bra是一个英文缩写，指的是纯棉文胸，带有法国蕾丝花边的，一般里面是有钢圈的，对承托起胸部和美观很有效。女性的束胸衣借用了这一词汇而已。BRA全称为Brassiere，源于法语brassière，意思为手臂保护物。后来演变为欧洲军队的护胸铠甲。
lingerie: 女内衣;女睡衣
underwear 英[ˈʌndəweə(r)] 美[ˈʌndərwer]
n. 衬衣，内衣;
[例句]He put on his underwear and got into his suit.
他穿好内衣，然后穿上西装。
undergarment can be anything that is underneath your outer clothes, from a vest, stockings,a t-shirt under ur sweater, to underwear.
underwear= knickers/boxers & bra。Underwear can be anything. Expensive, cheap, revealing, not revealing, everything.
lingerie= is just the french word for underwear but it is used in english to mean the same thing....but it only refers to womens underwear,definately don't use it for a guy lol.
Lingerie is usually what looks sexier, and might be a little more expensive than regular underwear. It's what a woman might wear if she wanted to make a man say "wow" I think.
chemise= is the silk/satan/lace type vest u wear to bed or under your clothes,a kind of "undergarment" & it's a french word but also used in english sometimes (if you want to be "fancy" ;) & again it's only something women wear
