An electro-hydraulic brake system including one or more friction brakes, a first electronic parking brake, a second electronic parking brake, a primary controller, and a secondary controller. The one or more friction brakes are configured to brake one or more wheels of the vehicle and the primary controller is in communication with the one or more friction brakes. The secondary controller in communication with the first electronic parking brake and the second electronic parking brake. The secondary controller being configured to, responsive to the primary controller malfunctioning and dynamic movement of the one or more wheels of the vehicle, command at least one of the first electronic parking brake and the second electronic parking brake to dynamically brake the one or more wheels.

The present embodiments relate to a slip control device and method. Specifically, a slip control device according to an embodiment may include a determiner configured to determine, in response to an input of a braking signal, a target slip rate for a wheel corresponding to the braking signal, an adjuster configured to adjust a gain of a switching term constituting a slip controller model based on a vehicle speed of a host vehicle, and a controller configured to generate a braking torque so that a slip rate of the wheel converges to the target slip rate based on the slip controller model.

A brake control system is for a vehicle containing an internal controller for outputting an internal control variable for at least one brake actuator. An interface receives an external control variable for the at least one brake actuator from an external controller. A decision circuit has at least two inputs for receiving the internal control variable and the external control variable and an output for outputting a control signal for the at least one brake actuator. The control signal depends on the received internal control variable and/or the received external control variable.

A method for dynamically controlling a vehicle having at least one wheel includes: measuring a wheel speed of the at least one wheel as a measured wheel speed; determining whether the measured wheel speed exceeds a slip value threshold; and if the measured wheel speed exceeds the slip value threshold, calculating a wheel speed control value based on a center of gravity of the vehicle and at least one of: a vehicle mass of the vehicle, a vehicle slope of the vehicle, an articulation angle of the vehicle, a vehicle speed of the vehicle, and a vehicle direction of the vehicle; and controlling a desired wheel speed of the at least one wheel based on the wheel speed control value.

Methods are described for verifying the operation of at least one braking means of at least one vehicle. A method comprises determining that at least one braking means of the vehicle is malfunctioning when at least one estimated braking force value is different from a predetermined verification braking force value Fa. A further method comprises determining that at least one braking means of a plurality of braking means is malfunctioning when an estimated total braking force value is different from an expected verification total braking force value. Yet a further method comprises determining that at least one braking means is malfunctioning when at least one measured friction force value Fb differs from an expected friction force value. Yet a further method comprises determining that at least one braking means of a plurality of braking means is malfunctioning when a total friction force value Fb.sub.tot differs from an expected total friction force value. Corresponding systems for verifying the operation of at least one braking means of at least one vehicle are also described.

A vehicle which adopts a control device as a braking control device includes a sensor that acquires a rotation angle of a wheel. The control device includes a first distance calculation unit, a second distance calculation unit, and a braking control unit. The first distance calculation unit sets a braking force corresponding to a braking operation member operation amount as a reference braking force, estimates vehicle longitudinal acceleration based on the reference braking force, and calculates a braking force reference distance estimating a moving distance until the vehicle stops based on the longitudinal acceleration. The second distance calculation unit calculates a wheel reference distance estimating the vehicle moving distance based on a detection signal of the sensor and a wheel diameter. The braking control unit executes feedback control for controlling the vehicle braking force so that a difference between the braking force reference distance and the wheel reference distance decreases.

A method of controlling braking of a vehicle is provided to minimize heat generation in a brake system at a time of braking the vehicle while securing an appropriate braking force. The method includes determining whether an inclination condition for a road satisfies a preset condition, and when the inclination condition for the road satisfies the preset condition, performing cyclic brake control of alternately braking wheels of two or more different axles of the vehicle.

Via a method for venting at least one brake channel in a brake circuit of a compressed-air brake system of a vehicle, the brake channel can be vented. The compressed-air brake system has a brake pressure modulator that includes switchable valves for a control pressure. The brake system has an electronic control device interacting with the modulator. The modulator has, for each brake channel, at least one relay valve via which, firstly, a quantity of air can be introduced into at least one brake cylinder for actuating the brake and, secondly, the brake cylinder can be vented. During the venting operation, an adjustment to a setpoint pressure target is implemented. A setpoint pressure gradient during the venting operation is changed, in a manner dependent upon the pressure in the brake cylinder and on the operating state of the vehicle, in accordance with an algorithm stored in the control unit.

The present disclosure relates to a system and method of detecting a brake fluid leakage for detecting whether a brake fluid of a vehicle is leaking and a position of the leakage. The method of detecting a brake fluid leakage according to an embodiment of the present disclosure includes detecting a level of the brake fluid stored, detecting whether the vehicle is braking, and diagnosing whether the brake fluid is leaking and the position of the leakage when the level of the brake fluid falls below a reference level and a state of the vehicle is detected as a non-braking state.

A method is for identifying fault-induced temperature changes at wheel ends of a vehicle. At least two of the wheel ends have a wheel speed sensor having a temperature sensor configured to measure around its position a sensor temperature in a sensing region. The method includes: retrieving a first sensor temperature measured by a first temperature sensor at a first wheel end; and retrieving a second sensor temperature measured by a second temperature sensor at a second wheel end; determining a temperature deviation on the basis of the first sensor temperature and the second sensor temperature; comparing the temperature deviation with a deviation limit value; and outputting a notification when the deviation limit value is exceeded, which notification includes that a temperature change induced by a fault has been detected at least at one of the wheel ends that have a wheel speed sensor having a temperature sensor.