SYSTEMS AND METHODS FOR CONTROLLING BRAKE ACTUATORS

Abstract

A brake actuator control system for a vehicle comprises: a request module designed to determine a braking request for the vehicle's brake actuators; a front preload module designed to determine, based on one or more operating parameters, a front preload for the front brake actuators, each assigned to the front wheels; a rear preload module designed to determine, based on the front preload, a rear preload for the rear brake actuators, each assigned to the rear wheels; and a control module designed to: determine a front braking request based on the braking request and the front preload; actuate the front brake actuators based on the front braking request; determine a rear braking request based on the braking request and the rear preload; and actuate the rear brake actuators based on the rear braking request.

Description

INTRODUCTION

[0001] The information contained in this section is intended to provide a general context for the disclosure. Work by the presently named inventors, to the extent described in this section, as well as aspects of the description that may not otherwise be considered prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against this disclosure.

[0002] The present disclosure relates to vehicle braking systems and, more particularly, to systems and methods for controlling vehicle brake actuators.

[0003] Vehicles include one or more torque-generating devices, such as an internal combustion engine and / or an electric motor. The torque-generating device(s) are used to output torque to propel the vehicle.

[0004] The passengers of a vehicle are transported in a passenger cabin (or passenger compartment) of the vehicle. A driver operates an accelerator pedal to input a request to accelerate the vehicle. The driver operates a brake pedal of the vehicle to input a request to decelerate the vehicle. The driver turns a steering wheel to turn or steer, or to input a request to turn or steer the vehicle left or right.

[0005] A vehicle's braking system applies friction brakes on the rotors to slow the vehicle's wheels in response to application of the brake pedal. SUMMARY

[0006] In one feature, a brake actuator control system for a vehicle comprises: a request module configured to determine a braking request for brake actuators of the vehicle, the brake actuators configured to independently decelerate rotation of respective wheels of the vehicle; a front bias module configured to determine, based on one or more operating parameters, a front bias for front ones of the brake actuators associated with front wheels, respectively; a rear bias module configured to determine, based on the front bias, a rear bias for rear ones of the brake actuators associated with rear wheels, respectively; a control module configured to: determine a front braking request for the front ones of the brake actuators based on the braking request and the front bias; actuate the front ones of the brake actuators based on the front braking request;Determining a rear brake request for the rear brake actuators based on the brake request and the back tension; and actuating the rear brake actuators based on the rear brake request.

[0007] In further features, the one or more operating parameters include a brake rotor temperature.

[0008] In further features, the one or more operating parameters comprise a parameter of an electric drive motor of the vehicle.

[0009] For further features, the parameter is a temperature of the electric drive motor.

[0010] In further features, the one or more operating parameters comprise an operating mode of the vehicle.

[0011] For further features, the one or more operating parameters include a drive torque of the vehicle.

[0012] Other features include one or more operating parameters that include brake actuator capability.

[0013] In other features, the back bias module is designed to adjust the back bias based on 100 minus the front bias.

[0014] In further features, the control module is configured to: apply power to first electric motors of the front brake actuators based on the front brake request; and apply power to second electric motors of the rear brake actuators based on the rear brake request.

[0015] In further features: a distribution module is configured to determine a front percentage based on a static front mass of the vehicle, wherein the front bias module is configured to determine the front bias based on the static front mass and the one or more operating parameters.

[0016] For further features, the distribution module is designed to determine the front percentage using a lookup table or an equation relating front static masses and front percentages.

[0017] For other features, a module for static mass is designed to determine the static front mass based on the braking requirement.

[0018] For other features, the module is designed for static mass in order to continue determining the static front mass based on a vehicle loading parameter.

[0019] Other characteristics include the vehicle load parameter, which indicates whether the vehicle is towing a trailer.

[0020] For other characteristics, the vehicle load parameter is the current load of the vehicle.

[0021] For other characteristics, the vehicle loading parameter is a mass distribution of the vehicle.

[0022] For other features, the module is designed to determine the static front mass using a lookup table or equation that relates the vehicle loading parameters and braking requirements to the static front mass.

[0023] In addition, the control module is designed to adjust the front brake requirement based on the brake requirement multiplied by the front preload.

[0024] In addition, the control module is designed to adjust the rear brake requirement based on the brake requirement multiplied by the back preload.

