Control equipment capable of controlling the braking of an autonomous vehicle and associated vehicle

Control equipment configured to control braking of an autonomous motor vehicle, the vehicle including at least one wheel, the control equipment comprising:

• a braking system comprising at least a hydraulic circuit and a brake applying a braking force on the wheel as a function of a hydraulic pressure present in the hydraulic circuit;
• a primary controller, configured to determine a braking setpoint,
• a primary actuator, configured to generate said hydraulic pressure as a function of the braking setpoint when said primary actuator receives said braking setpoint, the primary actuator comprising an internal sensor configured to transmit, to the primary controller, an internal measurement signal corresponding to a measurement of the hydraulic pressure generated by the primary actuator;
• an external sensor configured to transmit, to the primary controller, an external measurement signal corresponding to a measurement of the hydraulic pressure in the hydraulic circuit;
• and
• an auxiliary actuator, configured to generate, as a substitute for the primary actuator, said hydraulic pressure as a function of the braking setpoint when said auxiliary actuator receives said braking setpoint,
• the primary controller being configured to determine a first error value corresponding to the difference between a hydraulic pressure corresponding to the braking setpoint and the internal measurement signal, and to determine a second error value corresponding to the difference between the internal measurement signal and the external measurement signal,
• the primary controller being configured to transmit the braking setpoint to the auxiliary actuator when the first error value is above a first error threshold and/or when the second error value is above a second error threshold,
• the control equipment being further configured to control a steering lock angle of the vehicle, the vehicle further including at least one steering wheel,
• the primary controller being configured to determine a steering setpoint, the control equipment further comprising:
• a primary steering actuator configured to impart a steering lock angle to the steering wheel of the vehicle as a function of the steering setpoint when said primary steering actuator receives said steering setpoint, the primary steering actuator comprising an internal steering sensor configured to transmit, to the primary controller, an internal steering signal corresponding to a measurement of the steering angle imparted by the primary steering actuator;
• an external steering sensor configured to transmit, to the primary controller, an external steering signal corresponding to a measurement of the steering lock angle of the steering wheel;
• an auxiliary steering actuator configured to impart a steering lock angle to the steering wheel of the vehicle when said auxiliary steering actuator receives said steering setpoint;
• the primary controller being configured to determine a first steering value corresponding to the difference between the steering setpoint and the internal steering signal, and configured to determine a second steering value corresponding to the difference between the internal steering signal and the external steering signal,
• the primary controller being configured to transmit the steering setpoint to the auxiliary steering actuator when the first steering value is above a first steering threshold and/or when the second steering value is above a second steering threshold.