Methods for transitioning a braking system between primary and fallback modes are provided. A method in accordance with the present disclosure may include identifying a failure in the functionality of the primary braking system, and, upon identifying the failure, mitigating an abrupt increase in a pedal travel distance required to brake or otherwise decelerate the vehicle so as to provide smooth transition from a primary braking mode to a fallback braking mode. The mitigating the increase in the pedal travel distance may include initiating a transition to the fallback braking mode, activating at least one of a plurality of transition braking modes, and gradually increasing the pedal travel distance by deactivating at least one of the previously activated transition braking modes.

Ground vehicle air data systems, and associated methods are disclosed herein. In one embodiment, a method for determining a drag coefficient of a vehicle includes the steps of: while the vehicle is at rest, opening a valve that connects an air tank with an outside atmosphere; while the vehicle is at rest, closing the valve that connects the air tank with the outside atmosphere; and while the vehicle is in motion, measuring a total pressure with a total pressure probe carried by the vehicle.

Ground vehicle air data systems, and associated methods are disclosed herein. In one embodiment, a method for determining a drag coefficient of a vehicle includes the steps of: while the vehicle is at rest, opening a valve that connects an air tank with an outside atmosphere; while the vehicle is at rest, closing the valve that connects the air tank with the outside atmosphere; and while the vehicle is in motion, measuring a total pressure with a total pressure probe carried by the vehicle.

Systems and methods for a braking a vehicle. In one example, the braking system includes a friction braking system, a regenerative braking system, and an electronic processor. The electronic processor is communicatively coupled to the friction braking system and the regenerative braking system. The electronic processor is configured to receive a driver brake request and determine a brake failure state. The brake failure state indicates a brake failure. In response to determining the brake failure state, the electronic processor applies a braking force based on the driver brake request. The braking force includes a frictional braking force generated by the friction braking system and a regenerative braking force generated by the regenerative braking system.

An electric travelling vehicle including: a motor controller configured to control an electric motor based on displacement of a steering operation part to a forward travel position, a neutral position, and a rearward travel position, a brake controller configured to bring an electromagnetic power-off brake into a released state or a braking state; and a travel state detector configured to detect a travelling state that is accompanied with the released state, a stopped state that is accompanied with the braking state, and a transit stopped state that is accompanied with the braking state.

The present invention provides a technology for comprehensive verification of the safety of the design of functions, on the basis of a safety analysis result. The disclosed vehicle control system verification device is equipped with a storage device that stores programs for verifying the safety of the logical architecture of a vehicle control system, and a processor that reads the programs from the storage device and verifies the safety of the logical architecture. On the basis of safety analysis result information that is supplied, the processor executes a process for verifying whether the logical architecture has logical functions corresponding to the safety analysis result.

A power supply system includes a high-potential end; a low-potential end; a power storage element including a positive terminal and a negative terminal, the negative terminal being connected to the low-potential end; a diode including an anode and a cathode, the cathode being connected to the high-potential end; a power source line connected between the anode and the positive terminal; and a first switch, connected in parallel to the diode, the first switch turning on when the power storage element is to be charged from the DC power source through the high-potential end or when a current value of discharge current flowing in the power source line from the positive terminal toward the anode is greater than or equal to a positive threshold, and the first switch turning off when the power storage element is not to be charged and the current value is less than the threshold.

A method for detecting and measuring a clamping force and/or a braking torque includes encapsulating a fiber-optic strain sensor in a casing and incorporating the casing in a portion of friction material adhering to a base platform of a brake pad, detecting, by the fiber-optic strain sensor, a first strain in a first position of the casing along a first direction and a second strain in a second position of the friction material along a second direction, generating a first photonic signal, representative of the first detected strain, and a second photonic signal, representative of the second detected strain, receiving the first and second photonic signals, by an optical reading/interrogation unit, optically connected to the fiber-optic strain sensor, determining, by the optical reading/interrogation unit, the values of the first and second strains based on the first and second received photonic signals and determining a measurement of the clamping force and/or braking torque based on determined values of the first and second strains.

A vehicle control apparatus performs automatic braking control of a braking apparatus of a vehicle. The vehicle control apparatus determines durability of the braking apparatus and sets a control mode of automatic braking control to a restricted mode in which operation of the braking apparatus is restricted in response to determining that the durability of the braking apparatus has decreased. The restricted mode restricts execution of operation of the braking apparatus based on a generating factor for a deceleration request of the vehicle. The vehicle control apparatus determines whether to perform braking of the vehicle based on the deceleration request, based on the restricted mode and the generating factor for the deceleration request, in response to the deceleration request of the vehicle being generated.

A self-driving work vehicle including a traveling apparatus, a vehicle body supported by the traveling apparatus on ground, a variable traveling power supply apparatus configured to supply rotational drive power to the traveling apparatus, a travel operation interface configured to adjust a rate of the rotational drive power, a parking brake provided for a transmission shaft of the variable traveling power supply apparatus, a rotation detector configured to detect rotation of the traveling apparatus or the transmission shaft, and a controller. The controller is configured or programmed to control the parking brake to a braking state or a non-braking state by a parking brake control module, and manage the braking state or the non-braking state as a vehicle body state by a condition management module. The braking state and the non-braking state are operating states of the parking brake.