Abstract
It was found from the results of our investigation and analysis on ordinary drivers' braking behavior in panic situation that a system to assist drivers by recognizing panic situation and providing a proper additional braking force was effective for active safety. However, such a system, that provides the full braking force whenever it recognizes a panic situation, may not suit the intentions of skilled drivers and make them uncomfortable in some cases. Considering the above, we have developed the Brake Assist System with proper control performance that increases the controllability while minimizing the discomfort of skilled drivers, by varying the additional braking deceleration rate properly and increasing the wheel cylinder fluid-pressure smoothly.