[0025] For a feature, a brake actuator control procedure for a vehicle comprises: determining a brake request for the vehicle's brake actuators, wherein the brake actuators are designed to independently slow the rotation of the respective wheels of the vehicle; determining a front preload for the front brake actuators, each assigned to the front wheels, based on one or more operating parameters; determining a back preload for the rear brake actuators, each assigned to the rear wheels; determining a front brake request for the front brake actuators based on the brake request and the front preload; actuating the front brake actuators based on the front brake request; determining a rear brake request for the rear brake actuators based on the brake request and the back preload.and actuation of the rear brake actuators based on the rear brake request.

[0026] Further areas of applicability of the present disclosure will become apparent from the detailed description, claims, and drawings. The detailed description and specific examples are for illustrative purposes only and are not intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present disclosure will be better understood with the help of the detailed description and the accompanying drawings, whereby: Fig. 1 is a functional block diagram of an exemplary vehicle system; Fig. 2 is a top view of an exemplary vehicle with brake actuators; Fig. 3 is a functional block diagram of an exemplary implementation of a brake control module; Fig. 4 is a flowchart showing an exemplary method for controlling the brake actuators.

[0028] Reference symbols may be reused in the drawings to identify similar and / or identical elements. DETAILED DESCRIPTION

[0029] Enhanced braking systems of vehicles may include a brake booster that supplies hydraulic fluid to the brake calipers of the respective wheels of the vehicle. The present application relates to individual / independent pressure / force-generating brake actuators for the respective wheels. Each brake actuator exerts pressure on a rotor of its wheel independently of the other brake actuators.

[0030] The present application involves the dynamic determination of the preload to be applied to the front brake actuators and the rear brake actuators based on the vehicle's operating condition and other operating parameters. Dynamically proportioning the brake preload between the front and rear wheels increases the vehicle's stability performance and enhances the vehicle's braking performance.

[0031] With reference now to Fig. Section 1 presents a functional block diagram of an exemplary vehicle system. While a vehicle system for a hybrid vehicle is shown and described, the present application is also applicable to non-hybrid vehicles, electric vehicles, fuel cell vehicles, and other vehicle types. The present application is applicable to autonomous vehicles, semi-autonomous vehicles, non-autonomous vehicles, shared vehicles, non-shared vehicles, and other vehicle types.

[0032] An engine 102 can burn an air-fuel mixture to generate propulsive torque. An engine control module (ECM) 106 controls the engine 102. For example, the engine control module 106 can control the actuation of engine actuators, such as a throttle valve, one or more spark plugs, one or more fuel injectors, valve actuators, camshaft adjusters, an exhaust gas recirculation (EGR) valve, one or more boost pressure devices, and other suitable engine actuators. In some vehicle types (e.g., electric vehicles), the engine 102 may be omitted.

[0033] The engine 102 may deliver torque to a transmission 110. A transmission control module (TCM) 114 controls the operation of the transmission 110. For example, the transmission control module 114 may control gear selection within the transmission 110 and one or more torque-transmitting devices (e.g., a torque converter, one or more clutches, etc.).

[0034] The vehicle system may include one or more electric motors. For example, an electric motor 118 may be implemented within the transmission 110, as in the example of Fig. Figure 1 shows that an electric motor can operate either as a generator or as a motor at any given time. In its function as a generator, an electric motor converts mechanical energy into electrical energy. This electrical energy can be used, for example, to charge a battery 126 via a PCD (Power Control Device) 130. In its function as a motor, an electric motor generates torque, which can be used, for example, to supplement or replace the torque output by the motor 102. While the example shows a single electric motor, the vehicle may also include no electric motor or more than one.

[0035] A power inverter module (PIM) 134 can control the electric motor 118 and the PCD 130. Based on signals from the PIM 134, the PCD 130 supplies the electric motor 118 with power from the battery 126, and the PCD 130, for example, supplies power supplied by the electric motor 118 to the battery 126. The PIM 134 can, for example, include an inverter.

[0036] A steering control module 140 controls the steering / rotation of the vehicle's wheels, e.g., based on the driver's rotation of a steering wheel within the vehicle and / or steering commands from one or more vehicle control modules. A steering wheel angle (SWA) sensor (not shown) monitors the rotational position of the steering wheel and generates a steering wheel angle 142 based on the steering wheel's position. For example, the steering control module 140 may control the vehicle's steering via an electromechanical power steering (EPS) motor 144 based on the steering wheel angle 142. However, the vehicle may also include another type of steering system.

