes is further based on the estimated vehicle speed.

6. The method of claim 1 , wherein detecting a braking distribution condition comprises detecting a braking event.

7. The method of claim 6 , wherein detecting the braking event is based on at least one of:

detecting movement of a brake pedal of the vehicle; and

detecting a presence of an object in the vehicle's path.

8. The method of claim 1 , further comprising:

in response to determining that either (i) the adjusted brake torque does not meet the driver-demanded brake torque or (ii) the wheels do not maintain stability for the predetermined period of time, re-adjusting the brake torque applied to the given brake to provide a new adjusted brake torque.

9. A system for dynamically distributing brake torque, comprising: a plurality of brakes of a vehicle; and,

an electronic control unit including a processor configured to function as: a brake distribution detection module configured to detect a braking distribution condition; a weight distribution calculation module configured to calculate a weight distribution for the vehicle based on a longitudinal acceleration and a lateral acceleration associated with the vehicle to provide a calculated weight distribution in response to detecting the braking distribution condition; a brake torque limit calculation module configured to calculate a brake torque limit for each of the plurality of brakes based on the calculated weight distribution to provide calculated brake torque limits; an antilock braking system (ABS) detection module configured to detect if an ABS of the vehicle is active; and a target brake torque calculation module configured to: calculate a target brake torque for each of the plurality of brakes based on a driver-demanded brake torque to provide target brake torques; compare the calculated brake torque limits with corresponding target brake torques; in response to determining that a target brake torque associated with a given brake exceeds a brake torque limit associated with the given brake, adjust a brake torque applied to the given brake to provide an adjusted brake torque, wherein the adjusted brake torque is less than or equal to the brake torque limit associated with the given brake; and determine whether (i) the adjusted brake torque meets the driver-demanded brake torque and (ii) wheels of the vehicle maintain stability for a predetermined period of time in response to the ABS detection module detecting that the ABS of the vehicle is not active.

10. The system of claim 9 , further comprising:

one or more wheel speed sensors configured to measure wheels speeds associated with each wheel of the vehicle to provide measured wheel speeds.

11. The system of claim 10 , wherein the target brake torque calculation module is further configured to calculate the target brake torque for each of the plurality of brakes based on the measured wheel speeds.

12. The system of claim 10 ,

wherein the processor is further configured to function as an estimated vehicle speed calculation module configured to calculate an estimated vehicle speed based on the measured wheel speeds.

13. The system of claim 12 , wherein the target brake torque calculation module is further configured to calculate the target brake torque for each of the plurality of brakes based on the estimated vehicle speed.

14. The system of claim 9 , wherein the brake distribution detection module is configured to detect the braking distribution condition by detecting a braking event.

15. The system of claim 14 , wherein the brake distribution detection module is configured to detect the braking event by performing at least one of:

detecting movement of a brake pedal of the vehicle; and

detecting a presence of an object in the vehicle's path.

16. The system of claim 9 , wherein the target brake torque calculation module is further configured to re-adjust the brake torque applied to the given brake to provide a new adjusted brake torque in response to determining that either (i) the adjusted brake torque does not meet the driver-demanded brake torque or (ii) the wheels do not maintain stability for the predetermined period of time.