A safety stoppage device and method for safety stoppage of an autonomous vehicle including control networks and sensors for monitoring the autonomous vehicle surroundings and motion includes a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, and a signaling processing system for processing sensor signals enabling an autonomous drive mode thereof. Where a drivable space exists is predicted based on data from the sensors and sensor fusion, and a safe trajectory to a stop within the drivable space is calculated and sent to the brake-control unit and stored therein. The brake-control unit is shielded against electromagnetic compatibility problems and configured to monitor if the control networks are operational and, if determined incapacitated, control the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space using differential braking of the wheel brakes thereof in order to effectuate steering.

A safety stoppage device and method for safety stoppage of an autonomous vehicle including control networks and sensors for monitoring the autonomous vehicle surroundings and motion includes a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, and a signaling processing system for processing sensor signals enabling an autonomous drive mode thereof. Where a drivable space exists is predicted based on data from the sensors and sensor fusion, and a safe trajectory to a stop within the drivable space is calculated and sent to the brake-control unit and stored therein. The brake-control unit is shielded against electromagnetic compatibility problems and configured to monitor if the control networks are operational and, if determined incapacitated, control the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space using differential braking of the wheel brakes thereof in order to effectuate steering.

A braking control system for an aircraft having braking wheels, the braking control system being configured to receive input of signals from sensors representative of a plurality of measured aircraft parameters, and to output a plurality of brake commands to brakes associated with the braking wheels, wherein the braking control system includes a health monitoring system for determining the operability and/or reliability of the sensor signals and/or of the braking wheels, and a task manager for automatically self-reconfiguring the braking control system so as to change the manner in which the braking control system utilises the input signals in the event that the health monitoring system judges a failure of one or more of the braking wheels or sensor signals. Also a method for operating an aircraft having a plurality of braking wheels.

To provide braking-force control capable of suppressing a wheelie of a two-wheeled vehicle by changing braking-force distribution.

In a method for controlling a braking force of a combined brake system for the two-wheeled vehicle, a lean angle of a two-wheeled vehicle 1 is detected or computed, and, in the case where the lean angle exceeds a specified value, braking-force distribution to front and rear brake devices 11f, 11r is changed.

A brake system may include an actuating device, in particular a brake pedal; a first piston-cylinder unit having two pistons subjecting the brake circuits to a pressure medium via a valve device, wherein one of the pistons can be actuated by the actuation device; a second piston-cylinder unit having an electric motor drive, a transmission at least one piston to supply at least one of the brake circuits with a pressure medium via a valve device; and a motor pump unit with a valve device to supply the brake circuits with a pressure medium. The brake system may also include a hydraulic travel simulator with a pressure or working chamber which is connected to the first piston-cylinder unit.

A brake system may include an actuation device that may actuate a first piston-cylinder unit to apply pressure medium to at least one brake circuit via a valve device, where a piston of the first piston-cylinder unit separate first and second working chambers; a second piston-cylinder unit, having an electromotive drive and a transmission to feed pressure medium to at least one of the brake circuits via a valve device; and a motor-pump unit having a valve device to feed pressure medium to the brake circuits. The motor of the electromotive drive of the second piston-cylinder unit and the motor of the motor-pump unit may be used jointly or independently of one another, under control of a control device. The motor-pump unit is connected via two hydraulic connections, one or both of which may incorporate separating valves, to the first and second working chambers of the first piston-cylinder unit.

A vehicle braking control device includes supply and servo chambers sealed by a seal member, a pressure adjustment unit that adjusts front wheel pressure by supplying a first servo pressure to the servo chamber and outputs front wheel supply pressure from the supply chamber to a front wheel cylinder, and adjusts rear wheel pressure by outputting a second servo pressure to a rear wheel cylinder as rear wheel supply pressure, front/rear wheel supply pressure sensors that detect the front/rear wheel supply pressures respectively, and a controller that selects any one of a two-system pressure adjustment for individually adjusting the first and second servo pressures, and a one-system pressure adjustment for adjusting the first and second servo pressures to be the same. The controller individually calculates front/rear wheel target pressures and causes the front/rear wheel supply pressures to coincide with the front/rear wheel target pressures in the two-system pressure adjustment

A vehicle braking control device includes supply and servo chambers sealed by a seal member, a pressure adjustment unit that adjusts front wheel pressure by supplying a first servo pressure to the servo chamber and outputs front wheel supply pressure from the supply chamber to a front wheel cylinder, and adjusts rear wheel pressure by outputting a second servo pressure to a rear wheel cylinder as rear wheel supply pressure, front/rear wheel supply pressure sensors that detect the front/rear wheel supply pressures respectively, and a controller that selects any one of a two-system pressure adjustment for individually adjusting the first and second servo pressures, and a one-system pressure adjustment for adjusting the first and second servo pressures to be the same. The controller individually calculates front/rear wheel target pressures and causes the front/rear wheel supply pressures to coincide with the front/rear wheel target pressures in the two-system pressure adjustment

A brake system may include an actuation device that may actuate a first piston-cylinder unit to apply pressure medium to at least one brake circuit via a valve device, where a piston of the first piston-cylinder unit separate first and second working chambers; a second piston-cylinder unit, having an electromotive drive and a transmission to feed pressure medium to at least one of the brake circuits via a valve device; and a motor-pump unit having a valve device to feed pressure medium to the brake circuits. The motor of the electromotive drive of the second piston-cylinder unit and the motor of the motor-pump unit may be used jointly or independently of one another, under control of a control device. The motor-pump unit is connected via two hydraulic connections, one or both of which may incorporate separating valves, to the first and second working chambers of the first piston-cylinder unit.

The present invention provides a controller and a control method capable of improving safety of a lean vehicle.

According to a controller (30) and a control method of the present invention, an execution section of the controller executes an operation that causes the lean vehicle to execute a cruise control based on a positional relationship information that is information about a positional relationship between the lean vehicle and a preceding vehicle preceding the lean vehicle. While the operation is enabled by a rider of the lean vehicle, the execution section changes a ratio between a braking force generated in a front wheel of the lean vehicle and a braking force generated in a rear wheel based on a speed information of the lean vehicle.