Redundant motion control for a vehicle with a redundant braking arrangement

A method to control a vehicle motion system including a braking function, the vehicle motion system comprising:

• motion actuators with at least one or more brake actuators pertaining to the braking function, wherein the at least one or more brake actuators operate with compressed air;
• and
• at least a first vehicle motion management controller and a second vehicle motion management controller forming a redundant assembly to control the braking function, with a main braking pneumatic circuit controlled by the first vehicle motion management controller, and a backup braking pneumatic circuit controlled by the second vehicle motion management controller;
• the method comprising:
• in riding conditions, the first vehicle motion management controller controls the at least one or more brake actuators with a current braking performance, defined by a braking setpoint with a braking pneumatic pressure (PREF), supplied in the main braking pneumatic circuit controlled by the second vehicle motion management controller, while the second vehicle motion management controller is in a waiting-to-operate mode, without any influence on the braking performance;
• wherein the backup braking pneumatic circuit is pre-charged in the waiting-to-operate mode, with a waiting-to-operate pressure (PBK) which is less than the pressure (PREF) applied in the main braking pneumatic circuit;
• wherein the pressure (PBK) is caused to lie within a waiting-to-operate range, the waiting-to-operate range being defined by the condition:
• 0.85 PREF<PBK<0.95 PREF;
• and
• upon a non-nominal condition at the first vehicle motion management controller, when part or all features of the first vehicle motion management controller become unavailable, the second vehicle motion management controller is configured to take over control of the at least one or more brake actuators from the first vehicle motion management controller, with the same current braking performance, wherein the control takeover is achieved within a time period less than 1.0 second.