US Patent 11498561 Vehicle deceleration system

A vehicle includes a control system, a sensing system that senses an environment of the vehicle, and a propulsion system, a braking system, and a steering system that are operated by the control system to navigate the vehicle according to the sensing system and without direct human control. The propulsion system and the braking system are operated by the control system to cooperatively decelerate the vehicle. The braking system includes an inboard friction brake that is associated with one or more wheels of the vehicle and does not form unsprung mass of the vehicle.