[0037] A brake control module 150 can control the actuation of the vehicle's brake actuators 154 (brake actuator modules) based on one or more driver inputs, such as a brake pedal position (BPP) 170. The brake actuators 154 control the actuation of the friction brakes at the respective wheels of the vehicle. The brake actuators 154 actuate the respective friction brakes independently of one another.

[0038] Vehicle modules can exchange parameters via a network (162), such as a Controller Area Network (CAN). A CAN can also be referred to as a Car Area Network. The network (162) can, for example, comprise one or more data buses. Various parameters can be transmitted from one module to other modules via the network (162).

[0039] Driver inputs can include, for example, an accelerator pedal position (APP) 166, which can be transmitted to the engine control module 106. The brake pedal position 170 can be transmitted to the brake control module 150. A position 174 of a park, reverse, neutral, or drive lever (PRND lever) can be transmitted to the transmission control module 114. An ignition state 178 can be transmitted to an onboard power supply control unit (BSG) 180. The ignition state 178 can be entered, for example, by a driver using an ignition key, a button, or a switch. At any given time, the ignition state 178 can be one of the states Off, Accessory, Operating, or Starting.

[0040] An infotainment module 183 may output various information via one or more output devices 184. The output devices 184 may include, for example, one or more displays (non-touchscreen and / or touchscreen), one or more other suitable types of video output devices, one or more speakers, one or more haptic devices, and / or one or more other suitable types of output devices.

[0041] The infotainment module 183 may output video through one or more displays. The infotainment module 183 may output sound through one or more speakers. The infotainment module 183 may also output other feedback through one or more haptic devices. For example, haptic devices may be included in one or more seats, in one or more seatbelts, in the steering wheel, etc. Examples of displays may include, for example, one or more displays (e.g., on a front console) of the vehicle, a head-up display (HUD) that displays information about a support (e.g., windshield), one or more displays that descend or extend upward to form panoramic views, and / or one or more other suitable displays.

[0042] The vehicle may include a variety of external sensors and cameras, generally in Fig. 1 at 186. One or more actions may be performed based on inputs from the exterior sensors and cameras 186. For example, the infotainment module 183 may display videos, various views, and / or alerts on a display that are input from the exterior sensors and cameras 186 while driving.

[0043] The vehicle may include one or more additional control modules not shown, such as a chassis control module, a battery pack control module, etc. The vehicle may omit one or more of the control modules shown and discussed.

[0044] Fig. Figure 2 is a top view of an exemplary vehicle and illustrates examples of the wheels 204 and the brake actuators 154. The brake actuators 154 are designed to actuate friction brakes and / or to slow the rotation of the wheels 204. One brake actuator 154 is provided for each wheel. The brake actuators 154 can be, for example, electromechanical or electrohydraulic brake actuators and each comprises an independent pressure / force generation device that applies one or more brake pads to a rotor of the respective wheel.

[0045] Fig. Figure 3 is a functional block diagram of an exemplary implementation of the brake control module 150. A request module 304 determines a brake request 308, for example, based on the BPP 170 and / or one or more other parameters. Examples of other parameters include autonomous driving requests, emergency braking requests, and other parameters. The request module 308 can determine the brake request 308, for example, using a lookup table or an equation that relates BPPs to brake requests. The request module 308 can increase the brake request if the BPP increases, and vice versa.

[0046] A static mass module 312 determines a static front mass 316 of the vehicle based on the braking request 308 and one or more vehicle loading parameters 320. When the brakes are applied, more force is applied to the vehicle's front wheels as the vehicle decelerates. The static front mass 316 may correspond to a normal (downward) force on the vehicle's front wheels. Examples of the vehicle loading parameters 320 include an indication of whether the vehicle is towing a trailer, the vehicle's current load, a mass distribution of the vehicle, and / or one or more other vehicle loading parameters. The current load and / or the mass distribution may be determined, for example, based on measured ride heights of the vehicle or determined in another suitable manner.The module 312 for static mass can determine the static front mass 316, for example, using a lookup table that relates the vehicle's loading conditions and braking requirements to the static front masses.

