A method of reconstructing a detected faulty signal. A roll sensor fault is detected by a processor. A signal of the detected faulty roll sensor is reconstructed using indirect sensor data. The reconstructed signal is output to a controller to maintain stability.

A method for determining a likely internal pressure for a master brake cylinder including: estimating/measuring a displacement path(s) of a brake input element configured on a master cylinder from initial position thereof; estimating/measuring a first hydraulic fluid volumetric flow rate of a hydraulic fluid of the braking system out of or into a first pressure chamber of the master cylinder, and of a second hydraulic fluid volumetric flow rate of the hydraulic fluid out of or into a second pressure chamber of the master cylinder; and determining the likely internal pressure for a master cylinder considering the estimated/measured displacement path(s), the estimated and/or measured first hydraulic fluid volumetric flow rate, and the estimated and/or measured second hydraulic fluid volumetric flow rate. Also described is a device for determining a likely internal pressure for a master brake cylinder, and an electromechanical brake booster, ESP control, and vehicle braking system.

A vehicle brake control device includes a wheel deceleration calculating unit configured to calculate a wheel deceleration of each of wheels of a vehicle, and a front and rear wheel braking distribution controlling unit configured to execute a front and rear wheel braking distribution control for distributing a braking force on front and rear wheels. The front and rear wheel braking distribution controlling unit is configured to start the front and rear wheel braking distribution control on front and rear wheels of one of left and right sides if an absolute value of a wheel deceleration of the front wheel is equal to or larger than a first threshold and an absolute value of a wheel deceleration of the rear wheel is equal to or larger than a second threshold.

The hydraulic pressure controlling unit is capable of execute a first control, a second control, and a third control. The third control is configured to be started under condition that during the second control, an anti-lock brake control on the wheel brake on the high-μ road side is started, the acceptable differential pressure is equal to or larger than a first threshold, or a steering angle of a steering is equal to or larger than a second threshold. During the third control, the hydraulic pressure controlling unit is configured to decrease the hydraulic pressure of the wheel brake on the high-μ road side if the vehicle state deciding unit decides that the vehicle is in an unstable state.

A braking system for a motor vehicle, including friction brakes on the wheels of at least one axle, the brakes controlled by a friction brake control device; at least one electric machine connected to at least one wheel and controlled by an electric drive control device; a brake pedal for detecting a deceleration request; a wheel-slip controlling device; and a torque distributing device. The devices for detecting a deceleration request are connected to the wheel-slip controlling device, the wheel-slip controlling device specifying target braking torques for each wheel according to the parameters of the deceleration request. The wheel-slip controlling device connected to a torque distributing device which is connected to the friction brake control device and the electric drive control device and which specifies friction brake requests to the friction brake control device and generator brake requests to the electric drive control device according to the target braking torques.

A method for validating a model of vehicle dynamics for use in autonomous driving. The method comprising setting a wheel slip limit on an operation of at least one vehicle torque device, obtaining a model of vehicle dynamics based on the set wheel slip limit, and validating the model of vehicle dynamics based on the set wheel slip limit.

Methods, apparatuses and computer program products for estimating absolute wheel roll radii and/or a vertical compression value of wheels of a vehicle are disclosed, wherein yaw rates of the vehicle, wheel speeds of first and second wheels, and optionally lateral acceleration of the vehicle are measured and used as a basis for the estimation.

Methods and systems are described for controlling a vehicle braking system. A braking force is applied to the vehicle by applying friction only braking to the wheels of one axle and applying a blended braking force (including a regenerative braking force and a friction braking force) to the wheels of another axle. Using vehicle and tire modeling techniques, a set of side-slip angles is calculated that is estimated to occur if the total braking force were applied using only friction braking. A compensatory yaw moment is then determined based on differences between the estimated side-slip angles and the actual side-slip angles of the vehicle under the blended braking. The compensatory yaw moment is then applied to the vehicle to enable the vehicle to utilize regenerative braking while exhibiting the same vehicle dynamics that occur when using friction braking only.

System, methods, and other embodiments described herein relate to emergency lateral maneuvers using brake-induced tire sliding. In one embodiment, a method includes determining a vehicle state for a vehicle according to sensor data about a surrounding environment. The method includes computing, using the sensor data and the vehicle state, lateral accelerations that are yaw-free for the vehicle. The method includes, in response to detecting that the vehicle state is associated with an emergency event, selecting a maneuver from the lateral accelerations. The method includes controlling the vehicle according to the maneuver.

A variable linked braking system controlled by motorcycle lean angle includes a brake master cylinder; a hydraulic pressure proportion variable valve connected to the brake master cylinder; a front brake unit and a rear brake unit, both connected to the hydraulic pressure proportion variable valve; a hydraulic pressure proportion controller for controlling the hydraulic pressure proportion variable valve; a motorcycle lean angle sensor for sensing a motorcycle lean angle and sending a signal thereof to the hydraulic pressure proportion controller; and a brake switch for starting the brake master cylinder and sending a brake signal to the hydraulic pressure proportion controller for controlling the hydraulic pressure proportion variable valve so that the braking force ratio of the front brake unit to the rear brake unit decreases as the motorcycle lean angle increases, thereby enhancing the stability and traction of a motorcycle being braked in a turn.