METHOD FOR DISCRETE HANDLING OF BRAKE CONTROL BETWEEN DRIVER AND MECHANICAL SYSTEM

A system for controlling a braking system of a vehicle includes monitoring a manually applied braking value based on a displacement of a brake pedal mechanically coupled to brake calipers; determining that an additional braking value is needed to provide a needed total braking value; in response to determining that the additional braking value is needed, applying a controller braking value as the additional braking value by actuating an actuator to physically move the brake pedal away from a foot of a driver; decaying the manually applied braking value while the controller braking value is applied; detecting, using vehicle sensors coupled to a controller, that application of the total needed braking value results in an updated vehicle trajectory that satisfies predetermined braking threshold criteria; and incrementally decreasing the controller braking value and incrementally increasing the manually applied braking value such that the brake pedal incrementally returns to the driver's foot.