According to the present invention, even when information needed to calculate an acceleration command cannot be detected due to a sensor malfunction or the like, acceleration control can be continued by adding, in accordance with outside-world information, a correction to the result of calculating the acceleration command, which uses the result of an estimation made using alternative sensor information. The vehicle control device of the present invention comprises a vehicle behavior information acquisition unit 31 that acquires vehicle behavior information including lateral movement information of a vehicle 0, an acceleration control unit 39 that controls acceleration in accordance with the lateral movement information acquired by the vehicle behavior information acquisition unit 31, a diagnostic unit 37 that diagnoses whether or not there is abnormality in the vehicle behavior information and outputs diagnostic information, and an alternative possibility assessment unit 38 that assesses whether or not alternative control is possible on the basis of the lateral movement information and the diagnostic information.

Provided is a master cylinder unit including a communication path that causes a master cylinder and a stroke simulator to communicate with each other. The stroke simulator includes a bottomed tube-shaped simulator piston and a simulator cylinder in which a simulator piston slides. The simulator piston is such that a bottom portion of the simulator cylinder and an opening portion of the simulator piston face each other. The communication path is open over an outer circumferential portion and an inner circumferential portion of the opening portion of the simulator piston, is connected to the bottom portion of the simulator cylinder, and is provided such that the communication path extends upward in a vertical direction from the bottom portion of the simulator cylinder as approaching to a pressure chamber.

A braking system may include a controller, a first wheel and a second wheel. The first wheel may be laterally displaced from the second wheel by a first distance. A first wheel speed sensor may be coupled to the first wheel and a second wheel sensor may be coupled to the second wheel. The controller may be configured to determine at least one of a slip ratio, a coefficient of friction, or a braking pressure of the second wheel in response to failure of the first wheel speed sensor. The controller may be configured to calculate a consistency value of the at least one of the slip ratio, the coefficient of friction, or the braking pressure. The controller may be configured to adjust a braking pressure of the first wheel speed sensor based upon the consistency value and the first distance.

A braking system may include a controller, a first wheel and a second wheel. The first wheel may be laterally displaced from the second wheel by a first distance. A first wheel speed sensor may be coupled to the first wheel and a second wheel sensor may be coupled to the second wheel. The controller may be configured to determine at least one of a slip ratio, a coefficient of friction, or a braking pressure of the second wheel in response to failure of the first wheel speed sensor. The controller may be configured to calculate a consistency value of the at least one of the slip ratio, the coefficient of friction, or the braking pressure. The controller may be configured to adjust a braking pressure of the first wheel speed sensor based upon the consistency value and the first distance.

This vehicle control system is provided with an input monitoring unit and a determination time changing unit. When a state in which first target data is not input to a second control unit continues for a first determination time or longer, the input monitoring unit determines the first target data to be in a non-input state. When a state in which second target data is not input to the second control unit continues for a second determination time or longer, the input monitoring unit determines the second target data to be in a non-input state. When the first target data is determined to be in a non-input state, the determination time changing unit shortens the second determination time.

This braking control device feeds by pressure a braking fluid from a master cylinder to a wheel cylinder, to generate a braking force in a wheel. The braking control device is provided with an input rod; an output rod; first and second electric motors; and first and second racks forming a differential mechanism. When the outputs of the first and second electric motors are controlled, the operation power of the input rod and the displacement of the output rod are controlled independently of each other. Here, in the second rack, the movement, in a backward direction, in response to decrease of a master cylinder fluid pressure is limited within a range of a predetermined displacement by means of two stoppers.

This braking control device feeds by pressure a braking fluid from a master cylinder to a wheel cylinder, to generate a braking force in a wheel. The braking control device is provided with an input rod; an output rod; first and second electric motors; and first and second racks forming a differential mechanism. When the outputs of the first and second electric motors are controlled, the operation power of the input rod and the displacement of the output rod are controlled independently of each other. Here, in the second rack, the movement, in a backward direction, in response to decrease of a master cylinder fluid pressure is limited within a range of a predetermined displacement by means of two stoppers.

A brake traction control system (BTCS) using a redundancy braking system includes a main braking force adjusting device configured to control a hydraulic brake of a vehicle, a sensor unit configured to detect a driving state of the vehicle, an electronic brake electrically operating and configured to generate braking force for at least one driving wheel, and an auxiliary braking force adjusting device configured to control the hydraulic brake and the electronic brake when a failure occurs in the main braking force adjusting device, wherein the auxiliary braking force adjusting device is configured to adjust the braking force of the electronic brake provided on at least one wheel on left and right sides of the vehicle based on a detected value of the sensor unit.

A brake traction control system (BTCS) using a redundancy braking system includes a main braking force adjusting device configured to control a hydraulic brake of a vehicle, a sensor unit configured to detect a driving state of the vehicle, an electronic brake electrically operating and configured to generate braking force for at least one driving wheel, and an auxiliary braking force adjusting device configured to control the hydraulic brake and the electronic brake when a failure occurs in the main braking force adjusting device, wherein the auxiliary braking force adjusting device is configured to adjust the braking force of the electronic brake provided on at least one wheel on left and right sides of the vehicle based on a detected value of the sensor unit.

A braking control device for a vehicle includes a malfunction detector configured to detect a malfunction of a first stroke sensor or a second stroke sensor, a memory configured to store a first stroke and a second stroke, a stroke calculator for first calculation configured to calculate, from the first stroke and the second stroke, an average value for calculating a target deceleration before a malfunction is detected by the malfunction detector, a stroke calculator for second calculation configured to calculate, from the average value and the second stroke (first stroke), an additional value for calculating the target deceleration after the malfunction is detected, and a target deceleration setting circuit configured to set the target deceleration from the average value or the additional value.