[0047] A distribution module 324 determines a percentage 328 of the front brake application (percentage front application) based on the static front mass 316. The percentage 328 of the front brake application can define the distribution between the braking force applied by the front wheel brake actuators and the braking force applied by the rear wheel brake actuators. The distribution module 324 can determine the percentage 328 of the front brake application using an equation or a lookup table that relates the static front masses to the percentage of the front brake application. For example, the distribution module 324 can decrease the percentage of the front brake application when the static front mass increases, and vice versa. The percentage 328 of the front brake application can, for example, be a percentage between 0 and 100 percent.

[0048] A front bias module 332 determines a front bias percentage 336 based on the front brake percentage 328 and one or more existing operating parameters. The front bias module 332 may determine the front bias percentage 336 using, for example, one or more equations and / or a lookup table that relate the front brake percentage and the operating parameters to the front bias percentage. Examples of operating parameters include a current mode 340 (e.g., tow, off-road, sport, eco, normal, etc.), a brake actuator capability 344, e.g., one or more motor parameters 348 of the electric motor(s) 118, one or more brake rotor temperatures 352, a current drive torque 356, and one or more other parameters.The brake bias between the front and rear brakes can be adjusted based on mode 340, for example, to optimize the torque distribution for the current mode 340. The rotor temperatures 352 can be used to shift braking to the front or rear wheels so that the rotor temperatures 352 are within a predetermined temperature range. Based on the drive torque 356, for example, if the negative motor torque is limited at a front or rear axle, the braking can be distributed to, for example, maximize tire grip. The motor parameters 348 can include, for example, the temperature(s) of the electric motor(s) 118, whether regeneration is performed, whether the torque output is limited, and / or one or more other parameters. Based on the brake actuator capability 344, braking can be shifted to the front or rear wheels, e.g.based on optimizing vehicle stability and brake actuator loads. For example, the front preload percentage 336 can be a percentage between 0 and 100 percent.

[0049] A back bias module 360 ​​determines a back bias percentage 364 based on the front bias percentage 336, for example, using a lookup table or an equation. For example, the back bias module 360 ​​may set the back bias percentage 364 based on or equal to 100 minus the front bias percentage 336. For example, the back bias percentage 364 may be a percentage between 0 and 100 percent, inclusive.

[0050] A power control module 368 supplies power to the electric motors of the brake actuators 154 of the front wheels based on the braking request 308 (e.g., a force) and the percentage 336 of the front preload. The power control module 368 supplies power to the electric motors of the brake actuators 154 of the rear wheels based on the braking request 308 and the percentage 364 of the rear preload.

[0051] For example, the power control module 368 may determine a front braking request (e.g., a force) based on the braking request 308 and the front bias percentage 336. The power control module 368 may determine the front braking request, for example, using a lookup table or an equation that relates braking requests and front bias percentages to front braking requests. For example, the power control module 368 may set the front braking request based on or equal to the braking request multiplied by the front bias percentage 336 (e.g., as a value between 0.0 and 1.0 corresponding to the percentage). The power control module 368 may apply power to the electric motors of the brake actuators 154 of the front wheels based on satisfaction of the front braking request.

[0052] The power control module 368 may determine a rear braking request (e.g., a force) based on the braking request 308 and the rear bias percentage 364. The power control module 368 may determine the rear braking request, for example, using a lookup table or an equation that relates braking requests and rear bias percentages to front braking requests. For example, the power control module 368 may set the rear braking request based on or equal to the braking request 308 multiplied by the rear bias percentage 364 (e.g., as a value between 0.0 and 1.0 corresponding to the percentage). The power control module 368 may apply power to the electric motors of the rear wheel brake actuators 154 based on satisfaction of the rear braking request.

[0053] The power control module 368 may supply the electric motors of the brake actuators 154 with power from the battery 126. In various implementations, the power control module 368 may convert the direct current (DC) power from the battery 126 to alternating current (AC) power and supply the electric motors with AC power. Although an example implementation is shown, the power control module 368 (and / or one or more other modules) may be implemented differently. For example, the power control module 368 may be implemented in the brake control module or in the brake actuators 154.

