Automatic brake control system

The system has deceleration establishing section (25) to create a deceleration (alpha 2) based on a vehicle speed, obstacle speed and distance. A section (22) establishes a target deceleration (alpha ) at a preset deceleration (alpha 1) when a distance is smaller or larger than a threshold distance. A brake drive control unit performs a deceleration control for generating a braking torque to the target deceleration in a brake apparatus. An independent claim is also included for a method of automatically applying a brake when a vehicle comes near to an obstacle ahead.