A braking device for vehicle includes: a master cylinder that generates an oil pressure in accordance with the amount of operation of a brake pedal; a vehicle stabilizing device that generates an oil pressure in accordance with an oil pressure generation command from a brake control device; and a braking unit that generates braking force in a vehicle in accordance with the oil pressure generated in the master cylinder or the vehicle stabilizing device. The brake control device puts automatic braking into operation by generating the oil pressure in the vehicle stabilizing device when an impact is detected by a collision detection sensor, and in a case where an abnormality of the vehicle has been detected during operation of the automatic braking, the brake control device controls the vehicle stabilizing device to stop operation of the automatic braking in accordance with influence on operation of the automatic braking.

A brake system and a method for controlling a brake system. The brake system may include a first module having a first pressure supply unit with an electromotive drive, an optional second pressure supply unit and a first control device for controlling the first pressure supply unit; a second module having a third pressure supply unit, isolation valves and brake-pressure-adjusting valves, and a second control device for controlling the brake-pressure-adjusting valves; and a detection unit for detecting a first case of error. The brake system is designed such that, in the first case of error, in order to provide an ABS function and/or a yaw torque intervention, it implements a (wheel-specific and/or selective) adjustment of the pressures in the wheel brakes by actuating at least one of the brake-pressure-adjusting valves of the second module and/or the isolation valves of the second module and the first pressure supply unit.

A brake system may include a first module, comprising a first pressure supply unit having an electromotive drive, a second pressure supply unit having an activation element, e.g., a brake pedal, and a first control apparatus for controlling the first pressure supply unit. The first module is set up to apply pressurizing medium to at least one first brake circuit via a first connection point and to at least one second brake circuit via a second connection point. The brake circuits are assigned wheel brakes, and the brake system is configured to implement an active retraction of at least one brake pad of the wheel brakes by generating a vacuum using the first pressure supply unit. Differences between/among clearances in the wheel brakes may be compensated using associated inlet valves.

Embodiments herein comprise monitoring factors related to braking of an autonomous vehicle. In response to determining, based upon data from one or more sensors, whether a failure state from a set of one or more failure states has occurred, a failure log is updated to record the occurrence of the detected failure state. In one or more embodiments, the failure states have associated severity levels, and the updated log and associated severities are used to determine a braking safety or failure metric for the vehicle. In one or more embodiments, if the vehicle has a metric corresponding to a rule that correlates the braking safety metric value to a set of one or more actions, the corresponding action(s) may then be implemented. For example, if the braking safety metric has a value corresponding to a rule that indicates the vehicle is unsafe, the vehicle is parked.

Operating a vehicle with an open door creates risks. Embodiments herein consider both when a vehicle is in an autonomous driving (AD) mode and a manual mode. When in AD mode, if an occupant opens the doors while the vehicle is moving, the control system may lower the speed to stop and may park the vehicle (or not park it depending upon the control policy). If an occupant opens the doors when the vehicle is stationary, the control system may keep the vehicle from rolling and from brake system failures. When the vehicle is in a manual model and a door is opened when the vehicle is moving, a warning message may be triggered; whereas, if a door is opened when the vehicle is stationary, the control system may keep the vehicle from rolling and from brake system failures. Warning messages may be triggered for different stages/conditions.