[0054] Fig. Figure 4 is a flowchart showing an exemplary procedure for controlling the brake actuators 154. The control begins at 404, where the request module 304 determines the brake request 308, e.g., based on the BPP 170. At 408, the static mass module 316 determines the static front mass 316 based on the brake request 308 and the vehicle load parameter 320.

[0055] At 412, the distribution module 324 determines the front brake percentage 328 based on the static front mass 316. At 416, the front bias module 332 determines the front bias percentage 336 as discussed above.

[0056] At 420, the rear bias module 360 ​​determines the rear bias percentage 364 based on the front bias percentage 336. At 424, the power control module 368 may determine the front braking request based on the braking request 308 and the front bias percentage 336. At 428, the power control module 368 may determine the rear braking request based on the braking request 308 and the rear bias percentage 364. At 432, the power control module 368 supplies power to and actuates the front wheel brake actuators 154 to satisfy the front braking request. Additionally, the power control module 368 supplies power to and actuates the rear wheel brake actuators 154 to satisfy the rear braking request. Control returns to 404. A loop of Fig. 4 can be carried out or started within any specified time period.

[0057] The above description is for illustrative purposes only and is not intended to limit the disclosure, its application, or its use in any way. The comprehensive teachings of the disclosure can be implemented in a wide variety of ways. Although this disclosure includes certain examples, the true scope of the disclosure should therefore not be limited to them, since other modifications will become apparent upon study of the drawings, the patent specification, and the following claims. It is understood that one or more steps within a process may be carried out in a different order (or simultaneously) without altering the principles of the present disclosure.Furthermore, although the embodiments are each described above as having specific features, each or more of these features described with respect to one embodiment of the disclosure may be implemented and / or combined with features of any of the other embodiments, even if this combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and an exchange of one or more embodiments for one another remains within the scope of this disclosure.

[0058] Spatial and functional relationships between elements (e.g., between modules, circuit elements, semiconductor layers, etc.) are described using various terms, including "connected," "engaging," "coupled," "adjacent," "adjacent," "on top of," "above," "below," and "disposed." If a relationship between first and second elements is not explicitly described as "direct" in the above disclosure, that relationship may be a direct relationship, with no other intervening elements between the first and second elements, or an indirect relationship, with one or more intervening elements (either spatial or functional) between the first and second elements.As used herein, the term “A, B and / or C” should be construed as logical (A ORed with B ORed with C) using a non-exclusive logical OR and should not be understood as “at least one of A, at least one of B and at least one of C”.

[0059] In the diagrams, the direction of an arrow, as indicated by its tip, generally illustrates the flow of information (e.g., data or instructions) that is relevant to the illustration. For example, if Element A and Element B exchange a variety of information, but the information transferred from Element A to Element B is relevant to the illustration, the arrow may point from Element A to Element B. This unidirectional arrow does not mean that no other information is transferred from Element B to Element A. Furthermore, Element B may send requests or acknowledgments of receipt for information sent from Element A to Element B.

[0060] In this application, which includes the definitions below, the term "module" or "controller" may be replaced by the term "circuit." The term "module" may refer to, be part of, or include: an application-specific integrated circuit (ASIC), a digital, analog, or mixed analog / digital discrete circuit, a digital, analog, or mixed analog / digital integrated circuit, a combinational logic circuit, a field-programmable gate array (FPGA), a processor circuit (common, dedicated, or group) that executes code, a memory circuit (common, dedicated, or group) that stores code executed by the processor circuit, other suitable hardware components that provide the described functionality, or a combination of some or all of the above components, for example, in a Systemon chip.

[0061] The module may include one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces connected to a local area network (LAN), the Internet, a wide area network (WAN), or combinations thereof. The functionality of any given module of the present disclosure may be distributed among multiple modules connected via interface circuits. For example, multiple modules may enable load balancing. In another example, a server module (also referred to as a remote or cloud module) may perform some functions on behalf of a client module.

[0062] The term "code" as used above may include software, firmware, and / or microcode and may refer to programs, routines, functions, classes, data structures, and / or objects. The term "common processor circuitry" includes a single processor circuitry that executes code from multiple modules, in part or in whole. The term "group processor circuitry" includes a processor circuitry that, in combination with additional processor circuitry, executes code from one or more modules, in part or in whole. References to multiple processor circuitry include multiple processor circuitry on discrete chips, multiple processor circuitry on a single chip, multiple cores of a single processor circuitry, multiple threads of a single processor circuitry, or a combination thereof. The term "shared memory circuitry" includes a single memory circuitry that stores code from multiple modules, in part or in whole.The term “group memory circuit” includes a memory circuit that, in combination with additional memories, stores some or all of the code from one or more modules.

