Abstract: A brake system for a vehicle is configured to mix a brake request signal corresponding to a level of a brake request with a variable frequency and a variable amplitude (e.g. torque tickle) when generating a signal for controlling a brake. The brake system comprises: one or more brakes configured to apply braking to one or more vehicle wheels; memory; and a processor configured to mix a brake request signal corresponding to a level of a brake request with a variable frequency and a variable amplitude to generate a signal for controlling the one or more brakes, wherein the variable frequency is retrieved from one or more predetermined frequencies stored in the memory, and the variable amplitude is calculated based on the level of the brake request.

Abstract: During an operation of applying a parking brake, when sufficient brake clamping force is applied by a brake actuator, a parking lock actuator having a pin is energized to cause the pin to be moved toward a strut so that the strut is engaged with one of notches of a rotatable part operably connected with the brake actuator in order to prevent rotation of the rotatable part in one direction of releasing the brake and to allow rotation of the rotatable part in the other direction of applying the brake, and then the parking lock actuator is de-energized and the pin is moved away from the strut. During an operation of releasing the parking brake, the brake actuator rotates the rotatable part in the brake apply direction to disengage the strut from the notch, and then releases the brake.