[0063] The term "memory circuit" is a subset of the term computer-readable medium. The term "computer-readable medium," as used herein, does not include transient electrical or electromagnetic signals that propagate through a medium (e.g., on a carrier wave); the term "computer-readable medium" can therefore be considered tangible and non-transitory. Non-limiting examples of a non-transitory, tangible, computer-readable medium include non-volatile memory circuits (e.g., a flash memory circuit, an erasable programmable read-only memory circuit, or a mask read-only memory circuit), volatile memory circuits (e.g., a static random access memory circuit or a dynamic random access memory circuit), magnetic storage media (e.g., an analog or digital magnetic tape or a hard disk drive), and optical storage media (e.g.,a CD, a DVD or a Blu-ray Disc).

[0064] The devices and methods described in this application may be implemented partially or entirely by a special-purpose computer created by configuring a general-purpose computer to perform one or more specific functions contained in computer programs. The functional blocks, flowchart components, and other elements described above serve as software specifications that can be translated into computer programs through the routine work of a skilled technician or programmer.

[0065] The computer programs include processor-executable instructions stored on at least one non-transitory, tangible, computer-readable medium. The computer programs may also include or be based on stored data. The computer programs may include a basic input / output system (BIOS) that interacts with the hardware of the special-purpose computer, device drivers that interact with specific devices of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0066] The computer programs may comprise: (i) descriptive text to be parsed, e.g. B. HTML (Hypertext Markup Language), XML (Extensible Markup Language) or JSON (JavaScript Object Notation), (ii) assembly code, (iii) object code generated from source code by a compiler, (iv) source code for execution by an interpreter, (v) source code for compilation and execution by a just-in-time compiler, etc. By way of example only, source code can be written using the syntax of languages ​​including C, C++, C#, ObjectiveC, Swift, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, Javascript®, HTML5 (Hypertext Markup Language 5th Revision), Ada, ASP (Active Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, Visual Basic®, Lua, MATLAB, SIMULINK and Python®.

Claims

[1] A brake actuator control system for a vehicle, comprising: a request module designed to determine a braking request for brake actuators of the vehicle, wherein the brake actuators are designed to independently decelerate the rotation of the respective wheels of the vehicle; a front bias module configured to determine a front bias for the front brake actuators associated with the front wheels based on one or more operating parameters; a back bias module configured to determine, based on the front bias, a back bias for the rear of the brake actuators associated with the rear wheels, respectively; a control module designed to: Determining, based on the braking request and the front bias, a front braking request for the front of the brake actuators; Actuating the front brake actuators based on the front brake request; Determining, based on the braking request and the back bias, a rear braking request for the rear of the brake actuators; and Actuate the rear brake actuators based on the rear brake request. [2] The brake actuator control system of claim 1, wherein the one or more operating parameters comprise a brake rotor temperature. [3] The brake actuator control system of claim 1, wherein the one or more operating parameters comprise a parameter of an electric drive motor of the vehicle. [4] The brake actuator control system of claim 3, wherein the parameter is a temperature of the electric drive motor. [5] The brake actuator control system of claim 1, wherein the one or more operating parameters comprise an operating mode of the vehicle. [6] The brake actuator control system of claim 1, wherein the one or more operating parameters comprise a drive torque of the vehicle. [7] The brake actuator control system of claim 1, wherein the one or more operating parameters comprise a brake actuator capability. [8] The brake actuator control system of claim 1, wherein the back bias module is configured to adjust the back bias based on 100 minus the front bias. [9] The brake actuator control system of claim 1, wherein the control module is configured to: Applying power to the first electric motors of the front brake actuators based on the front brake request; and Applying power to the second electric motors of the rear brake actuators based on the rear brake request. [10] The brake actuator control system of claim 1, further comprising: a distribution module designed to determine a front percentage based on a static front mass of the vehicle, wherein the front bias module is configured to determine the front bias based on the static front mass and the one or more operating parameters.

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